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

Abstract

The application discloses a cleaning equipment control method, device, program product, medium and cleaning equipment. The cleaning equipment is provided with a mechanical arm, the mechanical arm is provided with a pressure detection device, the method comprises the following steps: acquiring a pressure signal detected by the pressure detection device, the pressure signal is used for reflecting a pressure state of the pressure detection device; and the action state of the mechanical arm is controlled based on the pressure signal, the action state comprises an action execution state, an action suspension state and an action termination state. Through the technical scheme provided by the application, the safety of the mechanical arm in the cleaning equipment during task execution can be improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment control technology, and in particular relates to a cleaning equipment control method, device, program product, medium and cleaning equipment. Background Technology

[0002] Cleaning equipment (such as robotic vacuums and mops) is now widely used in households, replacing users in household chores and bringing great convenience. Currently, there are cleaning equipment models equipped with robotic arms, which can perform tasks including complex cleaning, tidying, and obstacle crossing, thus enhancing the equipment's capabilities. However, during task execution, dangerous situations may occur, such as the robotic arm colliding with or trapping users or objects, causing injury to users, objects, and the robotic arm itself. Therefore, improving the safety of robotic arms in cleaning equipment during task execution is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] The embodiments of this application provide a cleaning equipment control method, apparatus, program product, medium, and cleaning equipment, which can at least to some extent improve the safety of the robotic arm in the cleaning equipment during the performance of tasks.

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

[0005] According to a first aspect of the present application, a cleaning equipment control method is provided. The cleaning equipment is equipped with a robotic arm, and the robotic arm is equipped with a pressure detection device. The method includes: acquiring a pressure signal detected by the pressure detection device, the pressure signal being 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, the action state including an action execution state, an action abort state, and an action termination state.

[0006] In some embodiments of this application, based on the foregoing scheme, controlling the movement state of the robotic arm based on the pressure signal includes: determining a target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure received by the pressure detection device is greater than a preset pressure; and controlling the movement state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0007] In some embodiments of this application, based on the foregoing scheme, the distribution feature includes the distribution ratio of the target pressure signal in each time unit, and the step of controlling the action state of the robotic arm based on the distribution feature 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 this application, based on the foregoing scheme, controlling the action state of the robotic arm based on the distribution ratio corresponding to one or more time units includes: if the distribution ratio corresponding to any consecutive first preset number of time units is less than a preset ratio value, then in the next time unit of any consecutive first preset number of time units, controlling the action state of the robotic arm to be an action execution state.

[0009] In some embodiments of this application, based on the foregoing scheme, controlling the action state of the robotic arm based on the distribution ratio corresponding to one or more time units includes: 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, controlling the action state of the robotic arm to be an action stop state.

[0010] In some embodiments of this application, based on the foregoing scheme, the method further includes: if the duration of the robotic arm in the action-stopped state exceeds a preset duration, then controlling the action state of the robotic arm to the action-terminated state.

[0011] In some embodiments of this application, based on the foregoing scheme, the method further includes: if the cumulative number of target time units whose distribution ratio is greater than or equal to a preset ratio 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 this application, based on the foregoing scheme, 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 this application, based on the foregoing scheme, the method further includes: if the robotic arm's action state is an action termination state, then the accumulated count is cleared.

[0014] In some embodiments of this application, based on the foregoing scheme, the method further includes: in response to the completion of the task performed by the robotic arm, controlling the movement state of the robotic arm to be a stopped state or a terminated state.

[0015] In some embodiments of this application, based on the foregoing scheme, the method further includes: in response to a user-triggered action execution command, action stop command, or action termination command, controlling the action state of the robotic arm to an action execution state, an action stop state, or an action termination state.

[0016] In some embodiments of this application, based on the foregoing scheme, the method further includes: after controlling the robotic arm's action state to an action execution state, an action stop state, or an action termination state, controlling the cleaning device to issue a prompt message indicating that it has entered the action execution state, the action stop state, or the action termination state.

[0017] According to a second aspect of the present application, a cleaning equipment control device is provided. The cleaning equipment is equipped with a robotic arm, and the robotic arm is equipped with a pressure detection device. The device includes: an acquisition unit, configured to acquire a pressure signal detected by the pressure detection device, the pressure signal being used to reflect the pressure state experienced by the pressure detection device; and a control unit, configured to control the action state of the robotic arm based on the pressure signal, the action state including an action execution state, an action abort state, and an action termination state.

[0018] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: determine a target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure received by 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 this application, based on the foregoing scheme, the distribution feature includes 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 this application, based on the aforementioned scheme, the control unit is configured to: if the distribution ratio corresponding to any consecutive first preset number of time units is less than a preset ratio value, then in the next time unit of any consecutive first preset number of time units, control the action state of the robotic arm to be the action execution state.

[0021] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: 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, control the movement state of the robotic arm to be an action stop state.

[0022] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: if the duration of the robotic arm in the action-stopped state exceeds a preset duration, then control the robotic arm's action state to the action-terminated state.

[0023] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: if the cumulative number of target time units whose distribution ratio is greater than or equal to a preset ratio value is greater than or equal to a second preset number, then control the movement state of the robotic arm to be the action termination state.

[0024] In some embodiments of this application, based on the foregoing scheme, 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 this application, based on the foregoing scheme, the control unit is configured to: if the robotic arm's action state is an action termination state, then clear the accumulated count.

[0026] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: in response to the completion of the task performed by the robotic arm, control the movement state of the robotic arm to be a stopped state or a terminated state.

[0027] In some embodiments of this application, based on the foregoing scheme, the control unit is configured to: control the robotic arm's action state to an action execution state, an action stop state, or an action termination state in response to a user-triggered action execution command, action stop command, or action termination command.

[0028] In some embodiments of this application, based on the foregoing scheme, the device further includes: a prompting unit, used to control the cleaning device to issue a prompt message indicating that it has entered the action execution state, action stop state, or action termination state after controlling the robotic arm's action state to be an action execution state, action stop state, or action termination state.

[0029] According to a third aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform an operation as described in any of the embodiments of the first aspect above.

[0030] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation performed by the method described in any of the embodiments of the first aspect above.

[0031] According to a fifth aspect of the present application, a cleaning device is provided, the cleaning device including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation as described in any of the first aspect embodiments above.

[0032] Based on the technical solution proposed in this application, after obtaining the pressure signal detected by the pressure detection device, which reflects the pressure state of the pressure detection device, the movement state of the robotic arm can be controlled based on the pressure signal. It is understood that when the pressure signal indicates that the robotic arm is under continuous or significant pressure, it means that the robotic arm is highly likely to collide with or clamp a user or object. In this case, the robotic arm can be powered off, i.e., its movement state can be controlled to be in a terminated state. When the pressure signal indicates that the robotic arm is under scattered or relatively small pressure, it means that the robotic arm is unlikely to collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement execution state. When the pressure signal indicates that the pressure intensity of the robotic arm is at an intermediate value, it means that there is a certain possibility that the robotic arm will collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement aborted state, i.e., the robotic arm's movement can be paused, and the movement state of the robotic arm can be controlled by continuing to analyze the pressure signal. In this way, through this real-time, dynamic movement state control mechanism, dangerous situations such as collisions and clamping injuries during the robotic arm's task execution can be effectively avoided, thereby improving the safety of the cleaning equipment during task execution.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0035] Figure 1 A schematic diagram of the cleaning equipment in an embodiment of this application is shown;

[0036] Figure 2 A flowchart of a cleaning equipment control method according to an embodiment of this application is shown;

[0037] Figure 3A flowchart of a cleaning equipment control method according to an embodiment of this application is shown;

[0038] Figure 4 A block diagram of a cleaning equipment control device according to an embodiment of this application is shown;

[0039] Figure 5 A schematic diagram of the cleaning equipment in an embodiment of this application is shown. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0042] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solution of this application have been appropriately omitted.

[0043] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[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 construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0045] To enable those skilled in the art to better understand this application, firstly, in conjunction with Figure 1 The structure of the cleaning device in one embodiment of this application will be briefly described.

[0046] See Figure 1 The diagram shows a structural schematic of the cleaning equipment in an embodiment of this application.

[0047] In this application, the cleaning equipment proposed in this application can be a sweeper, a mop, or a sweeper-mop combo; this application does not make any specific limitation in this regard.

[0048] like Figure 1 As shown, the cleaning equipment proposed in this application can be a cleaning device developed based on a traditional sweeper / mop chassis and a robotic arm, with the functions of cleaning the ground and tidying up objects on the ground. It can include two moving parts: the lower part of the cleaning equipment is a movable chassis 101 capable of linear movement along the x and y axes, linear movement along the z axis, and rotation along the z axis. The chassis 101 can be wheeled or tracked. A follower universal wheel 106 is provided at the center of the front side of the chassis 101, and there are two active driving wheels 105 on the left and right rear sides to drive the cleaning equipment to move. Both the follower universal wheel 106 and the active driving wheels 105 are equipped with servo motors, which can lift the chassis 101 upwards by a certain distance; the upper part of the cleaning equipment is a multi-degree-of-freedom robotic arm 102. The end of the robotic arm 102 away from the chassis 101 is equipped with a gripper 103 for gripping cleaning parts or objects. The M1 joint in the robotic arm 102 can drive the entire robotic arm to rotate to the left or right (i.e., Figure 1 (The direction of rotation of joint M2 is the same as that of joints M3 and M4, with the vertical page facing inward or outward). Joints M1 and M2 are mainly responsible for the ejection and retraction of robotic arm 102. After robotic arm 102 ejects, joints M1 and M2 maintain a fixed angle. Joints M3 and M4 are the main moving joints, determining the position of the end effector gripper 103 in space. Joint M5 is the spin joint of end effector gripper 103, determining the posture of end effector gripper 103. It can be understood that the cleaning equipment performs various tasks through the cooperation of its two moving parts (upper and lower).

[0049] Generally, cleaning equipment equipped with a robotic arm can perform cleaning tasks. Traditional sweepers and mops often encounter numerous obstacles in their path when cleaning floors. While sweepers and mops with obstacle avoidance capabilities actively dodge obstacles and maintain a safe distance to reduce collisions and scratches, this can lead to missed areas under and around obstacles, resulting in lower cleaning coverage in complex environments with many obstacles. Compared to traditional sweepers and mops that can only avoid obstacles and thus miss large areas, the cleaning equipment proposed in this application, with the assistance of a robotic arm, can grasp and move obstacles to clean the area under and around them, improving floor coverage and making the cleaning effect closer to user expectations, thus increasing user satisfaction with the cleaning equipment's floor cleaning function. The cleaning equipment with the robotic arm can also perform object organization. Since users' floors may be cluttered with randomly placed or fallen objects, the cleaning equipment proposed in this application can automatically organize objects in addition to cleaning the floor. The cleaning device can automatically identify and mark objects on the floor during cleaning, and automatically sort and organize these objects before or after cleaning. For example, it can place slippers at the doorway, toys in the children's room, and crumpled paper in the trash can. Furthermore, the cleaning device proposed in this application can also perform other household chores, such as cleaning baseboards, real-time home monitoring, and pet companionship.

[0050] However, during task execution, robotic arms may encounter safety hazards, such as colliding with or clamping a user (e.g., two adjacent links in the robotic arm clamping a user's hand or a pet), or colliding with or clamping an object, causing injury to the user, the object, or the robotic arm itself. Therefore, this application proposes a cleaning device and its control method to improve the safety of the robotic arm in the cleaning device during task execution.

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

[0052] In one embodiment of this application, the pressure detection device may be a thin-film pressure-triggered switch, which is an electronic component that triggers a circuit by sensing externally applied pressure. Its main components include a flexible thin film, electrodes, and an elastic support structure. When external pressure is applied to the thin film, the electrodes beneath the film contact or change their electrical properties, thereby closing or opening the switch. In other embodiments of this application, the pressure detection device may also be a piezoelectric sensor, strain gauge sensor, etc., which can also detect the pressure experienced by the robotic arm during task execution. Specifically, this application does not impose excessive limitations on the type of pressure detection device.

[0053] Reference Figure 2 The diagram illustrates a flowchart of a cleaning equipment control method according to an embodiment of this application. Specifically, this method can be implemented by a device with computational processing capabilities (e.g., Figure 1 The cleaning equipment shown will be used to perform the cleaning, refer to Figure 2 As shown, the cleaning equipment control method includes at least steps 210 to 220, which are described in detail below:

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

[0055] In this application, the pressure signal can be a discrete pressure signal (i.e., a pressure signal is collected at set intervals) or a continuous pressure signal (i.e., a pressure signal is collected uninterruptedly).

[0056] In this application, the pressure signal can be used to reflect the pressure state experienced by the pressure detection device. The pressure signal can be a switch-closing signal triggered by a thin-film pressure-triggered switch when subjected to external pressure, and a switch-opening signal triggered when no external pressure is applied. Alternatively, it can be an electrical signal detected by a piezoelectric sensor when subjected to external pressure. Specifically, this application does not impose further limitations on this aspect.

[0057] In this application, by acquiring the pressure signal detected by the pressure detection device, which reflects the pressure state experienced by the pressure detection device, data reference can be provided for determining whether the robotic arm has collided with or clamped a user or object. For example, when continuous external pressure is detected, it may indicate that the robotic arm may have encountered significant resistance during the execution of its actions, such as colliding with or clamping a user or object. Similarly, when significant external pressure is detected, it may also indicate that the robotic arm may have encountered significant resistance during the execution of its actions.

[0058] In step 220, the movement state of the robotic arm is controlled based on the pressure signal. The movement state includes the movement execution state, the movement stop state, and the movement termination state.

[0059] In this application, the action state can include an action execution state, an action abort state, and an action termination state. In the action execution state, the robotic arm can perform the corresponding action normally. In the action abort state, the robotic arm can pause the current action and continue analyzing the pressure signal. Once the uncertainty reflected by the pressure signal is resolved, or after obtaining relevant control commands, it can switch to the corresponding action state. In the action termination state, the robotic arm can stop the current action to prevent potential safety issues. To re-enter the action execution state, the user needs to actively trigger the corresponding control command.

[0060] In this application, after obtaining the pressure signal detected by the pressure detection device, which reflects the pressure state of the pressure detection device, the movement state of the robotic arm can be controlled based on the pressure signal. It is understood that when the pressure signal indicates that the robotic arm is under continuous or significant pressure, it means that the robotic arm is highly likely to collide with or clamp a user or object. In this case, the robotic arm can be powered off, i.e., its movement state can be controlled to be in a terminated state. When the pressure signal indicates that the robotic arm is under scattered or relatively small pressure, it means that the robotic arm is unlikely to collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement execution state. When the pressure signal indicates that the pressure intensity of the robotic arm is at an intermediate value, it means that there is a certain possibility that the robotic arm will collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement aborted state, i.e., the robotic arm's movement can be paused, and the movement state can be controlled by continuing to analyze the pressure signal. In this way, through this real-time, dynamic movement state control mechanism, dangerous situations such as collisions and clamping injuries during the robotic arm's task execution can be effectively avoided, thereby improving the safety of the cleaning equipment during task execution.

[0061] In some embodiments of this application, such as Figure 1 Step 220, which involves controlling the movement state of the robotic arm based on the pressure signal, can be executed according to steps 221 to 222 as follows:

[0062] Step 221: Determine the target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure received by the pressure detection device is greater than the preset pressure.

[0063] Step 222: Based on the distribution characteristics of the target pressure signal in the time dimension, control the movement state of the robotic arm.

[0064] In this application, the target pressure signal in the pressure signal can be used to reflect that the pressure received by the pressure detection device is greater than a preset pressure. For example, it could be a switch closing signal triggered by a membrane pressure trigger switch, a voltage value detected by a piezoelectric sensor that is greater than a preset voltage value, or a pressure value directly detected by other pressure sensors that is greater than the preset pressure. It is understood that pressure signals other than the target pressure signal in the pressure signal reflect that the pressure received by the pressure detection device is less than or equal to the preset pressure.

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

[0066] In this application, the distribution characteristics of the target pressure signal in the time dimension can include multiple aspects. For example, the distribution proportion, duration, frequency of occurrence, and intensity variation of the target pressure signal can be considered. Specifically, this application does not impose excessive limitations on these aspects.

[0067] This application achieves refined control of the robotic arm's motion state by introducing the concept of a target pressure signal and considering its distribution characteristics over time. This not only identifies potential hazards but also enables corresponding control decisions based on the duration and frequency of the hazard. For example, it can distinguish between brief pressure increases and sustained high-pressure states, allowing for different countermeasures. Compared to simple threshold judgments, this time-based analysis method provides more flexible and intelligent control of the robotic arm's motion state, effectively improving the safety of cleaning equipment during task execution.

[0068] Next, this application will use a specific embodiment to describe the above step 222, that is, to describe the specific details of the step of controlling the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0069] In a specific embodiment of this application, the distribution characteristic may include the distribution ratio of the target pressure signal within each time unit. For example, the duration 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 proportion of target pressure signals (reflecting pressure greater than a preset pressure) among the 100 pressure signals acquired within 100 milliseconds. That is, if a time unit includes 100 pressure signals, and there are 48 target pressure signals (i.e., pressure signals with pressure greater than a preset pressure) among these 100 pressure signals, then the distribution characteristic may be a distribution ratio of 48%. If there are 92 target pressure signals among these 100 pressure signals, then the distribution characteristic may be a distribution ratio of 92%. It is understood that the higher the distribution ratio corresponding to a time unit, the higher the probability of situations such as continuous impact by the robotic arm, clamping of the user or object, occurring within that time unit. Therefore, a preset percentage value can be set (e.g., 20%, 50%, or 90%, specifically, the preset percentage value can be set according to actual needs, and this application does not impose too many restrictions on it). When the distribution percentage exceeds the preset percentage value, it is considered that the robotic arm is being continuously hit or pinched by the user or object. When the distribution percentage does not exceed the preset percentage value, it is considered that the robotic arm is not being continuously hit or pinched by the user or object.

[0070] In this embodiment, by introducing the technical feature of distribution ratio, misjudgment can be avoided due to the robotic arm shaking or being accidentally touched, causing the robotic arm to be in an unsafe state (the robotic arm is continuously impacted, pinched by the user or object). This ensures that the pressure signal can accurately reflect the real state of the external force on the robotic arm when performing the task, and ensures that the motion state control of the robotic arm when performing the task can respond accurately and reasonably to changes in external force, thereby improving the safety and effectiveness of the robotic arm in performing the task.

[0071] In this embodiment, controlling the robotic arm's motion state based on the distribution characteristics of the target pressure signal in the time dimension can be based on the distribution proportion corresponding to one or more time units. Specifically, it can be executed according to the following steps 2221:

[0072] Step 2221: If the distribution ratio corresponding to any consecutive first preset number of time units is less than the preset ratio value, then in the next time unit of any consecutive first preset number of time units, control the robot arm's action state to the action execution state.

[0073] In this embodiment, if the distribution percentage corresponding to a first preset number of consecutive time units is less than a preset percentage value, the robotic arm's movement state is controlled to be in the action execution state in the next time unit. For example, if the distribution percentage corresponding to each time unit from the 1st to the 30th time unit is less than the preset percentage value, it can be considered that the robotic arm is in a safe state during the time from the 1st to the 30th time unit, and there is no situation such as the robotic arm colliding with, pinching, or trapping a user or object. In this case, the robotic arm's movement state can be controlled to be in the action execution state in the 31st time unit. It can be understood that even if a brief pressure anomaly occurs in a certain time unit (the time unit before the 1st time unit), as long as it does not affect the overall safe state of the 30 consecutive time units, the robotic arm can still continue to perform actions.

[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 percentage value, it is possible to determine in a timely manner 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 performance process.

[0075] In this embodiment, controlling the movement state of the robotic arm based on the distribution ratio corresponding to one or more time units can be performed according to the following steps 2222:

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

[0077] In this embodiment, if the distribution ratio corresponding to any time unit is greater than or equal to a preset ratio value, the robotic arm's movement state can be controlled to an action-stopped state for the next first preset number of consecutive time units. 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 there is a certain possibility that the robotic arm may collide with, pinch, or trap a user or object within the first time unit. In this case, the robotic arm's movement state can be controlled to an action-stopped state for the next 30 consecutive time units (i.e., from the second to the 31st time unit), that is, the robotic arm's movement can be paused to continue analyzing the pressure signal to control the robotic arm's movement state. If the distribution ratio corresponding to any time unit is greater than or equal to the preset ratio value within the next 30 consecutive time units, then the process returns to step 2222 described above.

[0078] In this embodiment, during the robotic arm's task execution, by analyzing the distribution ratio corresponding to each time unit, if the distribution ratio corresponding to any time unit is greater than or equal to a preset ratio value, the robotic arm's action state is controlled to be in an action-stopped state for a first preset number of consecutive time units following that time unit. This can avoid potential dangerous situations. By further analyzing the pressure signals of subsequent time units, it can be determined whether to resume the robotic arm's action, continue the stopped action, or even terminate the action. In this way, this embodiment can more accurately detect potential dangers and respond in a timely manner, avoiding dangerous situations such as collisions and pinching injuries that may occur during the robotic arm's task execution, significantly improving the safety of the robotic arm during task execution.

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

[0080] Step 2223: If the duration of the robotic arm in the motion-stopped state exceeds a preset duration, then control the robotic arm's motion state to the motion-terminated state.

[0081] In this embodiment, if the duration of the robotic arm's motion-stopped state exceeds a preset duration, the robotic arm's motion state is controlled to the motion-terminated state. In practical applications, a timer can be set to monitor the duration of the robotic arm's motion-stopped state. When the duration exceeds the preset duration, the timer triggers a control signal to switch the robotic arm's motion state to the motion-terminated 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 robotic arm can effectively prevent itself from not resuming motion execution for a long time in different working environments. For example, if the robotic arm is controlled to the motion-terminated state for 10 consecutive seconds, it means that the robotic arm has been continuously judged to be in a situation where it may collide with, pinch, or trap a user or object within 10 seconds. In this case, the robotic arm's motion state can be controlled to the motion-terminated state.

[0082] In this application, after controlling the robotic arm to a state of motion termination, the cleaning equipment can be further controlled to issue an error message.

[0083] Based on the technical solution in this embodiment, the safety hazards of the robotic arm not resuming its movements for a long time when the movement is stopped can be eliminated to a certain extent, the problem of the robotic arm not resuming its movements for a long time when the movement is stopped can be solved, and the efficient operation and safety of the cleaning equipment can be 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 ratio is greater than or equal to the preset ratio value is greater than or equal to the second preset number, then control the movement state of the robotic arm to the action termination state.

[0086] In this embodiment, if the cumulative number of target time units whose distribution ratio is greater than or equal to a preset ratio value is greater than or equal to a second preset number, the robotic arm's movement state is controlled to be in an action termination state. For example, if the robotic arm is controlled to an action stop state 3 times (the second preset number can also be 4 or 5 times; specifically, the second preset number can be set according to actual needs, and this application does not impose too many limitations on it), the possibility of the robotic arm colliding with, pinching, or trapping a user or object increases. In this case, the robotic arm's movement state can be controlled to be in an action termination state. In this way, it can be ensured that the robotic arm can stop its movement in time under continuous high pressure, thereby avoiding potential dangerous situations and improving the safety of the robotic arm during task execution.

[0087] In this application, after controlling the robotic arm to a state of motion termination, the cleaning equipment can be further controlled to issue an error message.

[0088] This application, by introducing a preset percentage value and a second preset number of parameters, enables real-time monitoring of the pressure signal distribution during the robotic arm's movement and timely termination of the robotic arm's movement under high pressure. This control mechanism not only improves the safety of the robotic arm during task execution and avoids potential dangers, but also enhances the intelligence level of the cleaning equipment and the user experience. Compared with existing technologies, this application provides a more precise and reliable method for robotic arm safety control.

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

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

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

[0092] Step 2225: If the robotic arm is in the action terminated state, then the cumulative count is cleared.

[0093] In this embodiment, when the robotic arm's action state is in the action terminated state, by resetting the cumulative count of the target time units to zero, it can be ensured that when the robotic arm restarts its task, the cumulative count of the target time units starts counting from zero. This avoids the previous cumulative count affecting the robotic arm's action state, ensuring that the robotic arm can accurately judge and control its action state based on the current pressure signal when restarting or starting 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, control the movement state of the robotic arm to either a stopped state or a terminated state.

[0096] Once the robotic arm completes its task, such as after tidying up objects, it automatically switches its motion state to either a stopped or terminated state. Setting the robotic arm to a stopped state facilitates subsequent motion control; setting it to terminated state saves energy for the cleaning equipment and ensures the robotic arm remains in a safe state.

[0097] In this application, after controlling the robotic arm to be in an action execution state, an action stop state, or an action termination state, the cleaning device is controlled to issue a prompt message indicating that it has entered the action execution state, the action stop state, or the action termination state, thereby improving the user experience.

[0098] To enable those skilled in the art to better understand this embodiment, the following description is provided in conjunction with... Figure 3 The following is an illustration using a specific example.

[0099] See Figure 3 The flowchart illustrates a cleaning equipment control method according to an embodiment of this application. It includes steps 301 to 317:

[0100] Step 301: Begin executing the task.

[0101] Step 302: Define the first cumulative number a = 0 for the target time units whose distribution proportion is greater than or equal to the preset proportion value.

[0102] Step 303: Determine if the distribution ratio of the target pressure signal in the current time unit is greater than or equal to the preset ratio value. If yes, proceed to step 305; otherwise, proceed to step 304.

[0103] Step 304: Control the robotic arm of the cleaning equipment to be in the action execution state in the next time unit, and jump to step 315.

[0104] Step 305: Accumulate the first cumulative count a = a + 1.

[0105] Step 306: Determine if a < 3. If yes, proceed to step 307; otherwise, proceed to step 316.

[0106] Step 307: Control the robotic arm of the cleaning equipment to be in the action stop state in the next time unit, and define the second cumulative number b = 0 for the target time unit where the distribution ratio is greater than or equal to the preset ratio value.

[0107] Step 308: Define the current time t = 0 and start timing.

[0108] Step 309: Determine if the distribution ratio of the target pressure signal in the current time unit is greater than or equal to the preset ratio value. If yes, proceed to step 313; otherwise, proceed to step 310.

[0109] Step 310, accumulate the second cumulative count b = b + 1.

[0110] Step 311: Determine if b ≥ 30. If yes, proceed to step 312; otherwise, return to step 309.

[0111] Step 312: Determine that the robotic arm of the cleaning equipment can enter the action execution state in the next time unit, and jump to step 315.

[0112] Step 313, redefine the second cumulative count b = 0.

[0113] Step 314: Determine if t > 100 time units. If yes, proceed to step 316; otherwise, return to step 309.

[0114] Step 315: Determine if the task is completed. If yes, proceed to step 317; otherwise, return to step 303.

[0115] Step 316: Control the robotic arm of the cleaning equipment to the action termination state in the subsequent time unit, and execute step 317.

[0116] Step 317, task complete.

[0117] Next, this application will describe step 222 above in conjunction with some other specific embodiments, that is, describe the details of the steps for controlling the action state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension.

[0118] In one specific embodiment of this application, the distribution characteristics may include the distribution ratio of the target pressure signal in each time unit. The step of controlling the robotic arm's motion state based on the distribution characteristics of the target pressure signal in the time dimension can be performed according to the following steps 231 to 234:

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

[0120] Step 232: If the percentage of the number is less than or equal to the first preset percentage of the number, then control the robotic arm to be in the action execution state in the next time unit of any consecutive third preset number of time units.

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

[0122] Step 234: If the percentage of the number is greater than or equal to the second preset percentage of the number, then control the robotic arm to be in the action termination state in the next time unit of any consecutive third preset number of time units.

[0123] In this embodiment, for example, it is assumed 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 percentage is 50%.

[0124] Furthermore, assuming that within the first to tenth time units, there are 3 time units with a distribution ratio greater than or equal to a preset ratio of 50%, and 7 time units with a distribution ratio greater than or equal to a preset ratio of 50%, meaning that the target time units account for 30% of the total number of time units from the first to the tenth time units, which is less than or equal to the first preset ratio of 30%, then the robotic arm is controlled to be in the action execution state within the eleventh time unit. Alternatively, if within the second to the eleventh time units, there are 4 time units with a distribution ratio greater than or equal to a preset ratio of 50%, and 6 time units with a distribution ratio greater than or equal to a preset ratio of 50%, meaning that the target time units account for 40% of the total number of time units from the second to the eleventh time units, which is greater than the first preset ratio of 30% and less than the second preset ratio of 70%, then the robotic arm is controlled to be in the action aborted state within the twelfth time unit.

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

[0126] In one specific embodiment of this application, the distribution characteristics may include the distribution ratio of the target pressure signal in each time unit. The step of controlling the robotic arm's motion state based on the distribution characteristics of the target pressure signal in the time dimension can be performed according to the following steps 241 to 244:

[0127] Step 241: Determine the number of consecutive target time units in which the distribution proportions are all greater than or equal to the preset proportion value.

[0128] Step 242: If the number of consecutive counts is less than or equal to the first preset number of consecutive counts, then control the robotic arm to be in the action execution state in the next time unit of the current time unit.

[0129] Step 243: If the number of consecutive consecutive counts is greater than the first preset number of consecutive counts and less than the second preset number of consecutive counts, then control the robotic arm to be in the action stop state in the next time unit of the current time unit.

[0130] Step 244: If the number of consecutive consecutive counts is greater than or equal to the second preset number of consecutive consecutive counts, then control the robotic arm to be in the action termination state in the next time unit of the current time unit.

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

[0132] Furthermore, assuming that the distribution proportions are 50%, 55%, 70%, 40%, 62%, 65%, 75%, and 80% respectively within the first to eighth time units, according to the technical solution in this embodiment, it can be determined that:

[0133] Within the second time unit, the robot arm's motion state is controlled as the motion execution state (i.e., the number of consecutive target time units with a distribution ratio greater than or equal to 60% is 0 < 2).

[0134] Within the third time unit, the robot arm's motion state is controlled to be the motion execution state (i.e., satisfying the consecutive number of 0 < 2);

[0135] Within the 4th time unit, the robot arm's motion state is controlled to be the motion execution state (i.e., satisfying the consecutive number 1 < 2);

[0136] Within the 5th time unit, the robot arm's motion state is controlled to be the motion execution state (i.e., satisfying the consecutive number 0 < 2);

[0137] Within the 6th time unit, the robot arm's motion state is controlled to be the motion execution state (i.e., satisfying the consecutive number 1 < 2);

[0138] Within the 7th time unit, the robot arm's motion state is controlled to be the motion execution state (i.e., satisfying the consecutive number 2 = 2);

[0139] Within the 8th time unit, the robot arm's motion state is controlled to be in the motion aborted state (i.e., satisfying 2 < number of consecutive times and 3 < 4);

[0140] Within the 9th time unit, the robot arm's motion state is controlled to be the motion termination state (i.e., satisfying the consecutive number 4 = 4).

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

[0142] Based on the specific embodiments described above, by introducing the concept of a target pressure signal and considering its distribution characteristics over time, refined control of the robotic arm's motion state is achieved. This solution can not only identify potential hazards but also make corresponding control decisions based on the duration or frequency of the hazard, thereby taking different countermeasures. Compared to simple threshold judgment, this time-based analysis method can control the robotic arm's motion state more flexibly and intelligently, effectively improving the safety of cleaning equipment during task execution.

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

[0144] Step 151: In response to a user-triggered action execution command, action stop command, or action termination command, control the robotic arm's action state to an action execution state, an action stop state, or an action termination state.

[0145] In this application, the robotic arm can adjust its motion state according to user-triggered commands to ensure timely response to user needs during task execution. This allows users to directly control the robotic arm's motion state, thus resolving potential safety hazards during task execution. Specifically, users can issue timely commands to stop or terminate the robotic arm's movements based on actual conditions, preventing harm to the user, objects, or the robotic arm itself.

[0146] Furthermore, users can trigger commands in various ways, such as through physical buttons on the cleaning equipment, a touchscreen, or voice control. As a preferred implementation, users can monitor the robotic arm's movement status in real time via a touchscreen interface while the robotic arm is performing its task and issue corresponding commands when necessary. In addition, an early warning mechanism can be set up to automatically prompt the user to intervene when a potentially dangerous situation is detected. This allows users to control the robotic arm's movement more flexibly, preventing harm to users, objects, or themselves during task execution, ensuring the robotic arm's safety during task performance, and thus improving the safety of the cleaning equipment and the user experience.

[0147] Based on the technical solution proposed in this application, after obtaining the pressure signal detected by the pressure detection device, which reflects the pressure state of the pressure detection device, the movement state of the robotic arm can be controlled based on the pressure signal. It is understood that when the pressure signal indicates that the robotic arm is subjected to frequent or large pressure, it means that the robotic arm is highly likely to collide with or clamp a user or object. In this case, the robotic arm can be powered off, i.e., its movement state can be controlled to be in a terminated state. When the pressure signal indicates that the robotic arm is subjected to scattered or small pressure, it means that the robotic arm is unlikely to collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement execution state. When the pressure signal indicates that the intensity of the pressure on the robotic arm is at an intermediate value, it means that there is a certain possibility that the robotic arm will collide with or clamp a user or object. In this case, the robotic arm can be controlled to be in a movement aborted state, i.e., the robotic arm's movement is paused, and the movement state can be controlled by continuing to analyze the pressure signal. In this way, through this real-time, dynamic movement state control mechanism, dangerous situations such as collisions and clamping injuries during the robotic arm's task execution can be effectively avoided, thereby improving the safety of the cleaning equipment during task execution.

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

[0149] See Figure 4 The diagram shows a block diagram of a cleaning equipment control device according to an embodiment of this application. The cleaning equipment is equipped with a robotic arm, and the robotic arm is equipped with a pressure detection device.

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

[0151] The acquisition unit 401 is used to acquire 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 action execution state, action stop state, and action termination state.

[0152] In some embodiments of this application, based on the foregoing scheme, the control unit 402 is configured to: determine a target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure received by 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 this application, based on the foregoing scheme, the distribution feature includes 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 this application, based on the aforementioned scheme, the control unit 402 is configured to: if the distribution ratio corresponding to any consecutive first preset number of time units is less than a preset ratio value, then in the next time unit of any consecutive first preset number of time units, control the action state of the robotic arm to be the action execution state.

[0155] In some embodiments of this application, based on the foregoing scheme, the control unit 402 is configured to: 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, control the movement state of the robotic arm to be an action stop state.

[0156] In some embodiments of this application, based on the foregoing scheme, the control unit 402 is configured to: if the duration of the robotic arm in the action-stopped state exceeds a preset duration, then control the action state of the robotic arm to the action-terminated state.

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

[0158] In some embodiments of this application, based on the foregoing scheme, 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 this application, based on the foregoing scheme, the control unit 402 is configured to: if the robotic arm's action state is an action termination state, then clear the accumulated count.

[0160] In some embodiments of this application, based on the foregoing scheme, the control unit 402 is configured to: in response to the completion of the task performed by the robotic arm, control the movement state of the robotic arm to be a stopped state or a terminated state.

[0161] In some embodiments of this application, based on the foregoing scheme, the control unit 402 is configured to: control the robotic arm's action state to an action execution state, an action stop state, or an action termination state in response to a user-triggered action execution command, action stop command, or action termination command.

[0162] In some embodiments of this application, based on the foregoing solution, the device further includes: a prompting unit, configured to control the cleaning device to issue a prompt message indicating that it has entered the action execution state, action abort state, or action termination state after controlling the robotic arm's action state to be in an action execution state, action abort state, or action termination state. Based on the same inventive concept, embodiments of this application provide a computer program product, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor, so as to cause a computer device having the processor to perform the operations performed by the cleaning device control method described above.

[0163] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which 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, this application also provides a cleaning device, see reference. Figure 5 The diagram shows a structural schematic of a cleaning device according to an embodiment of this application. 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. When the processor 502 executes the computer program, it implements the cleaning device control method as described above.

[0165] Among them, Figure 5 In this document, a bus architecture (represented by bus 500) is used. Bus 500 may include any number of interconnected buses and bridges, linking 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 peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further 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, i.e., 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 can be used to store data used by processor 502 during operation.

[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 or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this 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, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0168] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0169] If the integrated unit is implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0170] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling cleaning equipment, characterized in that, The cleaning equipment is equipped with a robotic arm, and the robotic arm is equipped with a pressure detection device. The method includes: Acquire the pressure signal detected by the pressure detection device, the pressure signal being used to reflect the pressure state experienced by the pressure detection device; A target pressure signal is determined from the pressure signals, which reflects that the pressure received by 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 robotic arm is controlled, the distribution characteristics include the distribution ratio of the target pressure signal in each time unit, and the action state includes action execution state, action stop state, and action termination state. The step of controlling the movement state of the robotic arm based on the distribution characteristics of the target pressure signal in the time dimension includes: controlling the movement state of the robotic arm based on the distribution ratio corresponding to one or more time units; The method of controlling the action state of the robotic arm based on the distribution ratio corresponding to one or more time units includes: if the distribution ratio corresponding to any consecutive first preset number of time units is less than a preset ratio 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 the action execution state.

2. The method according to claim 1, characterized in that, The control of the robotic arm's motion state based on the distribution ratio corresponding to one or more time units includes: 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 following any time unit, the movement state of the robotic arm is controlled to be in an action-stopped state.

3. The method according to claim 2, characterized in that, The method further includes: If the duration of the robotic arm in the motion-stopped state exceeds a preset duration, the robotic arm's motion state is controlled to the motion-terminated state.

4. The method according to claim 2, characterized in that, The method further includes: If the cumulative number of target time units whose distribution ratio is greater than or equal to a preset ratio value is greater than or equal to a second preset number, then the robot arm's action state is controlled to be the action termination state.

5. The method according to claim 4, characterized in that, The number of time units between any two adjacent target time units is greater than or equal to the first preset number.

6. The method according to claim 4, characterized in that, The method further includes: If the robotic arm is in the action terminated state, then the accumulated count is reset to zero.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In response to the completion of the task performed by the robotic arm, the movement state of the robotic arm is controlled to be either a stopped state or a terminated state.

8. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In response to a user-triggered action execution command, action abort command, or action termination command, the robot arm's action state is controlled to be either action execution state, action abort state, or action termination state.

9. The method according to any one of claims 1 to 6, characterized in that, The method further includes: After controlling the robotic arm to be in action execution state, action stop state, or action termination state, the cleaning equipment is controlled to issue a prompt message indicating that it has entered action execution state, action stop state, or action termination state.

10. A cleaning equipment control device, characterized in that, The cleaning equipment is equipped with a robotic arm, and the robotic arm is equipped with a pressure detection device, the device comprising: The acquisition unit is used to acquire 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 is used to determine the target pressure signal in the pressure signal, the target pressure signal being used to reflect that the pressure received by 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 control unit controls the action state of the robotic arm, the distribution characteristics including the distribution ratio of the target pressure signal in each time unit, and the action state including action execution state, action stop state, and action termination state. The control unit is configured to control the movement state of the robotic arm based on the distribution ratio corresponding to one or more time units; The control unit is configured such that if the distribution ratio corresponding to any consecutive first preset number of time units is less than a preset ratio 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 the action execution state.

11. The apparatus according to claim 10, characterized in that, The control unit is configured such that if the distribution ratio corresponding to any time unit is greater than or equal to a preset ratio value, the robot arm's movement state is controlled to be in an action-stopped state within a first preset number of consecutive time units after any time unit.

12. The apparatus according to claim 11, characterized in that, The control unit is configured to: if the duration of the robotic arm in the action-stopped state exceeds a preset duration, then control the robotic arm's action state to the action-terminated state.

13. The apparatus according to claim 11, characterized in that, The control unit is configured such that if the cumulative number of target time units whose distribution ratio is greater than or equal to a preset ratio value is greater than or equal to a second preset number, the action state of the robotic arm is controlled to be the action termination state.

14. The apparatus according to claim 13, characterized in that, The number of time units between any two adjacent target time units is greater than or equal to the first preset number.

15. The apparatus according to claim 13, characterized in that, The control unit is configured to: if the robotic arm's action state is an action termination state, then reset the accumulated count to zero.

16. The apparatus according to any one of claims 10 to 15, characterized in that, The control unit is configured to control the robotic arm's movement state to either a stopped state or a terminated state in response to the completion of the robotic arm's task.

17. The apparatus according to any one of claims 10 to 15, characterized in that, The control unit is configured to control the robotic arm to either an action execution state, an action stop state, or an action termination state in response to a user-triggered action execution command, action stop command, or action termination command.

18. The apparatus according to any one of claims 10 to 15, characterized in that, The device further includes a prompting unit, used to control the cleaning equipment to issue a prompt message indicating that the robot arm has entered the action execution state, action stop state, or action termination state after the robot arm's action state is controlled to be the action execution state, action stop state, or action termination state.

19. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method as claimed in any one of claims 1 to 9.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to perform the operations performed by the method as described in any one of claims 1 to 9.

21. A cleaning device, characterized in that, The cleaning device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as claimed in any one of claims 1 to 9.

Images