Cleaning method and device and self-moving cleaning equipment

Abstract

The embodiment of the invention is suitable for the technical field of smart home, and provides a cleaning method and device and self-moving cleaning equipment, the method is applied to the self-moving cleaning equipment, the self-moving cleaning equipment comprises a cleaning assembly and a mechanical arm, the cleaning assembly is used for cleaning the ground, and the mechanical arm is arranged above the self-moving cleaning equipment. The method is used for grabbing or placing objects and comprises the steps that in response to a cleaning instruction, a cleaning mode of the self-moving cleaning equipment is obtained; the cleaning mode is used for indicating the sequence of cleaning the first floor, cleaning the second floor and tidying objects; wherein the second ground is the ground covered by the object and the ground within a preset range around the object when the self-moving cleaning equipment performs initial cleaning; and according to the cleaning mode, the self-moving cleaning equipment is controlled to clean the ground and tidy objects. By means of the method, the self-moving cleaning equipment can conduct ground cleaning and object arrangement in multiple modes, and user requirements can be better met.

Description

Technical Field

[0001] The present application belongs to the field of smart home technology, and in particular, relates to a cleaning method, a device and a self-moving cleaning device. Background Art

[0002] In addition to cleaning the floor, the sweeping and mopping robot with the object arranging function can also help users organize objects.

[0003] At present, sweeping and mopping robots cannot reasonably use the cleaning and tidying functions when helping users complete housework. The unreasonable use of the cleaning and tidying functions can easily reduce work efficiency and may also make cleaning incomplete. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a cleaning method, an apparatus and a self-moving cleaning device for performing floor cleaning and object arrangement through multiple modes, which can better meet user needs.

[0005] A first aspect of an embodiment of the present application provides a cleaning method, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device comprises a cleaning component and a mechanical arm, wherein the cleaning component is used to clean a floor, and the mechanical arm is arranged above the self-moving cleaning device and is used to grab or place objects in a process of arranging objects, wherein the method comprises:

[0006] In response to the cleaning instruction, a cleaning mode of the self-moving cleaning device is obtained; the cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging the objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned;

[0007] According to the cleaning mode, the self-moving cleaning device is controlled to clean the floor and arrange objects.

[0008] A second aspect of an embodiment of the present application provides a cleaning device, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device comprises a cleaning component and a mechanical arm, wherein the cleaning component is used to clean a floor, and the mechanical arm is arranged above the self-moving cleaning device and is used to grab or place objects in the process of arranging objects, wherein the device comprises:

[0009] A mode acquisition module, for acquiring a cleaning mode of the self-moving cleaning device in response to a cleaning instruction; the cleaning mode is used to indicate the order of cleaning a first floor, cleaning a second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned;

[0010] The cleaning and arranging module is used to control the self-moving cleaning device to clean the ground and arrange objects according to the cleaning mode.

[0011] A third aspect of an embodiment of the present application provides a self-moving cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the self-moving cleaning device comprising a cleaning component and a robotic arm, the cleaning component being used to clean a floor, the robotic arm being disposed above the self-moving cleaning device and being used to grab or place objects during the process of arranging objects, and the processor implementing the method described in the first aspect above when executing the computer program.

[0012] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0013] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device executes the method described in the first aspect.

[0014] Compared with the prior art, the embodiments of the present application have the following advantages:

[0015] The self-mobile cleaning device in the embodiment of the present application includes a cleaning component and a mechanical arm. The self-mobile cleaning device can realize object arrangement through the mechanical arm and perform floor cleaning through the cleaning component. Floor cleaning and object arrangement include cleaning the first floor, cleaning the second floor, and arranging objects. Based on different cleaning modes, the order of cleaning the first floor, cleaning the second floor, and arranging objects can be indicated, so that the self-mobile cleaning device can perform floor cleaning and object arrangement based on the cleaning mode. Based on the cleaning method in the embodiment of the present application, the working order of the self-mobile cleaning device can be controlled by the cleaning mode, and different working orders can adapt to the housework needs in different scenes. In different scenes, the cleaning order of the second floor is indicated in the cleaning mode, which can avoid the ground covered by the object from being missed, making the floor cleaning more thorough. At the same time, different cleaning modes are used in different scenes for floor cleaning and object arrangement, which can reasonably plan the cleaning route, reduce the moving distance and the time of adjusting tools, improve the overall cleaning efficiency, avoid duplication of labor and omission of cleaning areas. Based on the cleaning mode in the embodiment of the present application, the cleaning needs of users in different scenes can be met, the cleaning tasks can be more efficient, and the user experience can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0017] Figure 1 is a schematic diagram of a self-moving cleaning device provided in an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the steps of a cleaning method provided in an embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the steps of another cleaning method provided in an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of the steps of another cleaning method provided in an embodiment of the present application;

[0022] Figure 6 This is a schematic diagram of the steps of another cleaning method provided in an embodiment of the present application;

[0023] Figure 7 This is a schematic diagram of the steps of another cleaning method provided in an embodiment of the present application;

[0024] Figure 8is a schematic diagram of a cleaning device provided in an embodiment of the present application;

[0025] Fig. 9 It is a schematic diagram of a self-moving cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0027] The object grasping detection method in the embodiment of the present application is applied in a self-moving cleaning device. Figure 1 Schematic diagram of a self-moving cleaning device provided in an embodiment of the present application. Figure 1 As shown, the self-moving cleaning device may include a cleaning assembly and a mechanical arm, and the mechanical arm may be arranged on the cleaning assembly. The cleaning assembly may walk on the ground based on walking wheels and universal wheels.

[0028] The cleaning component can be used for floor cleaning. As an example, the cleaning component can use a traditional sweeping and mopping robot chassis, with a follower universal wheel in the middle of the front side and an active walking wheel on each side of the rear side to drive the robot to move. The follower wheel and the walking wheel have servos that can lift the chassis up a certain distance.

[0029] The cleaning assembly can be moved on the ground, thereby driving the cleaning arm to move. Objects can be transported and sorted by the cleaning assembly and the robotic arm. Figure 1 As shown, the cleaning assembly can move linearly along the x-axis and y-axis directions of the plane, move linearly along the z-axis direction (the walking wheel rises and falls), and rotate along the z-axis direction. The cleaning assembly can be wheeled or tracked.

[0030] During the object sorting process, the above-mentioned robot arm can be used to grab or place objects. The robot arm may include a first joint M1, a second joint M2, a third joint M3, a fourth joint M4, a fifth joint M5 and an end clamp. The first joint M1 and the second joint M2 may be indirectly connected, for example, the first joint and the second joint may be connected via a rotating seat. A connecting rod is connected between the second joint M2 and the third joint M3; a connecting rod is connected between the third joint M3 and the fourth joint M4; a connecting rod is connected between the fourth joint M4 and the fifth joint M5; and the fifth joint M5 is connected to the end clamp.

[0031] Among them, the first joint M1 is connected to the chassis and is used to control the rotation of the robotic arm around the vertical axis; the second joint M2 supports the robotic arm through pitch rotation; the third joint M3 is in the same direction as the joints of the second joint M2 and the fourth joint M4; the fifth joint M5 is the self-rotating joint of the end gripper, as shown in the figure, the fifth joint M5 can self-rotate along the axis where the connecting rod between the fourth joint M4 and the fifth joint M5 is located, so as to adjust the direction of the end gripper to grip the object; the end gripper can place or grip the object by opening and closing.

[0032] Each joint of the robot arm may have a corresponding drive motor. By controlling the drive motor, the joint angles of each joint of the robot arm may be controlled, thereby changing the posture of the robot arm so that the end gripper of the robot arm can reach the location of the object. After the end gripper of the robot arm reaches the location of the object, the end gripper of the robot arm may be controlled to grip the object. As an example, when gripping an object, the end gripper may adjust its direction according to the posture of the object.

[0033] Figure 2 Schematic diagram of another self-moving cleaning device provided in an embodiment of the present application. Figure 2 As shown, the end of the robot arm has an end gripper, an end camera and an end fill light. After the end of the robot arm reaches the location of the object, the image data of the object can be collected based on the end camera, so as to adjust the posture of the end gripper based on the image data of the object, and determine the grasping direction of the object, so as to rotate the fifth joint according to the grasping direction. Among them, when the collected image data is unclear, the end fill light can be used to fill in the light during the operation of the end camera, so as to obtain clear image data.

[0034] It can be understood that based on the above cleaning components, the self-moving cleaning device can achieve the cleaning of the ground. During the ground cleaning process, the self-moving cleaning device can first clean along the edge, and then zigzag fill cleaning; when encountering obstacles, it can avoid obstacles, and can perform additional cleaning according to the dirt detection situation. In this embodiment, this function can be described as cleaning the first ground.

[0035] Based on the cleaning component and the robotic arm, the self-moving cleaning device can realize the arrangement of graspable objects. The self-moving cleaning device can control the clamp at the end of the robotic arm to grasp the object. After the object is grasped successfully, the object can be lifted to the carrying posture; then the cleaning component is controlled to move. The cleaning component can drive the robotic arm and the object to change position by moving. Each graspable object can have a corresponding storage area. Based on the storage area, the cleaning component can plan the route to reach the position within a preset range near the corresponding storage area. After the cleaning component moves to the position within a preset range near the storage area, it can stop moving, and then the self-moving cleaning device can control the movement of the robotic arm to place the object in the storage area. In this embodiment, this function can be described as arranging objects.

[0036] Based on the cleaning component and the robotic arm, the self-mobile cleaning device can clean the ground covered by the graspable object. The self-mobile cleaning device can control the clamp at the end of the robotic arm to grasp the object. After the object is grasped successfully, the object can be lifted to a carrying posture; then the cleaning component is controlled to move. The cleaning component can drive the robotic arm and the object to change position by moving. After the cleaning component moves to a position within a preset range near the target position, it can stop moving, and then the self-mobile cleaning device can control the movement of the robotic arm to place the object at the target position. After the object is placed at the target position, the cleaning component can clean the ground covered by the object. Among them, the target position can be a storage area or a cleaned area. In this embodiment, this function can be described as cleaning the second floor.

[0037] An embodiment of the present application provides a cleaning method, which can control a self-moving cleaning device to clean the floor and arrange objects in different cleaning modes based on the order of cleaning a first floor, cleaning a second floor, and arranging objects, thereby meeting the cleaning functions of different scenarios.

[0038] The technical solution of the present application is described below through specific embodiments.

[0039] Reference Figure 3 , shows a schematic flow chart of a cleaning method provided in an embodiment of the present application, which may specifically include the following steps:

[0040] S301, in response to a cleaning instruction, obtaining a cleaning mode of the self-moving cleaning device; the cleaning mode is used to indicate the order of cleaning a first floor, cleaning a second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned.

[0041] The execution subject of this embodiment is the self-mobile cleaning device mentioned above. The above cleaning instructions can be sent by the user through voice, terminal device and other methods. For example, the user can pre-set the cleaning time, and when the cleaning time is reached, the cleaning instruction can be triggered. The user can also send the cleaning instruction through voice information. The self-mobile cleaning device can also establish a communication connection with the user's terminal device, so that the user can send the cleaning instruction through the terminal device.

[0042] After the self-mobile cleaning device receives the cleaning instruction, a cleaning mode can be determined. The cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging the objects. The floor to be cleaned may include the first floor and the second floor, the first floor is the floor excluding the second floor during the initial cleaning, and the second floor is the floor covered by the object and the floor within a preset range around the object during the initial cleaning.

[0043] When determining the cleaning mode, the self-moving cleaning device can determine whether the second floor cleaning function and the object arranging function are turned on. If the second floor cleaning function and the object arranging function are not turned on, the cleaning mode can be set to only clean the first floor. If the second floor cleaning function and the object arranging function are turned on, the order of cleaning the first floor, cleaning the second floor and arranging objects can be determined.

[0044] As an example, the order of cleaning the first floor, cleaning the second floor, and arranging objects can be preset by the user. For example, the user can set the order of cleaning the first floor, cleaning the second floor, and arranging objects in advance by voice, and the user can also set the order of cleaning the first floor, cleaning the second floor, and arranging objects through a terminal device associated with the self-mobile cleaning device, and the terminal device sends the user's setting instructions to the associated self-mobile cleaning device, so that the self-mobile cleaning device can set the order of cleaning the first floor, cleaning the second floor, and arranging objects according to the setting instructions.

[0045] The order of cleaning the first floor, cleaning the second floor, and arranging objects can be determined by the self-moving cleaning device according to the cleaning task. The self-moving cleaning device can determine the cleaning mode according to the area to be cleaned. The default processing logic for different objects can be different. If there are no objects that need to be arranged in the area to be cleaned, the first floor can be cleaned directly. If there are objects that need to be arranged in the area to be cleaned, the method of arranging the objects can be determined according to the objects. For example, objects of type A can be directly arranged during the cleaning process; objects of type B can first perform basic floor cleaning functions, then auxiliary cleaning, and finally arranging.

[0046] Based on the acquired order of cleaning the first floor, cleaning the second floor, and arranging objects, the self-moving cleaning device may determine a cleaning mode.

[0047] S302, according to the cleaning mode, controlling the self-moving cleaning device to clean the floor and organize objects.

[0048] The self-moving cleaning device can clean the first floor, clean the second floor, and arrange the objects in the order of cleaning the first floor, cleaning the second floor, and arranging the objects, and then clean the floor through the cleaning component when cleaning the floor. When arranging the objects, the objects can be clamped by the mechanical arm, and the position can be changed by the movement of the mechanical arm and the movement of the cleaning component, so as to move the objects to other positions, and the cleaning component can clean the floor area previously occupied by the objects, so as to achieve thorough cleaning of the floor.

[0049] By setting the order of cleaning the first floor, cleaning the second floor, and arranging objects, the self-moving cleaning device can give full play to its functions and improve the efficiency of executing cleaning tasks. Using different cleaning modes for different scenes can reasonably plan the cleaning time and cleaning path, improve cleaning efficiency, and achieve thorough cleaning. In this embodiment, for different cleaning tasks, users can set different cleaning modes to meet the cleaning needs in different scenes, thereby improving user experience.

[0050] Reference Figure 4 , shows a schematic flow chart of another cleaning method provided in an embodiment of the present application, which may specifically include the following steps:

[0051] S401, in response to a cleaning instruction, obtaining a cleaning mode of the self-moving cleaning device; the cleaning mode is used to indicate the order of cleaning a first floor, cleaning a second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned.

[0052] The execution subject of this embodiment is the self-moving cleaning device mentioned above. S401 in this embodiment and S301 mentioned above refer to each other.

[0053] The cleaning mode may include arranging objects, cleaning the first floor, and cleaning the second floor. As an example, when there are many objects to be arranged on the floor to be cleaned, the objects may be arranged first, and then the floor may be cleaned. For example, when cleaning a toy room, the objects may be arranged first, and then the floor may be cleaned.

[0054] S402: If the cleaning mode indicates to arrange the objects before cleaning the first floor, the floor to be cleaned is inspected to detect whether there are objects to be arranged on the floor to be cleaned, and the objects to be arranged have corresponding target second floor.

[0055] If the cleaning mode indicates to sort the objects before cleaning the first floor, it can be determined that the objects need to be sorted first. The sorting of objects can be placing the objects in corresponding storage areas. During the patrol process, the self-moving cleaning device can collect image data and point cloud data through devices such as cameras and point cloud sensors, so as to identify objects to be sorted on the ground.

[0056] S403: If the object to be sorted exists on the floor to be cleaned, the object to be sorted is moved to a corresponding storage area by the robot arm.

[0057] If there are objects to be sorted on the floor to be cleaned, the self-moving cleaning device can identify the objects to be sorted and determine the storage area corresponding to the objects to be sorted. As a possible implementation, the self-moving cleaning device can store the location information of the storage area corresponding to each object to be sorted.

[0058] After the self-mobile cleaning device identifies the object to be sorted, it can first reach the area near the identified object to be sorted. In the area near the object to be sorted, the robotic arm can clamp the object to be sorted. After the self-mobile cleaning device controls the robotic arm to clamp the object, it can lift the object to a specified position. Based on the location information of the storage area of ​​the object to be sorted, the self-mobile cleaning device can plan a driving route and move to a position near the storage area, thereby placing the object in the corresponding storage area.

[0059] S405 , after each of the objects to be sorted is moved to the corresponding storage area, the first floor and each of the target second floors are cleaned by the cleaning component.

[0060] After each object to be sorted is moved to the corresponding storage area, the floor to be cleaned can be cleaned directly. The cleaning component can plan a cleaning route based on the map established during the inspection process, thereby achieving cleaning of the first floor and each second floor.

[0061] When performing floor cleaning and object arrangement based on the method in this embodiment, the floor cleaning can be performed after all objects have been arranged, thereby avoiding the need to constantly interrupt the floor cleaning process and the need to repeatedly memorize the floor position during the floor cleaning process, thereby improving the floor cleaning efficiency and achieving thorough cleaning of the floor.

[0062] Reference Figure 5 , shows a schematic flow chart of another cleaning method provided in an embodiment of the present application, which may specifically include the following steps:

[0063] S501, in response to a cleaning instruction, obtaining a cleaning mode of the self-moving cleaning device; the cleaning mode is used to indicate the order of cleaning a first floor, cleaning a second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned.

[0064] The execution subject of this embodiment is the above-mentioned self-moving cleaning device.

[0065] The cleaning order indicated by the cleaning mode may be: arranging objects and cleaning the second floor during cleaning the first floor. For example, when there are not many objects on the floor and the objects to be arranged are scattered near the storage area, the floor cleaning and object arrangement may be performed according to the procedure of arranging objects and cleaning the second floor during cleaning the first floor.

[0066] S502: If the cleaning mode indicates to arrange objects during the process of cleaning the first floor, then during the process of cleaning the first floor, it is detected whether there are objects to be arranged on the floor to be cleaned, and the objects to be arranged have corresponding target second floor.

[0067] After the self-mobile cleaning device identifies the object to be cleaned, the location information of the target second ground surface can be recorded.

[0068] S503: If the object to be sorted exists on the floor to be cleaned, the object to be sorted is moved to a corresponding storage area by the robot arm.

[0069] As an example, the self-moving cleaning device can determine the storage area corresponding to the object, and then calculate the distance between the current object position and the storage area. Based on the distance between the current object position and the storage area, the self-moving cleaning device can first determine whether the object can be moved to the storage area only by the movement of the robotic arm. If the object can be moved to the storage area only by the movement of the robotic arm, the self-moving cleaning device can calculate the target angle of each mechanical joint of the robotic arm, and at the target angle, the object can be moved to the cleaning area. After determining the target angle, the self-moving cleaning device can drive each mechanical joint drive motor so that each mechanical joint reaches the target angle, thereby moving the object to the corresponding storage area.

[0070] If the object cannot be moved to the storage area only by the movement of the robot arm, the self-moving cleaning device can plan a route from the current position to the storage area, and then control the cleaning component to move along the route, so that the cleaning component can reach the vicinity of the storage area. After reaching the vicinity of the storage area, the self-moving cleaning device can control the robot arm to move the object to the corresponding storage area.

[0071] S504, cleaning the target second floor by using the cleaning component; and continuing to clean the first floor by using the cleaning component.

[0072] Based on the recorded position information of the target second floor, the cleaning component can be moved to the target second floor, so that the target second floor can be cleaned and the first floor can continue to be cleaned.

[0073] When there are not many objects on the ground and the objects to be sorted are scattered near the storage area, the ground cleaning and object sorting can be performed based on the cleaning mode in this embodiment, thereby reducing the distance traveled to place the objects in the storage area and improving the cleaning efficiency.

[0074] Reference Figure 6 , shows a schematic flow chart of another cleaning method provided in an embodiment of the present application, which may specifically include the following steps:

[0075] S601, in response to a cleaning instruction, obtaining a cleaning mode of the self-moving cleaning device; the cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned.

[0076] The execution subject of this embodiment is the self-moving cleaning device mentioned above. S601 in this embodiment can refer to S301 mentioned above. The cleaning mode can indicate that after the first floor is cleaned, the second floor is cleaned and objects are sorted. For example, when there are a lot of objects to be sorted on the ground, the ground not covered by objects can be cleaned first, and then the objects to be sorted and the area covered by objects can be cleaned.

[0077] S602: If the cleaning mode indicates to sort out objects after cleaning the first floor, then during the cleaning of the first floor, it is detected whether the floor to be cleaned has objects to be sorted, and the objects to be sorted have corresponding target second floor.

[0078] S603: If the object to be sorted exists on the floor to be cleaned, after the first floor is cleaned, the object to be sorted is sorted and the target second floor is cleaned.

[0079] When arranging objects and cleaning the second floor, the order can be determined according to the cleaning mode. If the cleaning mode indicates to clean the second floor first and then arrange the objects, the self-moving cleaning device can move the objects to be arranged to the cleaned area, and clean the target second floor through the cleaning component. Among them, after moving the objects to be arranged to the cleaned area, the position information of each cleaned area can be recorded. After the cleaning of each target second floor is completed, each object to be arranged can be moved from the cleaned area to the corresponding storage area. The self-moving cleaning device can plan the moving route according to the recorded position information of the cleaned area of ​​the objects to be arranged and the position information of the storage area.

[0080] If the cleaning mode indicates to sort the objects first and then clean the second floor, the self-moving cleaning device can move the objects to be sorted to the corresponding storage area through the robotic arm; then after each object to be sorted is moved to the storage area, each target second floor is cleaned by the cleaning component.

[0081] When the objects to be sorted on the ground are relatively concentrated, the cleaning mode of this embodiment is used to sort the objects and clean the ground, which can avoid the need to constantly interrupt the ground cleaning in the area where the objects to be sorted are relatively concentrated during the cleaning process, thereby improving the cleaning efficiency. Since the objects to be sorted are relatively concentrated, the second ground cleaning and object sorting are concentrated to avoid incomplete cleaning.

[0082] Reference Figure 7 , shows a schematic flow chart of another cleaning method provided in an embodiment of the present application, which may specifically include the following steps:

[0083] S701, in response to a cleaning instruction, obtaining a cleaning mode of the self-moving cleaning device; the cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned.

[0084] The execution subject of this embodiment is the self-moving cleaning device mentioned above. S701 in this embodiment can refer to S301 mentioned above. The cleaning mode can indicate to clean the first floor and the second floor first, and to sort out the objects last.

[0085] S702: If the cleaning mode indicates to sort out objects after cleaning the first floor, then during the cleaning of the first floor, it is detected whether there are objects to be sorted on the floor to be cleaned, and the objects to be sorted have a corresponding target second floor.

[0086] S703: If the object to be sorted exists on the floor to be cleaned, move the object to be sorted to the cleaned area by the robot arm.

[0087] The self-moving cleaning device can record the position information of the cleaned area corresponding to the object to be cleaned.

[0088] The above-mentioned cleaned area can be an area near the object to be sorted, and the cleaned area can be located within the movable range of the robotic arm. At this time, in the process of moving the object to be sorted to the cleaned area, the cleaning component does not need to move, but only needs to change its position through the robotic arm, thereby avoiding excessive movement of the cleaning component during the floor cleaning process.

[0089] S704: Clean the target second floor by using the cleaning component, and continue to clean the first floor by using the cleaning group.

[0090] During the cleaning process, each time an object to be sorted is encountered, it can be moved to the cleaned area, thereby achieving a second floor cleaning, and after the second floor cleaning, the first floor cleaning can continue.

[0091] S705, after the first floor is cleaned, each of the objects to be sorted is moved from the cleaned area to a corresponding storage area by the robot arm.

[0092] The cleaning mode in this embodiment can complete the floor cleaning without interrupting the travel route, thereby improving the cleaning efficiency and avoiding an increase in the travel distance during the floor cleaning process, thereby improving the cleaning efficiency.

[0093] The self-moving cleaning device in the embodiment of the present application can, with the assistance of a robotic arm, implement actions such as gripping and moving obstacles, and place the gripped objects in a nearby cleaned area to further clean the ground at the bottom and around the obstacle location. It can also clean the ground of the entire space blocked by obstacles, such as obstacles at the door of a room, etc., thereby improving the ground cleaning coverage rate, making the cleaning effect closer to the user's expectations, and improving the user's satisfaction with the robot's ground cleaning function.

[0094] The self-moving cleaning device in the embodiment of the present application can use a robotic arm to clamp the objects to be sorted, move them, and place them in a storage area or storage box location set by the user. For example, slippers are placed at the door, toys are placed in the children's room, paper balls are still in the trash can, etc., to realize the robot's automatic sorting function.

[0095] In the embodiment of the present application, the configuration of the cleaning mode can be set by the user or determined by the self-moving cleaning device. According to different scenes and different objects to be cleaned, the self-moving cleaning device can set different cleaning modes, thereby controlling the self-moving cleaning device to clean the ground, carry objects, clean the area covered by the object and the surrounding area in different orders, making the cleaning task more efficient and improving the user experience.

[0096] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0097] Reference Figure 8 , shows a schematic diagram of a cleaning device provided by an embodiment of the present application, the cleaning device is applied to a self-moving cleaning device, the self-moving cleaning device includes a cleaning component and a mechanical arm, the self-moving cleaning device includes a cleaning component and a mechanical arm, the cleaning component is used to clean the floor, the mechanical arm is arranged above the self-moving cleaning device, and is used to grab or place an object, the device may specifically include a mode acquisition module 81 and a cleaning and finishing module 82, wherein:

[0098] The mode acquisition module 81 is used to obtain the cleaning mode of the self-moving cleaning device in response to the cleaning instruction; the cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging the objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned;

[0099] The cleaning and arranging module 82 is used to control the self-moving cleaning device to clean the floor and arrange objects according to the cleaning mode.

[0100] In a possible implementation, the cleaning and finishing module includes:

[0101] A first detection submodule is used for patrolling the floor to be cleaned and detecting whether there is an object to be arranged on the floor to be cleaned, if the cleaning mode indicates to arrange the object before cleaning the first floor, and the object to be arranged has a corresponding target second floor;

[0102] A first arranging submodule, configured to move the object to be arranged to a corresponding storage area by means of the robot arm if the object to be arranged exists on the floor to be cleaned;

[0103] The first cleaning submodule is used to clean the first floor and each of the target second floors by using the cleaning component after each of the objects to be sorted is moved to the corresponding storage area.

[0104] In a possible implementation, the cleaning and finishing module includes:

[0105] A second detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned during the cleaning of the first floor if the cleaning mode indicates that the object is to be arranged during the cleaning of the first floor, and the object to be arranged has a corresponding target second floor;

[0106] A second arranging submodule is used for moving the object to be arranged to a corresponding storage area by the robot arm if the object to be arranged exists on the floor to be cleaned;

[0107] The third cleaning submodule is used to clean the target second floor surface by using the cleaning component; and continue to clean the first floor surface by using the cleaning component.

[0108] In a possible implementation, the cleaning and finishing module includes:

[0109] A third detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned during the cleaning of the first floor if the cleaning mode indicates to arrange the object after the first floor is cleaned, and the object to be arranged has a corresponding target second floor;

[0110] The third arranging submodule is used for arranging the objects to be arranged and cleaning the target second floor after the first floor is cleaned if the objects to be arranged exist on the floor to be cleaned.

[0111] In a possible implementation, the third sorting submodule includes:

[0112] A first cleaning unit is used for moving the object to be sorted to the cleaned area and cleaning the target second floor by the cleaning component if the cleaning mode indicates to clean the second floor first and then sort the object;

[0113] The first arranging unit is used to move each of the objects to be arranged from the cleaned area to a corresponding storage area after each of the target second floors is cleaned.

[0114] In a possible implementation, arranging objects and cleaning the target second ground surface includes:

[0115] A second arranging unit, configured to move the objects to be arranged to a corresponding storage area through the robot arm if the cleaning mode indicates to arrange the objects first and then clean the second floor surface;

[0116] The second cleaning unit is used to clean each of the target second floors through the cleaning assembly after each of the objects to be sorted is moved to the storage area.

[0117] In a possible implementation, the cleaning and finishing module includes:

[0118] A fourth detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned, and the object to be arranged has a corresponding target second floor during the cleaning of the first floor if the cleaning mode indicates that the object is to be arranged after the first floor is cleaned;

[0119] A moving submodule, used for moving the object to be sorted to the cleaned area by the robot arm if the object to be sorted exists on the floor to be cleaned;

[0120] a fourth cleaning submodule, configured to clean the target second floor surface by using the cleaning group, and continue to clean the first floor surface by using the cleaning group;

[0121] The fourth arranging submodule is used to move each of the objects to be arranged from the cleaned area to a corresponding storage area through the robot arm after the first floor cleaning is completed.

[0122] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0123] Fig. 9 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of the present application. Fig. 9 As shown, the self-moving cleaning device 900 of this embodiment includes: at least one processor 90 ( Fig. 9 Only one is shown in the figure), a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, wherein the processor 90 implements the steps of any of the above-mentioned method embodiments when executing the computer program 92.

[0124] The self-moving cleaning device 900 is a household robot. The self-moving cleaning device may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will appreciate that Fig. 9 It is merely an example of the self-moving cleaning device 900 and does not constitute a limitation on the self-moving cleaning device 900. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0125] The processor 90 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0126] The memory 91 can be the internal storage unit of the self-mobile cleaning device 900 in some embodiments, such as the hard disk or memory of the self-mobile cleaning device 900. The memory 91 can also be the external storage device of the self-mobile cleaning device 900 in other embodiments, such as the plug-in hard disk equipped on the self-mobile cleaning device 900, the smart memory card (Smart Media Card, SMC), the secure digital (Secure Digital, SD) card, the flash card (FlashCard) etc. Further, the memory 91 can also include both the internal storage unit of the self-mobile cleaning device 900 and the external storage device. The memory 91 is used to store operating systems, applications, boot loaders (BootLoader), data and other programs, such as the program code of the computer program, etc. The memory 91 can also be used to temporarily store data that has been output or is about to be output.

[0127] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0128] An embodiment of the present application provides a computer program product. When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0129] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A cleaning method, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device comprises a cleaning component and a mechanical arm, the cleaning component is used to clean the ground, the mechanical arm is arranged above the self-moving cleaning device and is used to grab or place an object, the method comprises: In response to the cleaning instruction, a cleaning mode of the self-moving cleaning device is obtained; the cleaning mode is used to indicate the order of cleaning the first floor, cleaning the second floor, and arranging the objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned; According to the cleaning mode, the self-moving cleaning device is controlled to clean the floor and arrange objects.

2. The method according to claim 1, characterized in that According to the cleaning mode, controlling the self-moving cleaning device to clean the floor and arrange objects includes: If the cleaning mode indicates to arrange the objects before cleaning the first floor, patrol the floor to be cleaned and detect whether there is an object to be arranged on the floor to be cleaned, and the object to be arranged has a corresponding target second floor; If the object to be sorted exists on the floor to be cleaned, the object to be sorted is moved to a corresponding storage area by the robotic arm; After each of the objects to be sorted is moved to the corresponding storage area, the first floor and each of the target second floors are cleaned by the cleaning assembly.

3. The method according to claim 1, characterized in that According to the cleaning mode, controlling the self-moving cleaning device to clean the floor and arrange objects includes: If the cleaning mode indicates to arrange objects during the process of cleaning the first floor, then during the process of cleaning the first floor, detecting whether the floor to be cleaned has an object to be arranged, and the object to be arranged has a corresponding target second floor; If the object to be sorted exists on the floor to be cleaned, the object to be sorted is moved to a corresponding storage area by the robotic arm; The target second floor is cleaned by the cleaning component; and the first floor is continued to be cleaned by the cleaning component.

4. The method according to claim 1, characterized in that According to the cleaning mode, controlling the self-moving cleaning device to clean the floor and arrange objects includes: If the cleaning mode indicates that objects need to be sorted after the first floor is cleaned, then during the cleaning of the first floor, it is detected whether the floor to be cleaned has an object to be sorted, and the object to be sorted has a corresponding target second floor; If the object to be sorted exists on the floor to be cleaned, after the first floor is cleaned, the object to be sorted is sorted and the target second floor is cleaned.

5. The method according to claim 4, characterized in that The step of arranging the object to be arranged and cleaning the target second ground surface comprises: If the cleaning mode indicates to clean the second floor first and then arrange the objects, the objects to be arranged are moved to the cleaned area, and the target second floor is cleaned by the cleaning component; After each of the target second floors is cleaned, each of the objects to be sorted is moved from the cleaned area to a corresponding storage area.

6. The method according to claim 4, characterized in that The step of arranging objects and cleaning the target second ground surface comprises: If the cleaning mode indicates to first arrange the objects and then clean the second floor, the objects to be arranged are moved to the corresponding storage area by the robot arm; After each of the objects to be sorted is moved to the storage area, each of the target second floors is cleaned by the cleaning assembly.

7. The method according to claim 1, characterized in that According to the cleaning mode, controlling the self-moving cleaning device to clean the floor and arrange objects includes: If the cleaning mode indicates that objects need to be sorted after the first floor is cleaned, then during the cleaning of the first floor, it is detected whether the floor to be cleaned has an object to be sorted, and the object to be sorted has a corresponding target second floor; If the object to be sorted exists on the floor to be cleaned, the object to be sorted is moved to the cleaned area by the robot arm; Clean the target second floor by the cleaning component, and continue to clean the first floor by the cleaning group; After the first floor is cleaned, each of the objects to be sorted is moved from the cleaned area to a corresponding storage area by the robot arm.

8. A cleaning device, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device comprises a cleaning component and a mechanical arm, the cleaning component is used to clean the ground, the mechanical arm is arranged above the self-moving cleaning device, and is used to grab or place an object, the device comprises: A mode acquisition module, for acquiring a cleaning mode of the self-moving cleaning device in response to a cleaning instruction; the cleaning mode is used to indicate the order of cleaning a first floor, cleaning a second floor, and arranging objects; wherein the second floor is the floor covered by the object and the floor within a preset range around the object when the self-moving cleaning device performs initial cleaning, and the first floor and the second floor constitute the floor to be cleaned; The cleaning and arranging module is used to control the self-moving cleaning device to clean the ground and arrange objects according to the cleaning mode.

9. The device according to claim 8, characterized in that The cleaning and finishing module comprises: A first detection submodule is used for patrolling the floor to be cleaned and detecting whether there is an object to be arranged on the floor to be cleaned, if the cleaning mode indicates to arrange the object before cleaning the first floor, and the object to be arranged has a corresponding target second floor; A first arranging submodule, configured to move the object to be arranged to a corresponding storage area by means of the robot arm if the object to be arranged exists on the floor to be cleaned; The first cleaning submodule is used to clean the first floor and each of the target second floors by using the cleaning component after each of the objects to be sorted is moved to the corresponding storage area.

10. The device according to claim 8, characterized in that The cleaning and finishing module comprises: A second detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned during the cleaning of the first floor if the cleaning mode indicates that the object is to be arranged during the cleaning of the first floor, and the object to be arranged has a corresponding target second floor; A second arranging submodule is used for moving the object to be arranged to a corresponding storage area by the robot arm if the object to be arranged exists on the floor to be cleaned; The third cleaning submodule is used to clean the target second floor surface by using the cleaning component; and continue to clean the first floor surface by using the cleaning component.

11. The device according to claim 8, characterized in that The cleaning and finishing module comprises: A third detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned during the cleaning of the first floor if the cleaning mode indicates to arrange the object after the first floor is cleaned, and the object to be arranged has a corresponding target second floor; The third arranging submodule is used for arranging the objects to be arranged and cleaning the target second floor after the first floor is cleaned if the objects to be arranged exist on the floor to be cleaned.

12. The device according to claim 11, characterized in that The third arranging submodule comprises: A first cleaning unit is used for moving the object to be sorted to the cleaned area and cleaning the target second floor by the cleaning component if the cleaning mode indicates to clean the second floor first and then sort the object; The first arranging unit is used to move each of the objects to be arranged from the cleaned area to a corresponding storage area after each of the target second floors is cleaned.

13. The device according to claim 11, characterized in that The step of arranging objects and cleaning the target second ground surface comprises: A second arranging unit, configured to move the objects to be arranged to a corresponding storage area through the robot arm if the cleaning mode indicates to arrange the objects first and then clean the second floor surface; The second cleaning unit is used to clean each of the target second floors through the cleaning assembly after each of the objects to be sorted is moved to the storage area.

14. The device according to claim 8, characterized in that The cleaning and finishing module comprises: A fourth detection submodule is used for detecting whether there is an object to be arranged on the floor to be cleaned, and the object to be arranged has a corresponding target second floor during the cleaning of the first floor if the cleaning mode indicates that the object is to be arranged after the first floor is cleaned; A moving submodule, used for moving the object to be sorted to the cleaned area by the robot arm if the object to be sorted exists on the floor to be cleaned; a fourth cleaning submodule, configured to clean the target second floor surface by using the cleaning group, and continue to clean the first floor surface by using the cleaning group; The fourth arranging submodule is used to move each of the objects to be arranged from the cleaned area to a corresponding storage area through the robot arm after the first floor cleaning is completed.

15. A self-moving cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The self-moving cleaning device includes a cleaning component and a robotic arm, the cleaning component is used for floor cleaning, the robotic arm is used for grabbing or placing objects, the robotic arm is arranged on the cleaning component, the cleaning component is used to drive the robotic arm to move, and the processor implements the method described in any one of claims 1-7 when executing the computer program.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

17. A computer program product, characterized in that When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device is enabled to perform the method according to any one of claims 1 to 7.

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