Cleaning equipment control method and device, program product, medium and cleaning equipment

Abstract

The invention discloses a cleaning equipment control method and device, a program product, a medium and cleaning equipment, the cleaning equipment is provided with a mechanical arm, the mechanical arm is provided with a pressure detection device, and the method comprises the steps that a pressure signal detected by the pressure detection device is obtained, the pressure signal is used for reflecting the pressure state of the pressure detection device; and the action state of the mechanical arm is controlled based on the pressure signal, wherein the action state comprises an action executing state, an action stopping state and an action terminating state. Through the technical scheme provided by the invention, the safety of the mechanical arm in the cleaning equipment in the task execution process can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment control, and in particular, relates to a cleaning equipment control method, device, program product, medium and cleaning equipment. Background Art

[0002] Cleaning equipment (such as sweepers and mops) has been widely used in family life today. It can complete housework on behalf of users, which brings great convenience to users. At present, there are cleaning equipment models equipped with robotic arms. Cleaning equipment equipped with robotic arms can perform tasks including complex cleaning actions, housework actions, and obstacle crossing actions, thereby enhancing the working ability of the cleaning equipment. However, in the process of performing tasks, dangerous situations may occur such as the robotic arm colliding with or clamping the user or object, causing damage to the user, the object, and the robotic arm itself. Based on this, how to improve the safety of the robotic arm in the cleaning equipment during the performance of tasks is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a cleaning equipment control method, device, program product, medium and cleaning equipment, which can improve the safety of the robot arm in the cleaning equipment during the execution of tasks at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to a first aspect of an embodiment of the present application, a cleaning equipment control method is provided, wherein the cleaning equipment is provided with a robotic arm, and the robotic arm is provided with a pressure detection device, the method comprising: obtaining a pressure signal detected by the pressure detection device, wherein the pressure signal is used to reflect the pressure state of the pressure detection device; and controlling the action state of the robotic arm based on the pressure signal, wherein the action state comprises an action execution state, an action suspension state, and an action termination state.

[0006] In some embodiments of the present application, based on the aforementioned scheme, the action state of the robotic arm is controlled based on the pressure signal, including: determining a target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure; and controlling the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the distribution characteristics include the distribution ratio of the target pressure signal in each time unit, and the control of the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension includes: controlling the action state of the robotic arm based on the distribution ratio corresponding to one or more time units.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the action state of the robotic arm is controlled based on the distribution ratio corresponding to one or more time units, including: if the distribution ratio corresponding to any consecutive first preset number of time units is less than the preset ratio value, then within the next time unit of any consecutive first preset number of time units, the action state of the robotic arm is controlled to be an action execution state.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the action state of the robotic arm is controlled based on the distribution ratio corresponding to one or more time units, including: if the distribution ratio corresponding to any time unit is greater than or equal to a preset ratio value, then within a first preset number of consecutive time units after any time unit, the action state of the robotic arm is controlled to be an action suspended state.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: if the duration of the robot arm in the action suspension state exceeds a preset duration, controlling the action state of the robot arm to be an action termination state.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the method also includes: if the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to a second preset number, then the action state of the robotic arm is controlled to be an action termination state.

[0012] In some embodiments of the present application, based on the aforementioned solution, the number of time units between any adjacent target time units is greater than or equal to the first preset number.

[0013] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if the action state of the robot arm is an action termination state, clearing the accumulated number.

[0014] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: in response to the completion of the task performed by the robotic arm, controlling the action state of the robotic arm to be an action suspension state or an action termination state.

[0015] In some embodiments of the present application, based on the aforementioned scheme, the method also includes: in response to an action execution instruction, or an action suspension instruction, or an action termination instruction triggered by a user, controlling the action state of the robotic arm to an action execution state, or an action suspension state, or an action termination state.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the method also includes: after controlling the action state of the robotic arm to be an action execution state, an action suspension state, or an action termination state, controlling the cleaning device to issue a prompt message of entering an action execution state, an action suspension state, or an action termination state.

[0017] According to the second aspect of an embodiment of the present application, a cleaning equipment control device is provided, wherein the cleaning equipment is provided with a robotic arm, and the robotic arm is provided with a pressure detection device, the device comprising: an acquisition unit, for acquiring a pressure signal detected by the pressure detection device, wherein the pressure signal is used to reflect the pressure state to which the pressure detection device is subjected; and a control unit, for controlling the action state of the robotic arm based on the pressure signal, wherein the action state comprises an action execution state, an action suspension state, and an action termination state.

[0018] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: determine a target pressure signal in the pressure signal, wherein the target pressure signal is used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure; and control the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the distribution characteristics include the distribution ratio of the target pressure signal in each time unit, and the control unit is configured to: control the action state of the robotic arm based on the distribution ratio corresponding to one or more time units.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured as follows: if the distribution proportions corresponding to any consecutive first preset number of time units are less than the preset proportion value, then within the next time unit of any consecutive first preset number of time units, the action state of the robotic arm is controlled to be an action execution state.

[0021] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured as follows: if the distribution proportion corresponding to any time unit is greater than or equal to a preset proportion value, then within a first preset number of consecutive time units after any time unit, the action state of the robotic arm is controlled to be an action suspended state.

[0022] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: if the duration of the robot arm in the action suspension state exceeds a preset duration, control the action state of the robot arm to be an action termination state.

[0023] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured as follows: if the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to a second preset number, the action state of the robotic arm is controlled to be an action termination state.

[0024] In some embodiments of the present application, based on the aforementioned solution, the number of time units between any adjacent target time units is greater than or equal to the first preset number.

[0025] In some embodiments of the present application, based on the aforementioned solution, the control unit is configured to: if the action state of the robotic arm is an action termination state, clear the accumulated number.

[0026] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: in response to the completion of the task performed by the robotic arm, control the action state of the robotic arm to be an action suspension state or an action termination state.

[0027] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: in response to an action execution instruction, an action suspension instruction, or an action termination instruction triggered by a user, control the action state of the robotic arm to an action execution state, an action suspension state, or an action termination state.

[0028] In some embodiments of the present application, based on the aforementioned scheme, the device also includes: a prompt unit, which is used to control the cleaning device to issue a prompt message of entering the action execution state, action suspension state or action termination state after controlling the action state of the robot arm to be the action execution state, action suspension state or action termination state.

[0029] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0030] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0031] According to a fifth aspect of an embodiment of the present application, a cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one computer program instruction is stored in the one or more memories, and the at least one computer program instruction is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0032] Based on the technical solution proposed in the present application, after obtaining the pressure signal detected by the pressure detection device to reflect the pressure state of the pressure detection device, the action state of the mechanical arm can be controlled based on the pressure signal. It can be understood that when the pressure signal reflects that the mechanical arm is subjected to continuous pressure or a large pressure, it means that the mechanical arm is very likely to hit or clamp the user or object. At this time, the mechanical arm can be controlled to power off, that is, its action state is controlled to be an action termination state. When the pressure signal reflects that the mechanical arm is subjected to scattered pressure or a small pressure, it means that the mechanical arm is unlikely to hit or clamp the user or object. At this time, the action state of the mechanical arm can be controlled to be an action execution state. When the pressure signal reflects that the pressure intensity of the mechanical arm is at an intermediate value, it means that the mechanical arm has a certain possibility of hitting or clamping the user or object. At this time, the action state of the mechanical arm can be controlled to be an action suspension state, that is, the mechanical arm is suspended from executing the action, so as to control the action state of the mechanical arm by continuing to analyze the pressure signal. In this way, through this real-time and dynamic action state control mechanism, it can effectively avoid dangerous situations such as collision and clamping of the mechanical arm during the execution of the task, thereby improving the safety of the cleaning equipment during the execution of the task.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0035] Figure 1 A schematic diagram of the structure of a cleaning device in an embodiment of the present application is shown;

[0036] Figure 2 A flow chart showing a cleaning device control method in an embodiment of the present application is shown;

[0037] Figure 3A flow chart showing a cleaning device control method in an embodiment of the present application is shown;

[0038] Figure 4 A block diagram of a cleaning equipment control device in an embodiment of the present application is shown;

[0039] Figure 5 A schematic structural diagram of a cleaning device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0042] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the accompanying drawings, in order to ensure the simplicity of the drawings, some components in the drawings that do not affect the explanation of the technical solution of the present application are adaptively omitted.

[0043] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0044] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0045] In order to make those skilled in the art better understand the present application, firstly, Figure 1 The structure of the cleaning device in one embodiment of the present application is briefly described.

[0046] See also Figure 1 , showing a schematic structural diagram of the cleaning device in an embodiment of the present application.

[0047] In the present application, the cleaning device proposed in the present application may be a sweeper, a mop, or a sweeper-mop all-in-one machine, and the present application does not make any specific limitation on this.

[0048] like Figure 1 As shown, the cleaning equipment proposed in the present application can be a cleaning equipment developed based on the chassis and mechanical arm of a traditional sweeper and mop, and has the function of cleaning the ground and arranging objects on the ground. It can include two moving parts, the upper and lower parts: the lower part of the cleaning equipment is a movable chassis 101 that can move linearly along the x-axis and y-axis directions of the plane, linearly move along the z-axis direction, and rotate along the z-axis direction. The chassis 101 can be wheeled or tracked. A follow-up universal wheel 106 is provided in the middle of the front side of the chassis 101, and an active walking wheel 105 is provided on the left and right sides of the rear side to drive the cleaning equipment to move. Both the follow-up universal wheel 106 and the active walking wheel 105 are provided with servos, which can lift the chassis 101 upward by a certain distance; the upper part of the cleaning equipment is a multi-degree-of-freedom mechanical arm 102, and the end of the mechanical arm 102 away from the chassis 101 is provided with a clamp 103 for clamping cleaning parts or objects. The M1 joint in the mechanical arm 102 can drive the mechanical arm as a whole to rotate left or right (i.e. Figure 1 The rotation direction of the M2 joint is the same as that of the M3 joint and the M4 joint. The M1 joint and the M2 joint are mainly responsible for the robot arm 102 to exit and return to the warehouse. After the robot arm 102 exits the warehouse, the M1 joint and the M2 joint maintain a fixed angle. The M3 joint and the M4 joint are the main active joints, which determine the position of the end gripper 103 of the robot arm in space. The M5 joint is the spin joint of the end gripper 103, which determines the posture of the end gripper 103 of the robot arm. It can be understood that the cleaning equipment performs various tasks through the cooperation of the upper and lower moving parts.

[0049] Generally speaking, a cleaning device with a robotic arm can perform cleaning tasks. When performing ground cleaning tasks, traditional sweeping and mopping machines often encounter many obstacles on the moving route. A sweeping and mopping machine with an obstacle avoidance function will actively avoid obstacles and maintain a certain distance when moving to reduce collisions and scratches. However, this will result in missed sweeping of the bottom of the obstacle and the surrounding ground, resulting in a low cleaning coverage rate of the sweeping and mopping machine in a complex environment with multiple obstacles. Compared with traditional sweeping and mopping machines that can only avoid obstacles on the ground, resulting in large-scale missed sweeping, the cleaning device proposed in this application can achieve actions such as clamping and carrying obstacles with the assistance of a robotic arm to clean the ground at the bottom and around the obstacle position, improve the ground cleaning coverage rate, make the cleaning effect closer to the user's expectations, and improve the user's satisfaction with the ground cleaning function of the cleaning device. The cleaning device with a robotic arm can also realize the object sorting function. Since some objects may be placed or dropped on the ground at the user's home at random, resulting in a messy ground at home, in addition to cleaning the ground, the cleaning device proposed in this application can realize the automatic sorting function of objects. That is, the cleaning device can automatically identify objects on the ground and mark their locations when cleaning the ground, and automatically sort and organize the objects on the ground before or after cleaning the ground, for example, placing slippers at the door, placing toys in the children's room, throwing paper balls in the trash can, etc. In addition, the cleaning device proposed in this application can also realize other housework functions, such as cleaning skirtings, real-time home monitoring, and pet companionship.

[0050] However, when the robot arm is performing tasks, situations that affect safety may occur, such as the robot arm hitting and clamping the user (for example, two adjacent connecting rods in the robot arm clamp the user's hand or pet), or hitting and clamping objects, causing damage to the user, the object, and the robot arm itself. Based on this, the present application proposes a cleaning device and a control method thereof to improve the safety of the robot arm in the cleaning device when performing tasks.

[0051] Continue to refer to Figure 1 The cleaning device proposed in this application may have a pressure detection device 104 on its robot arm 102.

[0052] In one embodiment of the present application, the pressure detection device may be a film pressure trigger switch, which is an electronic component that triggers a circuit by sensing externally applied pressure. Its main components include a flexible film, electrodes, and an elastic support structure. When external pressure acts on the film, the electrodes under the film contact or change its electrical properties, thereby closing or opening the switch. In other embodiments of the present application, the pressure detection device may also be a piezoelectric sensor, a strain gauge sensor, etc., which can also detect the pressure exerted on the robotic arm when performing a task. Specifically, the present application does not impose too many restrictions on the type of the pressure detection device.

[0053] Reference Figure 2 , which shows a flow chart of a cleaning device control method in an embodiment of the present application. The method can be specifically performed by a device having a computing and processing function (e.g. Figure 1 cleaning equipment shown) to perform, refer to Figure 2 As shown, the cleaning equipment control method at least includes steps 210 to 220, which are described in detail as follows:

[0054] In step 210, a pressure signal detected by the pressure detection device is acquired, where the pressure signal is used to reflect the pressure state of the pressure detection device.

[0055] In the present application, the pressure signal may be a discrete pressure signal (ie, a pressure signal is collected at each set time interval) or a continuous pressure signal (ie, a pressure signal is collected continuously).

[0056] In the present application, the pressure signal can be used to reflect the pressure state of the pressure detection device, and the pressure signal can be a switch closing signal triggered by the membrane pressure trigger switch when it is subjected to external pressure, and a switch opening signal triggered when it is not subjected to external pressure. It can also be an electrical signal detected by a piezoelectric sensor when it is subjected to external pressure. Specifically, the present application does not make too many restrictions on this.

[0057] In the present application, by acquiring the pressure signal detected by the pressure detection device and used to reflect the pressure state of the pressure detection device, a data reference can be provided for determining whether the robotic arm hits or clamps a user or an object. For example, when the detection is continuously subjected to external pressure, it can indicate that the robotic arm may have encountered greater resistance during the execution of the action, such as the robotic arm hitting or clamping a user or an object. For another example, when the detection is subjected to greater external pressure, it can also indicate that the robotic arm may have encountered greater resistance during the execution of the action.

[0058] In step 220, the action state of the robot arm is controlled based on the pressure signal, and the action state includes an action execution state, an action suspension state, and an action termination state.

[0059] In the present application, the action state may include an action execution state, an action suspension state, and an action termination state. Among them, in the action execution state, the robot arm can perform the corresponding action normally. In the action suspension state, the robot arm can pause the current action and continue to analyze the pressure signal so that the uncertainty reflected by the pressure signal is resolved, or after further obtaining the relevant control instructions, it switches to the corresponding action state. In the action termination state, the robot arm can stop the current action to prevent possible safety problems. If you want to re-enter the action execution state, the user needs to actively trigger the corresponding control instruction.

[0060] In the present application, after obtaining the pressure signal detected by the pressure detection device to reflect the pressure state of the pressure detection device, the action state of the mechanical arm can be controlled based on the pressure signal. It is understandable that when the pressure signal reflects that the mechanical arm is subjected to continuous pressure or a large pressure, it means that the mechanical arm is very likely to hit or clamp the user or object. At this time, the mechanical arm can be controlled to power off, that is, its action state is controlled to be an action termination state. When the pressure signal reflects that the mechanical arm is subjected to scattered pressure or a small pressure, it means that the mechanical arm is unlikely to hit or clamp the user or object. At this time, the action state of the mechanical arm can be controlled to be an action execution state. When the pressure signal reflects that the pressure intensity of the mechanical arm is at an intermediate value, it means that the mechanical arm has a certain possibility of hitting or clamping the user or object. At this time, the action state of the mechanical arm can be controlled to be an action suspension state, that is, the mechanical arm is suspended from executing the action, so as to control the action state of the mechanical arm by continuing to analyze the pressure signal. In this way, through this real-time and dynamic action state control mechanism, it can effectively avoid dangerous situations such as collision and clamping of the mechanical arm during the execution of the task, thereby improving the safety of the cleaning equipment during the execution of the task.

[0061] In some embodiments of the present application, Figure 1 Step 220, i.e., controlling the action state of the robot arm based on the pressure signal, can be performed according to the following steps 221 to 222:

[0062] Step 221, determining a target pressure signal in the pressure signal, wherein the target pressure signal is used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure.

[0063] Step 222: Control the motion state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0064] In the present application, the target pressure signal in the pressure signal can be used to reflect that the pressure on the pressure detection device is greater than the preset pressure, for example, a switch closure signal triggered by a membrane pressure trigger switch, or a voltage value whose voltage intensity detected by a piezoelectric sensor is greater than a preset voltage intensity, or a pressure value directly detected by other pressure sensors is greater than a preset pressure value. It is understandable that the pressure signals other than the target pressure signal in the pressure signal reflect that the pressure on the pressure detection device is less than or equal to the preset pressure.

[0065] In the present application, after determining the target pressure signal in the pressure signal, the action state of the robot arm can be controlled based on the distribution characteristics of the target pressure signal in the time dimension.

[0066] In the present application, the distribution characteristics of the target pressure signal in the time dimension may include multiple aspects. For example, the distribution ratio, duration, occurrence frequency, intensity change, etc. of the target pressure signal may be considered. Specifically, the present application does not make too many restrictions on this.

[0067] This application introduces the concept of target pressure signal and considers its distribution characteristics in the time dimension to achieve refined control of the action state of the robot arm. In this way, not only can potential dangerous situations be identified, but also corresponding control decisions can be made according to the duration and frequency of the danger. For example, it is possible to distinguish between a short-term pressure increase and a continuous high-pressure state, so that different countermeasures can be taken. Compared with simple threshold judgment, this analysis method based on the time dimension can control the action state of the robot arm more flexibly and intelligently, effectively improving the safety of cleaning equipment during the execution of tasks.

[0068] Next, the present application will introduce the above step 222 with a specific embodiment, that is, introduce the specific details of the step of controlling the motion state of the robot arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0069] In a specific embodiment of the present application, the distribution feature may include the distribution ratio of the target pressure signal in each time unit. For example, the time length of a time unit may be 100 milliseconds, and the pressure signal may be a pressure signal collected every 1 millisecond. Then the distribution ratio corresponding to a time unit may be the ratio of the number of target pressure signals reflecting that the pressure on the pressure detection device is greater than the preset pressure among the 100 pressure signals acquired within 100 milliseconds. That is, a time unit includes 100 pressure signals. If there are 48 target pressure signals (i.e., pressure signals with a pressure greater than the preset pressure) in these 100 pressure signals, then the distribution feature may be that the distribution ratio is 48%. If there are 92 target pressure signals in these 100 pressure signals, then the distribution feature may be that the distribution ratio is 92%. It can be understood that if the distribution ratio corresponding to a time unit is higher, then the possibility of the robot arm continuously colliding, clamping the user or object, etc. in the time unit is higher. Therefore, a preset proportion value can be set (for example, 20%, 50%, or 90%. Specifically, the preset proportion value can be set according to actual needs, and the present application does not impose too many restrictions on this). When the distribution proportion exceeds the preset proportion value, it is considered that the robotic arm is continuously hit or clamped to the user or object. When the distribution proportion does not exceed the preset proportion value, it is considered that the robotic arm is not continuously hit or clamped to the user or object.

[0070] In this embodiment, by introducing the technical feature of distribution ratio, it is possible to avoid misjudgment that the robotic arm is in an unsafe state (the robotic arm is continuously hit or clamped by a user or object) due to the shaking of the robotic arm or the accidental touching of the robotic arm, thereby ensuring that the pressure signal can accurately reflect the actual state of the robotic arm being subjected to external force when performing a task, and ensuring that the motion state control of the robotic arm when performing a task can accurately and reasonably respond to changes in external force, thereby improving the safety and effectiveness of the robotic arm in performing tasks.

[0071] In this embodiment, the control of the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension may be based on the distribution proportion corresponding to one or more time units to control the action state of the robotic arm. Specifically, it may be performed according to the following step 2221:

[0072] Step 2221, if the distribution proportions corresponding to any consecutive first preset number of time units are all less than the preset proportion value, then in the next time unit of any consecutive first preset number of time units, the action state of the robot arm is controlled to be the action execution state.

[0073] In this embodiment, if the distribution ratios corresponding to the first preset number of consecutive time units are all less than the preset ratio value, the action state of the robot arm is controlled to be the action execution state in the next time unit. For example, if the distribution ratios corresponding to each time unit from the 1st time unit to the 30th time unit are all less than the preset ratio value, it can be considered that the robot arm is in a safe state from the 1st time unit to the 30th time unit, and there is no situation where the robot arm hits or clamps the user or object. In this case, the action state of the robot arm in the 31st time unit can be controlled to be the action execution state. It can be understood that even if a short-term pressure abnormality occurs in a certain time unit (the time unit before the first time unit), the robot arm can continue to perform the action as long as it does not affect the overall safety state of 30 consecutive time units.

[0074] In this embodiment, during the process of the robotic arm performing a task, by setting a first preset number of time units and a preset proportion value, it is possible to timely determine whether the working state of the robotic arm is safe, and continue to perform the task in a safe state, thereby ensuring the safety of the robotic arm during the task execution.

[0075] In this embodiment, the controlling the action state of the robotic arm based on the distribution proportion corresponding to one or more time units may be performed according to the following step 2222:

[0076] Step 2222: If the distribution proportion corresponding to any time unit is greater than or equal to a preset proportion value, then within a first preset number of consecutive time units after the any time unit, the action state of the robot arm is controlled to be an action suspension state.

[0077] In this embodiment, if the distribution ratio corresponding to any time unit is greater than or equal to the preset ratio value, the action state of the robot arm can be controlled to be in the action suspension state within the first preset number of consecutive time units thereafter. For example, if the distribution ratio corresponding to the first time unit is greater than or equal to the preset ratio value, it can be considered that within the first time unit, there is a certain possibility that the robot arm will collide with or clamp the user or object. In this case, the action state of the robot arm can be controlled to be in the action suspension state within the next 30 consecutive time units (i.e., within the time from the second time unit to the 31st time unit), that is, the robot arm can be suspended from executing the action, so as to control the action state of the robot arm by continuing to analyze the pressure signal. If the distribution ratio corresponding to any time unit within the next 30 consecutive time units is greater than or equal to the preset ratio value, then return to execute the above step 2222.

[0078] In this embodiment, during the process of the robot arm performing a task, by analyzing the distribution ratio corresponding to each time unit, when the distribution ratio corresponding to any time unit is greater than or equal to the preset ratio value, the action state of the robot arm is controlled to be an action suspension state within the first preset number of consecutive time units after the any time unit. Possible dangerous situations can be avoided, and by further analyzing the pressure signals of subsequent time units, it can be decided whether to resume the action of the robot arm, or to continue to maintain the suspension action, or even terminate the action. In this way, in this embodiment, potential dangers can be detected more accurately and responded to in a timely manner, thereby avoiding dangerous situations such as collisions and pinching that may occur in the process of the robot arm performing tasks, and significantly improving the safety of the robot arm in the process of performing tasks.

[0079] In this embodiment, the following step 2223 may also be performed:

[0080] Step 2223: If the duration of the robot arm being in the action suspension state exceeds a preset duration, the action state of the robot arm is controlled to be the action termination state.

[0081] In this embodiment, if the duration of the mechanical arm in the action suspension state exceeds the preset duration, the action state of the mechanical arm is controlled to be the action termination state. In practical applications, a timer can be set to monitor the duration of the mechanical arm in the action suspension state. When the duration exceeds the preset duration, the timer triggers a control signal to switch the action state of the mechanical arm to the action termination state. Specifically, the preset duration can be adjusted according to the actual application scenario. For example, it can be set to different time lengths such as 10 seconds, 20 seconds or 30 seconds to ensure that the mechanical arm can be effectively prevented from not resuming the action execution state for a long time in different working environments. For example, if the mechanical arm is controlled to the action termination state for 10 consecutive seconds, it means that the mechanical arm is continuously judged to be likely to collide with, clamp the user or object, etc. within 10 seconds. In this case, the action state of the mechanical arm can be controlled to be the action termination state.

[0082] In the present application, after controlling the action state of the robot arm to be the action termination state, the cleaning device can be further controlled to issue an error prompt.

[0083] Based on the technical solution in this embodiment, the potential safety hazard caused by the robotic arm not resuming action for a long time in the suspended state can be eliminated to a certain extent, the problem of the robotic arm not resuming action for a long time in the suspended state is solved, and the efficient operation and safety of the cleaning equipment are ensured.

[0084] In this embodiment, the following step 2224 may also be performed:

[0085] Step 2224: If the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to a second preset number, the action state of the robot arm is controlled to be an action termination state.

[0086] In this embodiment, if the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to the second preset number, the action state of the robot arm is controlled to be an action termination state. For example, the robot arm is controlled to be an action termination state 3 times (the second preset number can also be 4 times, 5 times. Specifically, the second preset number can be set according to actual needs, and the present application does not make too many restrictions on this), which increases the possibility of the robot arm colliding with or clamping the user or object. In this case, the action state of the robot arm can be controlled to be an action termination state. In this way, it can be ensured that the robot arm can stop the action in time under continuous high pressure, thereby avoiding potential dangerous situations and improving the safety of the robot arm in the process of performing tasks.

[0087] In the present application, after controlling the action state of the robot arm to be the action termination state, the cleaning device can be further controlled to issue an error prompt.

[0088] By introducing the technical features of a preset proportion value and a second preset number, the present application can monitor the distribution proportion of the pressure signal in real time during the action of the robot arm, and terminate the action of the robot arm in a timely manner under high pressure. This control mechanism not only improves the safety of the robot arm in the process of performing tasks and avoids potential dangerous situations, but also improves the intelligence level of the cleaning equipment and the user experience. Compared with the prior art, the present application provides a more accurate and reliable robot arm safety control method.

[0089] In this embodiment, the number of time units between any adjacent target time units may be greater than or equal to the first preset number.

[0090] In this embodiment, the number of time units between any adjacent target time units is greater than or equal to the first preset number. The first preset number can be achieved by setting a threshold value, which can be adjusted according to the specific application scenario and working environment of the robot arm. For example, the first preset number can be set to 30 time units, that is, after the target time unit with a distribution ratio greater than or equal to the preset ratio value appears, if the target time unit with a distribution ratio greater than or equal to the preset ratio value appears again after 30 consecutive time units, the target time unit number will be accumulated, and if the target time unit with a distribution ratio greater than or equal to the preset ratio value appears again within 30 consecutive time units, the target time unit number will not be accumulated. The advantage of doing this is that it can effectively avoid misjudgments caused by short-term continuous pressure anomalies or interference signals, and ensure the accuracy and reliability of controlling the robot arm to enter the action termination state, thereby ensuring the stable operation of the robot arm in a complex working environment.

[0091] In this embodiment, the following step 2225 may also be performed:

[0092] Step 2225: if the action state of the robot arm is the action termination state, the accumulated number is cleared.

[0093] In this embodiment, when the action state of the robot arm is the action termination state, by clearing the accumulated number of target time units, it can be ensured that when the robot arm restarts to perform a task, the accumulated number of target time units is calculated from zero. This can avoid the influence of the action state of the robot arm due to the previous accumulated number, and ensure that the robot arm can accurately judge and control the action state according to the current pressure signal during the re-execution of the task or the execution of a new task.

[0094] In this embodiment, the following step 2226 may also be performed:

[0095] Step 2226, in response to the completion of the task performed by the robotic arm, the action state of the robotic arm is controlled to be an action suspension state or an action termination state.

[0096] When the robot arm completes the task, for example, after finishing the objects, the action state of the robot arm is automatically switched to the action suspension state or the action termination state. Among them, controlling the action state of the robot arm to the action suspension state can facilitate the subsequent action state control of the robot arm; controlling the action state of the robot arm to the action termination state can save energy consumption of the cleaning equipment and ensure that the robot arm remains in a safe state.

[0097] In the present application, after controlling the action state of the robotic arm to be an action execution state, an action suspension state, or an action termination state, the cleaning device is controlled to issue a prompt message of entering the action execution state, an action suspension state, or an action termination state, thereby improving the user experience.

[0098] In order to make those skilled in the art better understand this embodiment, Figure 3 , described with a specific embodiment.

[0099] See also Figure 3 , shows a flow chart of a cleaning device control method in an embodiment of the present application. It includes steps 301 to 317:

[0100] Step 301, start executing the task.

[0101] Step 302, defining a first cumulative number a=0 of target time units whose distribution proportion is greater than or equal to a preset proportion value.

[0102] Step 303, determine whether the distribution ratio of the target pressure signal in the current time unit is greater than or equal to a preset ratio value? If yes, execute step 305, if no, execute step 304.

[0103] Step 304 , controlling the action state of the robot arm of the cleaning device in the next time unit to be the action execution state, and jumping to step 315 .

[0104] Step 305, accumulating the first cumulative number a=a+1.

[0105] Step 306, determine whether a<3? If yes, execute step 307, if no, execute step 316.

[0106] Step 307 , controlling the action state of the robot arm of the cleaning device in the next time unit to be the action suspension state, and defining a second accumulated number b=0 of the target time units whose distribution proportion is greater than or equal to the preset proportion value.

[0107] Step 308, define the current time t=0, and start timing.

[0108] Step 309 , determine whether the distribution ratio of the target pressure signal in the current time unit is greater than or equal to a preset ratio value? If yes, execute step 313 ; if no, execute step 310 .

[0109] Step 310, accumulating a second accumulated number b=b+1.

[0110] Step 311, determine whether b≥30? If yes, execute step 312, if no, return to execute step 309.

[0111] Step 312 , determining whether the robot arm of the cleaning device can enter the action execution state in the next time unit, and jumping to step 315 .

[0112] Step 313, redefine the second accumulated number b=0.

[0113] Step 314: Is t>100 time units? If yes, execute step 316; if no, return to execute step 309.

[0114] Step 315, determine whether the task is completed. If yes, execute step 317, if no, return to execute step 303.

[0115] Step 316 , controlling the action state of the robot arm of the cleaning device in the subsequent time unit to be an action termination state, and executing step 317 .

[0116] Step 317, the task is completed.

[0117] Next, the present application will introduce the above step 222 in combination with some other specific embodiments, that is, introduce the details of the step of controlling the motion state of the robot arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0118] In a specific embodiment of the present application, the distribution feature may include the distribution ratio of the target pressure signal in each time unit, and the control of the action state of the robot arm based on the distribution feature of the target pressure signal in the time dimension may be performed according to the following steps 231 to 234:

[0119] Step 231, in any third consecutive preset number of time units, determine the number of target time units whose distribution ratio is greater than or equal to the preset ratio value.

[0120] Step 232: If the number proportion value is less than or equal to the first preset number proportion value, the action state of the robot arm in the next time unit of any consecutive third preset number of time units is controlled to be an action execution state.

[0121] Step 233: If the number proportion value is greater than the first preset number proportion value and less than the second preset number proportion value, the action state in the next time unit of any consecutive third preset number of time units is the action suspension state.

[0122] Step 234: if the number proportion value is greater than or equal to the second preset number proportion value, the action state of the robot arm in the next time unit of any consecutive third preset number of time units is controlled to be an action termination state.

[0123] In this embodiment, for example, assuming that the third preset number is 10 time units, the first preset number accounts for 30%, the second preset number accounts for 70%, and the preset account for 50%.

[0124] Further, assuming that within the 1st time unit to the 10th time unit, there are 3 time units corresponding to a distribution ratio greater than or equal to the preset ratio of 50%, and 7 time units corresponding to a distribution ratio greater than or equal to the preset ratio of 50%, that is, the number of target time units in the 1st time unit to the 10th time unit accounts for 30%, which is less than or equal to the first preset number ratio of 30%, then in the 11th time unit, the action state of the robotic arm is controlled to be the action execution state; for example, within the 2nd time unit to the 11th time unit, there are 4 time units corresponding to a distribution ratio greater than or equal to the preset ratio of 50%, and 6 time units corresponding to a distribution ratio greater than or equal to the preset ratio of 50%, that is, the number of target time units in the 2nd time unit to the 11th time unit accounts for 40%, which is greater than the first preset number ratio of 30% and less than the second preset number ratio of 70%, then in the 12th time unit, the action state of the robotic arm is controlled to be the action suspension state.

[0125] Based on the technical solution in this embodiment, the action state of the robotic arm can be flexibly adjusted according to the real-time distribution characteristics of the pressure signal to ensure the accuracy and safety of the operation.

[0126] In a specific embodiment of the present application, the distribution feature may include the distribution ratio of the target pressure signal in each time unit, and the control of the action state of the robot arm based on the distribution feature of the target pressure signal in the time dimension may be performed according to the following steps 241 to 244:

[0127] Step 241, determining the continuous number of target time units whose distribution proportions are greater than or equal to a preset proportion value.

[0128] Step 242: If the continuous number is less than or equal to the first preset continuous number, the action state of the robot arm in the next time unit of the current time unit is controlled to be an action execution state.

[0129] Step 243: If the continuous number is greater than the first preset continuous number and less than the second preset continuous number, the action state of the robot arm in the next time unit of the current time unit is controlled to be an action suspension state.

[0130] Step 244: if the continuous number is greater than or equal to the second preset continuous number, the action state of the robot arm in the next time unit of the current time unit is controlled to be an action termination state.

[0131] In this embodiment, for example, the first preset continuous number is 2, the second preset continuous number is 4, and the preset proportion is 60%.

[0132] Further, assuming that in the first time unit to the eighth time unit, the distribution ratios are 50%, 55%, 70%, 40%, 62%, 65%, 75%, and 80% respectively. According to the technical solution in this implementation, it can be determined that:

[0133] In the second time unit, the action state of the robot arm is controlled to be the action execution state (that is, the distribution ratio is greater than or equal to 60% of the target time units and the number of consecutive times is 0<2);

[0134] In the third time unit, the action state of the robot arm is controlled to be the action execution state (i.e., the continuous number 0 < 2 is satisfied);

[0135] In the fourth time unit, the action state of the robot arm is controlled to be the action execution state (i.e., the continuous number 1 < 2 is satisfied);

[0136] In the fifth time unit, the action state of the robot arm is controlled to be the action execution state (i.e., the continuous number 0 < 2 is satisfied);

[0137] In the sixth time unit, the action state of the robot arm is controlled to be the action execution state (i.e., the continuous number 1 < 2 is satisfied);

[0138] In the 7th time unit, the action state of the robot arm is controlled to be the action execution state (i.e., the continuous number 2=2 is satisfied);

[0139] In the 8th time unit, the action state of the robot arm is controlled to be the action suspension state (i.e., it satisfies 2<continuous number 3<4);

[0140] In the 9th time unit, the action state of the robot arm is controlled to be the action termination state (ie, the continuous number 4=4 is satisfied).

[0141] Based on the technical solution in this embodiment, the action state of the robotic arm can be dynamically adjusted according to the consecutive number of target time units whose distribution proportions are greater than or equal to the preset proportion value, thereby achieving accurate and safe control of the robotic arm operation.

[0142] Based on the above-mentioned specific embodiments of the present application, by introducing the concept of target pressure signal and considering its distribution characteristics in the time dimension, refined control of the action state of the robot arm is achieved. This solution can not only identify potential dangerous situations, but also make corresponding control decisions based on the duration of the danger or the frequency of the danger, so as to take different countermeasures. Compared with simple threshold judgment, this analysis method based on the time dimension can control the action state of the robot arm more flexibly and intelligently, effectively improving the safety of the cleaning equipment in the process of performing tasks.

[0143] In this application, the following step 151 may also be performed:

[0144] Step 151, in response to an action execution instruction, an action suspension instruction, or an action termination instruction triggered by a user, the action state of the robot arm is controlled to be an action execution state, an action suspension state, or an action termination state.

[0145] In this application, through the instructions triggered by the user, the robot arm can adjust its action state according to different instructions to ensure that it can respond to the user's needs in a timely manner during the execution of the task. In this way, by allowing the user to directly control the action state of the robot arm, the potential safety hazards that may arise during the execution of the task by the robot arm can be solved. That is, the user can issue instructions in time to suspend or terminate the action of the robot arm according to the actual situation to prevent the robot arm from causing harm to the user, object or itself.

[0146] Furthermore, the user can trigger the command in a variety of ways, for example, through a physical button on the cleaning device, a touch screen, or voice control. As a preferred embodiment, the user can monitor the action state of the robotic arm in real time through the touch screen interface while the robotic arm is performing a task, and issue corresponding commands when necessary. In addition, an early warning mechanism can also be set up to automatically prompt the user to intervene when a dangerous situation is detected in the robotic arm. As a result, the user can more flexibly control the action state of the robotic arm, avoid the robotic arm from causing harm to the user, objects, or itself during the execution of the task, ensure the safety of the robotic arm during the execution of the task, thereby improving the safety of the cleaning equipment and user experience.

[0147] Based on the technical solution proposed in the present application, after obtaining the pressure signal detected by the pressure detection device to reflect the pressure state of the pressure detection device, the action state of the mechanical arm can be controlled based on the pressure signal. It can be understood that when the pressure signal reflects that the mechanical arm is subjected to frequent pressure or high pressure, it means that the mechanical arm is very likely to hit or clamp the user or object. At this time, the mechanical arm can be controlled to power off, that is, its action state is controlled to be the action termination state. When the pressure signal reflects that the mechanical arm is subjected to scattered pressure or low pressure, it means that the mechanical arm is unlikely to hit or clamp the user or object. At this time, the action state of the mechanical arm can be controlled to be the action execution state. When the pressure signal reflects that the intensity of the pressure on the mechanical arm is at an intermediate value, it means that the mechanical arm has a certain possibility of hitting or clamping the user or object. At this time, the action state of the mechanical arm can be controlled to be the action suspension state, that is, the mechanical arm is suspended from executing the action, so as to control the action state of the mechanical arm by continuing to analyze the pressure signal. In this way, through this real-time and dynamic action state control mechanism, it can effectively avoid dangerous situations such as collision and clamping of the mechanical arm during the execution of the task, thereby improving the safety of the cleaning equipment during the execution of the task.

[0148] The following describes an apparatus embodiment of the present application, which can be used to execute the cleaning equipment control method in the above embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above embodiment of the cleaning equipment control method of the present application.

[0149] See also Figure 4 , shows a block diagram of a cleaning equipment control device in an embodiment of the present application, wherein the cleaning equipment is provided with a robotic arm, and the robotic arm is provided with a pressure detection device.

[0150] like Figure 4 As shown, the cleaning equipment control device 400 according to the embodiment of the present application includes: an acquisition unit 401 and a control unit 402.

[0151] Among them, the acquisition unit 401 is used to obtain the pressure signal detected by the pressure detection device, and the pressure signal is used to reflect the pressure state of the pressure detection device; the control unit 402 is used to control the action state of the robotic arm based on the pressure signal, and the action state includes an action execution state, an action suspension state, and an action termination state.

[0152] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured to: determine a target pressure signal in the pressure signal, wherein the target pressure signal is used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure; and control the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0153] In some embodiments of the present application, based on the aforementioned scheme, the distribution characteristics include the distribution ratio of the target pressure signal in each time unit, and the control unit 402 is configured to: control the action state of the robotic arm based on the distribution ratio corresponding to one or more time units.

[0154] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured as follows: if the distribution proportions corresponding to any consecutive first preset number of time units are less than the preset proportion value, then within the next time unit of any consecutive first preset number of time units, the action state of the robotic arm is controlled to be an action execution state.

[0155] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured as follows: if the distribution proportion corresponding to any time unit is greater than or equal to a preset proportion value, then within a first preset number of consecutive time units after any time unit, the action state of the robotic arm is controlled to be an action suspended state.

[0156] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured as follows: if the duration of the robot arm in the action suspension state exceeds a preset duration, the action state of the robot arm is controlled to be an action termination state.

[0157] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured as follows: if the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to a second preset number, the action state of the robotic arm is controlled to be an action termination state.

[0158] In some embodiments of the present application, based on the aforementioned solution, the number of time units between any adjacent target time units is greater than or equal to the first preset number.

[0159] In some embodiments of the present application, based on the aforementioned solution, the control unit 402 is configured to: if the action state of the robot arm is an action termination state, clear the accumulated number.

[0160] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured to: in response to the completion of the task performed by the robotic arm, control the action state of the robotic arm to be an action suspension state or an action termination state.

[0161] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured to: in response to an action execution instruction, an action suspension instruction, or an action termination instruction triggered by a user, control the action state of the robotic arm to an action execution state, an action suspension state, or an action termination state.

[0162] In some embodiments of the present application, based on the aforementioned scheme, the device further includes: a prompt unit, which is used to control the cleaning device to issue a prompt message of entering the action execution state, the action suspension state, or the action termination state after controlling the action state of the robot arm to be the action execution state, the action suspension state, or the action termination state. Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the cleaning device control method as described above.

[0163] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0164] Based on the same inventive concept, the present application also provides a cleaning device, referring to Figure 5 , shows a schematic diagram of the structure of the cleaning device in an embodiment of the present application, wherein the cleaning device includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502, and when the processor 502 executes the computer program, the cleaning device control method as described above is implemented.

[0165] Among them, Figure 5 In the embodiment of the present invention, a bus architecture (represented by bus 500) is shown, which may include any number of interconnected buses and bridges, and bus 500 links various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 may be used to store data used by processor 502 when performing operations.

[0166] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0167] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0168] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0169] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0170] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device is provided with a mechanical arm, and the mechanical arm is provided with a pressure detection device. The method comprises: Acquire a pressure signal detected by the pressure detection device, wherein the pressure signal is used to reflect the pressure state of the pressure detection device; The action state of the robot arm is controlled based on the pressure signal, and the action state includes an action execution state, an action suspension state, and an action termination state.

2. The method according to claim 1, characterized in that: The controlling the action state of the robot arm based on the pressure signal comprises: Determine a target pressure signal in the pressure signal, wherein the target pressure signal is used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure; Based on the distribution characteristics of the target pressure signal in the time dimension, the action state of the robot arm is controlled.

3. The method according to claim 2, characterized in that The distribution feature includes the distribution ratio of the target pressure signal in each time unit, and the control of the action state of the robot arm based on the distribution feature of the target pressure signal in the time dimension includes: Based on the distribution proportion corresponding to one or more time units, the action state of the robotic arm is controlled.

4. The method according to claim 2, characterized in that: The controlling the motion state of the robotic arm based on the distribution proportion corresponding to one or more time units includes: If the distribution proportions corresponding to any consecutive first preset number of time units are all less than the preset proportion value, then in the next time unit of the any consecutive first preset number of time units, the action state of the robot arm is controlled to be the action execution state.

5. The method according to claim 2, characterized in that: The controlling the motion state of the robotic arm based on the distribution proportion corresponding to one or more time units includes: If the distribution proportion corresponding to any time unit is greater than or equal to a preset proportion value, then within a first preset number of consecutive time units after the any time unit, the action state of the robot arm is controlled to be an action suspension state.

6. The method according to claim 5, characterized in that The method further comprises: If the duration of the robot arm being in the action suspension state exceeds a preset duration, the action state of the robot arm is controlled to be the action termination state.

7. The method according to claim 5, characterized in that The method further comprises: If the cumulative number of target time units whose distribution proportion is greater than or equal to the preset proportion value is greater than or equal to a second preset number, the action state of the robot arm is controlled to be an action termination state.

8. The method according to claim 7, characterized in that The number of time units between any adjacent target time units is greater than or equal to the first preset number.

9. The method according to claim 7, characterized in that: The method further comprises: If the action state of the robot arm is the action termination state, the accumulated number is cleared.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: In response to the completion of the task performed by the robot arm, the action state of the robot arm is controlled to be an action suspension state or an action termination state.

11. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: In response to an action execution instruction, an action suspension instruction, or an action termination instruction triggered by a user, the action state of the robotic arm is controlled to be an action execution state, an action suspension state, or an action termination state.

12. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: After controlling the action state of the robot arm to be an action execution state, an action suspension state, or an action termination state, the cleaning device is controlled to issue a prompt message of entering the action execution state, the action suspension state, or the action termination state.

13. A cleaning equipment control device, characterized in that: The cleaning device is provided with a mechanical arm, and the mechanical arm is provided with a pressure detection device, and the device comprises: an acquisition unit, used for acquiring a pressure signal detected by the pressure detection device, wherein the pressure signal is used for reflecting a pressure state of the pressure detection device; A control unit is used to control the action state of the robot arm based on the pressure signal, wherein the action state includes an action execution state, an action suspension state, and an action termination state.

14. The device according to claim 13, characterized in that The control unit is configured to: determine a target pressure signal in the pressure signal, wherein the target pressure signal is used to reflect that the pressure applied to the pressure detection device is greater than a preset pressure; and control the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

15. The device according to claim 14, characterized in that The distribution feature includes a distribution ratio of the target pressure signal in each time unit, and the control unit is configured to control the action state of the robotic arm based on the distribution ratio corresponding to one or more time units.

16. The device according to claim 14, characterized in that The control unit is configured as follows: if the distribution proportions corresponding to any consecutive first preset number of time units are less than the preset proportion value, then in the next time unit of any consecutive first preset number of time units, the action state of the robotic arm is controlled to be an action execution state.

17. The device according to claim 14, characterized in that The control unit is configured as follows: if the distribution proportion corresponding to any time unit is greater than or equal to a preset proportion value, then within a first preset number of consecutive time units after the any time unit, the action state of the robot arm is controlled to be an action suspension state.

18. The device according to claim 17, characterized in that The control unit is configured to control the action state of the robotic arm to be an action termination state if the duration of the robotic arm being in the action suspension state exceeds a preset duration.

19. The device according to claim 17, characterized in that The control unit is configured to control the action state of the robotic arm to be an action termination state if the cumulative number of target time units whose distribution proportion is greater than or equal to a preset proportion value is greater than or equal to a second preset number.

20. The device according to claim 19, characterized in that The number of time units between any adjacent target time units is greater than or equal to the first preset number.

21. The device according to claim 19, characterized in that The control unit is configured to clear the accumulated number if the action state of the robot arm is an action termination state.

22. The device according to any one of claims 13 to 21, characterized in that The control unit is configured to: in response to the completion of the task performed by the robotic arm, control the action state of the robotic arm to be an action suspension state or an action termination state.

23. The device according to any one of claims 13 to 21, characterized in that The control unit is configured to control the action state of the robotic arm to be an action execution state, an action suspension state, or an action termination state in response to an action execution instruction, an action suspension instruction, or an action termination instruction triggered by a user.

24. The device according to any one of claims 13 to 21, characterized in that The device also includes: a prompt unit, which is used to control the cleaning device to issue a prompt message of entering the action execution state, action suspension state or action termination state after controlling the action state of the robot arm to be the action execution state, action suspension state or action termination state.

25. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 1 to 12.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 12.

27. A cleaning device, characterized in that: The cleaning device comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 12.

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