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

Abstract

The invention is suitable for the technical field of smart home, and provides a control method and device of cleaning equipment, the cleaning equipment, a product and a storage medium, cabin door information of a mechanical arm cabin is obtained, and the cabin door information comprises at least one of cabin door opening in-place information, cabin door closing in-place information, cabin door motor overcurrent information and edge anti-pinch detection information; the state of the cabin door of the mechanical arm cabin is determined according to the cabin door information, the action of the mechanical arm and the cleaning action of the cleaning equipment can be linked with the state of the cabin door of the mechanical arm cabin, the possibility that the cabin door state, recorded by the cleaning equipment, of the mechanical arm cabin is inconsistent with the actual state, and consequently system errors are caused is avoided, and potential error hazards are reduced; the success rate and effectiveness of the mechanical arm of the cleaning equipment for executing the cabin-out action and the cabin-back action are improved, and the stability of a cleaning equipment system is improved.

Description

Technical Field

[0001] This application belongs to the technical field of smart home, and particularly relates to a control method, device, cleaning device, product, and storage medium for cleaning equipment. Background Art

[0002] Cleaning equipment (such as floor washers, sweepers, etc.) is special equipment for cleaning and washing, mainly serving fields such as households, commerce, medical care, and industry. In recent years, with the deepening of the concept of smart home and the continuous progress of technology, cleaning equipment has shown a trend of rapid growth. When encountering obstacles on the ground during cleaning, the cleaning equipment will actively avoid the obstacles, which will cause missed cleaning of the bottom and surrounding ground of the obstacles, and further result in a low cleaning coverage rate of the cleaning equipment in a complex environment with multiple obstacles, making it difficult to obtain satisfactory cleaning results for users. Therefore, a cleaning equipment with a robotic arm has emerged, and the cleaning equipment can move the obstacles through the robotic arm, thereby improving the cleaning coverage rate and user satisfaction.

[0003] However, the robotic arm itself has a certain mechanical complexity. The robotic arm of the cleaning equipment is usually stored in the robotic arm compartment. If there is a conflict between the actual door state of the robotic arm compartment and the movement of the robotic arm, there is a problem of potential safety hazards. Summary of the Invention

[0004] The embodiments of this application provide a control method, device, cleaning device, product, and storage medium for cleaning equipment, which can solve the problem of potential safety hazards when there is a conflict between the actual door state of the robotic arm compartment and the movement of the robotic arm.

[0005] In a first aspect, the embodiments of this application provide a control method for a cleaning equipment. The cleaning equipment includes a robotic arm and a robotic arm compartment, and the robotic arm can be stored in the robotic arm compartment. The control method includes:

[0006] Obtain the door information of the robotic arm compartment; the door information includes at least one of door open in place information, door closed in place information, door motor overcurrent information, and edge anti-pinch detection information;

[0007] Determine the state of the door of the robotic arm compartment according to the door information.

[0008] In a possible implementation manner of the first aspect, the determining the state of the door of the robotic arm and the robotic arm compartment according to the door information includes:

[0009] Determine the open state of the door according to the state of the open in place sensor, the state of the open overcurrent sensor, the state of the door anti-pinch sensor, and the door open abnormal judgment logic.

[0010] In a possible implementation of the first aspect, the abnormal opening judgment logic of the hatch includes at least one of the following:

[0011] If the open-in-place sensor is triggered, the hatch is in the open-in-place state;

[0012] If the open-in-place sensor is not triggered, the overcurrent sensor for opening is triggered, and the anti-pinch sensor of the hatch is not triggered, the hatch is in an abnormal opening blocked state, and the hatch motor performs a first preset automatic recovery operation;

[0013] If the open-in-place sensor is not triggered, the overcurrent sensor for opening is triggered, and the anti-pinch sensor of the hatch is triggered, the hatch is in an abnormal opening state, and the hatch motor performs a first preset recovery operation;

[0014] If the open-in-place sensor is not triggered, the overcurrent sensor for opening is not triggered, and the anti-pinch sensor of the hatch is not triggered, the hatch is in the process of opening;

[0015] If the open-in-place sensor is not triggered, the overcurrent sensor for opening is not triggered, and the anti-pinch sensor of the hatch is triggered, the hatch is in an abnormal opening state, and the hatch motor performs a first preset recovery operation and the hatch motor performs an automatic recovery operation;

[0016] If the open-in-place sensor is not triggered, the overcurrent sensor for opening is not triggered, and the anti-pinch sensor of the hatch does not sense, an error message is output.

[0017] In a possible implementation of the first aspect, the first preset recovery operation includes:

[0018] After controlling the hatch motor to rotate forward and backward a first preset number of opening times, it is judged whether the hatch is in the open-in-place state;

[0019] If not, after pausing for a first preset opening time, control the hatch motor to perform forward and reverse operations in turn within the range of a second preset number of opening times;

[0020] According to the number of forward rotations of the hatch motor, output a corresponding error message. If the number of forward rotations of the hatch motor reaches the second preset number of opening times, control the hatch motor to enter the sleep state.

[0021] In a possible implementation of the first aspect, determining the state of the hatch of the robotic arm cabin according to the hatch information includes:

[0022] Determine the closing state of the hatch according to the state of the close-in-place sensor, the state of the overcurrent sensor for closing, the state of the anti-pinch sensor of the hatch, and the abnormal closing judgment logic of the hatch.

[0023] In a possible implementation of the first aspect, the abnormal hatch closing judgment logic includes at least one of the following:

[0024] If the closing-in-place sensor is triggered, the hatch is in the closed-in-place state;

[0025] If the closing-in-place sensor is not triggered, the over-current closing sensor is triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in a blocked closing state, and the hatch motor performs a second preset recovery operation;

[0026] If the closing-in-place sensor is not triggered, the over-current closing sensor is triggered, and the hatch anti-pinch sensor is triggered, the hatch is in an abnormal closing state, and the hatch motor performs a second preset recovery operation;

[0027] If the closing-in-place sensor is not triggered, the over-current closing sensor is not triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the process of closing;

[0028] If the closing-in-place sensor is not triggered, the over-current closing sensor is not triggered, and the hatch anti-pinch sensor is triggered, the hatch is in an abnormal closing state, and the hatch motor performs a second preset recovery operation;

[0029] If the closing-in-place sensor is not triggered, the over-current closing sensor is not triggered, and the hatch anti-pinch sensor does not sense, an error message is output.

[0030] In a possible implementation of the first aspect, the second preset recovery operation includes:

[0031] After controlling the hatch motor to rotate forward and backward a first preset number of closing times, determine whether the hatch is in the closed-in-place state;

[0032] If not, after pausing for a first preset closing time, control the hatch motor to perform forward and reverse operations in sequence within the range of a second preset number of closing times;

[0033] According to the number of reverse rotations of the hatch motor, output a corresponding error message. If the number of reverse rotations of the hatch motor reaches the second preset number of closing times, control the hatch motor to enter the sleep state.

[0034] In a possible implementation of the first aspect, the control method further includes:

[0035] When receiving the instruction for the robotic arm to exit the cabin, control the cleaning device to perform the action of exiting the cabin according to the hatch information;

[0036] If the door of the robotic arm compartment is not closed in place, control the door of the robotic arm compartment to close. After clearing the joint angles of the robotic arm, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is opened in place, control the cleaning device to perform an out-of-compartment action;

[0037] If the door of the robotic arm compartment is closed in place, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is opened in place, control the cleaning device to perform an out-of-compartment action.

[0038] In a possible implementation manner of the first aspect, the control method further includes:

[0039] When receiving a robotic arm retracting into the compartment instruction, control the door of the robotic arm compartment to open, and control the cleaning device to perform a retracting into the compartment action according to the door information;

[0040] If the door of the robotic arm compartment is closed in place, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is opened in place, control the cleaning device to perform a retracting into the compartment action;

[0041] If the door of the robotic arm compartment is not closed in place, control the door of the robotic arm compartment to close and then control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is opened in place, control the cleaning device to perform a retracting into the compartment action.

[0042] In a possible implementation manner of the first aspect, the control method further includes:

[0043] When receiving a robotic arm retracting into the compartment instruction, control the joints of the robotic arm to be at a preset retracting into the compartment angle.

[0044] In a possible implementation manner of the first aspect, the control method further includes:

[0045] Obtain the spatial parameters of the area to be cleaned by the cleaning device;

[0046] Control the states of the cleaning device and the robotic arm according to the spatial parameters.

[0047] In a second aspect, an embodiment of the present application provides a control device for a cleaning device. The cleaning device includes a robotic arm and a robotic arm compartment, and the robotic arm can be stored in the robotic arm compartment. The control device includes:

[0048] A first acquisition module, configured to acquire the door information of the robotic arm compartment; the door information includes at least one of door opened in place information, door closed in place information, door motor overcurrent information, and edge anti-pinch detection information;

[0049] A status determination module, configured to determine the status of the hatch of the robotic arm compartment according to the hatch information.

[0050] In a possible implementation manner of the second aspect, the status determination module is specifically configured to:

[0051] Determine the open status of the hatch according to the status of the open-in-place sensor, the status of the open-overcurrent sensor, the status of the hatch anti-pinch sensor, and a preset hatch open anomaly judgment logic.

[0052] In a possible implementation manner of the second aspect, the hatch open anomaly judgment logic includes at least one of the following:

[0053] If the open-in-place sensor is triggered, the hatch is in the open-in-place state;

[0054] If the open-in-place sensor is not triggered, the open-overcurrent sensor is triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in a blocked open state, and the hatch motor performs a first preset recovery operation;

[0055] If the open-in-place sensor is not triggered, the open-overcurrent sensor is triggered, and the hatch anti-pinch sensor is triggered, the hatch is in an abnormal open state, and the hatch motor performs a first preset recovery operation;

[0056] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the process of opening;

[0057] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the hatch anti-pinch sensor is triggered, the hatch is in an abnormal open state, and the hatch motor performs a first preset recovery operation;

[0058] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the hatch anti-pinch sensor does not sense, an error message is output.

[0059] In a possible implementation manner of the second aspect, the first preset recovery operation includes:

[0060] After controlling the hatch motor to rotate forward and backward a first preset number of opening times, determine whether the hatch is in the open-in-place state;

[0061] If not, after pausing for a first preset opening time, control the hatch motor to perform forward and reverse operations in sequence within the range of a second preset number of opening times;

[0062] Output corresponding error messages according to the number of forward rotations of the hatch motor. If the number of forward rotations of the hatch motor reaches the second preset opening number, control the hatch motor to enter the sleep state.

[0063] In a possible implementation manner of the second aspect, the state determination module is specifically configured to:

[0064] Determine the closed state of the hatch according to the state of the closed-in place sensor, the state of the overcurrent sensor during closing, the state of the hatch anti-pinch sensor, and the hatch closing abnormality judgment logic.

[0065] In a possible implementation manner of the second aspect, the hatch closing abnormality judgment logic includes at least one of the following:

[0066] If the closed-in place sensor is triggered, the hatch is in the closed-in place state;

[0067] If the closed-in place sensor is not triggered, the overcurrent sensor during closing is triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the closed-blocked state, and the hatch motor performs a second preset recovery operation;

[0068] If the closed-in place sensor is not triggered, the overcurrent sensor during closing is triggered, and the hatch anti-pinch sensor is triggered, the hatch is in the abnormal closing state, and the hatch motor performs a second preset recovery operation;

[0069] If the closed-in place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the closing process;

[0070] If the closed-in place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the hatch anti-pinch sensor is triggered, the hatch is in the abnormal closing state, and the hatch motor performs a second preset recovery operation;

[0071] If the closed-in place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the hatch anti-pinch sensor does not sense, output an error message.

[0072] In a possible implementation manner of the second aspect, the second preset recovery operation includes:

[0073] After controlling the hatch motor to rotate forward and backward a first preset closing number of times, determine whether the hatch is in the closed-in place state;

[0074] If not, after pausing for a first preset closing time, control the hatch motor to perform forward and reverse operations in sequence within the range of the second preset closing number of times;

[0075] Output corresponding error messages according to the number of reverse rotations of the hatch motor. If the number of reverse rotations of the hatch motor reaches the second preset closing number, control the hatch motor to enter the sleep state.

[0076] In a possible implementation manner of the second aspect, the control device further includes:

[0077] A first control module, configured to:

[0078] In the case of receiving the instruction for the robotic arm to exit the cabin, control the cleaning device to perform the action of exiting the cabin according to the cabin door information;

[0079] If the cabin door of the robotic arm cabin is not in the fully closed state, control the cabin door of the robotic arm cabin to close, and after controlling the joint angles of the robotic arm to be cleared, control the cabin door of the robotic arm cabin to open, and control the cleaning device to perform the action of exiting the cabin when the cabin door of the robotic arm cabin is in the fully open state;

[0080] If the cabin door of the robotic arm cabin is in the fully closed state, control the cabin door of the robotic arm cabin to open, and control the cleaning device to perform the action of exiting the cabin when the cabin door of the robotic arm cabin is in the fully open state.

[0081] In a possible implementation manner of the second aspect, the control device further includes:

[0082] A second control module, configured to:

[0083] In the case of receiving the instruction for the robotic arm to return to the cabin, control the cabin door of the robotic arm cabin to open, and control the cleaning device to perform the action of returning to the cabin according to the cabin door information;

[0084] If the cabin door of the robotic arm cabin is in the fully closed state, control the cabin door of the robotic arm cabin to open, and control the cleaning device to perform the action of returning to the cabin when the cabin door of the robotic arm cabin is in the fully open state;

[0085] If the cabin door of the robotic arm cabin is not in the fully closed state, control the cabin door of the robotic arm cabin to close and then control the cabin door of the robotic arm cabin to open, and control the cleaning device to perform the action of returning to the cabin when the cabin door of the robotic arm cabin is in the fully open state.

[0086] In a possible implementation manner of the second aspect, the control device further includes:

[0087] A third control module, configured to:

[0088] In the case of receiving the instruction for the robotic arm to return to the cabin, control the joints of the robotic arm to be at the preset return angle.

[0089] In a possible implementation of the second aspect, the control device further includes:

[0090] A fourth control module, configured to:

[0091] Obtain spatial parameters of the area to be cleaned by the cleaning device;

[0092] Control the states of the cleaning device and the robotic arm according to the spatial parameters.

[0093] In a third aspect, an embodiment of the present application provides a cleaning device, which includes a robotic arm, a robotic arm cabin, and a controller. The robotic arm can be stored in the robotic arm cabin, and the controller is configured to execute the control method according to any one of the above first aspects.

[0094] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program or instruction. When the computer program or instruction is executed by a processor, the steps in the control method according to any one of the above first aspects are implemented.

[0095] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method according to any one of the above first aspects is implemented.

[0096] The beneficial effects of the first aspect of the embodiments of the present application compared with the prior art are as follows:

[0097] By obtaining the door information of the robotic arm cabin, where the door information includes at least one of the door opened in place information, the door closed in place information, the door motor overcurrent information, and the edge anti-pinch detection information; and determining the state of the door of the robotic arm cabin according to the door information, it is possible to make the actions of the robotic arm and the cleaning actions of the cleaning device be linked with the state of the door of the robotic arm cabin, avoid the possibility of system errors caused by the inconsistent state of the door of the robotic arm cabin recorded by the cleaning device with the actual state, reduce the error hidden danger, improve the success rate and effectiveness of the robotic arm of the cleaning device to execute the out-of-cabin action and the in-cabin action, and enhance the stability of the cleaning device system.

[0098] It can be understood that the beneficial effects of the above second aspect to the fifth aspect can refer to the relevant descriptions in the above first aspect, and will not be repeated here. Description of the Drawings

[0099] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0100] Figure 1 is a schematic side view structure diagram of a cleaning device provided by an embodiment of the present application;

[0101] Figure 2 is a first flowchart of a control method for a cleaning device provided by an embodiment of the present application;

[0102] Figure 3 is a second flowchart of a control method for a cleaning device provided by an embodiment of the present application;

[0103] Figure 4 is a third flowchart of a control method for a cleaning device provided by an embodiment of the present application;

[0104] Figure 5 is a fourth flowchart of a control method for a cleaning device provided by an embodiment of the present application;

[0105] Figure 6 is a first schematic structural diagram of a control device for a cleaning device provided by an embodiment of the present application;

[0106] Figure 7 is a second schematic structural diagram of a control device for a cleaning device provided by an embodiment of the present application;

[0107] Figure 8 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application. Detailed implementation manners

[0108] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0109] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0110] It should also be understood that the term "and / or" as used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0111] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0112] In addition, in the description of the specification and appended claims of this application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0113] Reference to "one embodiment" or "some embodiments" etc. described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in some embodiments", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0114] Based on the function of cleaning the floor, users and the market require that the cleaning device can also achieve the function of automatically organizing items on the user's floor. For example, the cleaning device needs to automatically identify obstacles on the floor and mark their positions during floor cleaning, and automatically classify and organize the obstacles on the floor after cleaning. For example, the cleaning device needs to place the user's slippers at the door, toys in the children's room, and paper balls in the trash can, etc. To solve this technical problem, the embodiments of this application provide a cleaning device, which can achieve the function of organizing items on the floor of the user's room by integrating and controlling a robotic arm. The cleaning device in this article can also be called a cleaning robot, specifically, such as a household robot, a mopping and sweeping robot, etc.

[0115] Figure 1 It is a schematic side view structure diagram of the cleaning device provided by an embodiment of this application.

[0116] The cleaning device provided by the embodiment of the present application includes an upper moving part and a lower moving part. The upper moving part may include a robotic arm for sorting ground items, and the lower moving part may be a moving chassis for cleaning the ground.

[0117] In some embodiments, the moving part below the cleaning device is a movable chassis 11. The movable chassis 11 can move in any direction within a movable area according to a control instruction. Among them, the movable chassis 11 can be a wheeled chassis or a tracked chassis.

[0118] In some embodiments, the movable chassis 11 can perform linear motion along the x-axis and y-axis directions of the plane, and can also perform linear motion along the z-axis direction (i.e., the up and down direction) by lifting the walking wheels, and can also rotate along the z-axis direction. As Figure 1 shown, there is a follow-up universal wheel 12 in the middle of the front side of the movable chassis 11 of the cleaning device, and there is one driving walking wheel 13 on each side of the left and right of the rear side for driving the cleaning device to move. Both the follow-up universal wheel 12 and the walking wheel 13 have servos that can lift the movable chassis 11 by a certain distance.

[0119] In some embodiments, the moving part above the cleaning device is a robotic arm with multiple degrees of freedom. The end of the robotic arm is provided with a gripper and an RGB camera. Combining Figure 1 shown, the robotic arm 2 includes joints 21, 22, 23, 24 and 25. Among them, the joint 21 can drive the whole robotic arm to rotate left and right ( Figure 1 the direction in which the paper surface faces inward or outward in the figure). The rotation direction of the joint 22 can be the same as the rotation directions of the joints 23 and 24.

[0120] In some embodiments, the joints 21 and 22 can be used to perform the actions of the robotic arm leaving the cabin and returning to the cabin. After the robotic arm leaves the cabin, the joints 21 and 22 maintain a fixed angle. The joints 23 and 24 are the main joints that determine the position of the gripper at the end of the robotic arm in space. The joint 25 is the spin joint of the end gripper that determines the posture of the gripper at the end of the robotic arm.

[0121] In some embodiments, the robotic arm of the cleaning device can be a multi-axis robotic arm.

[0122] Figure 1 The shown robotic arm is a five-axis robotic arm. The five-axis robotic arm includes a folding rotation axis, a folding rotation axis, a shoulder joint rotation axis, an elbow joint rotation axis, and a wrist joint rotation axis.

[0123] The folding rotation axes (the rotation axes corresponding to joints 21 and 22) are jointly responsible for the folding of the robotic arm, and their degrees of freedom are limited. When performing a rotation action, the entire robotic arm rotates around the vertical axis in the same direction as the chassis rotation axis. The folding rotation axis (the rotation axis corresponding to joint 22) supports the robotic arm through a pitching rotation, similar to the function of a bracket, and is jointly responsible for the folding of the robotic arm with joint 21, with limited degrees of freedom.

[0124] The shoulder joint rotation axis (the rotation axis corresponding to joint 23) is one of the main motion joint axes of the robotic arm. The shoulder joint rotation axis is in the same direction as the rotation axes corresponding to joints 22 and 24. The shoulder joint rotation axis and joint 24 jointly determine the pose of the end of the robotic arm. The elbow joint rotation axis (the rotation axis corresponding to joint 24) is one of the main motion joint axes of the robotic arm. The elbow joint rotation axis is in the same direction as the rotation axes corresponding to joints 22 and 23. The elbow joint rotation axis and joint 23 jointly determine the pose of the end of the robotic arm. The wrist joint rotation axis (the rotation axis corresponding to joint 25) is used to adjust the direction of the end gripper for gripping an object and determines the pose of the end of the robotic arm.

[0125] In some embodiments, through the cooperation of the folding rotation axes, the shoulder joint rotation axis, the elbow joint rotation axis, the wrist joint rotation axis and the chassis of the cleaning device, functions such as obstacle gripping and floor cleaning can be performed.

[0126] The cleaning device provided by the embodiments of the present application includes a robotic arm and a robotic arm compartment. The robotic arm can be stored in the robotic arm compartment. If there is a conflict between the actual door state of the robotic arm compartment and the actions of the robotic arm, there is a problem of potential safety hazards.

[0127] To solve the above technical problems, the embodiments of the present application provide a control method for a cleaning device. Refer to Figure 2 As shown, the control method in this embodiment includes step S100 and step S200.

[0128] In step S100, the door information of the robotic arm compartment is obtained.

[0129] In this embodiment, the door information includes at least one of the door opened in place information, the door closed in place information, the door motor overcurrent information, and the edge anti-pinch detection information. A variety of sensors or detection components can be arranged on the door of the robotic arm compartment of the cleaning device, at the hatch of the robotic arm compartment, and inside the compartment to detect the door opened in place information, the door closed in place information, the door motor overcurrent information, and the edge anti-pinch detection information, thereby detecting the state of the door of the robotic arm compartment and outputting the corresponding door information according to the detection results.

[0130] In some embodiments, the robotic arm compartment is disposed inside the cleaning device. An electric hatch door is provided above the hatch of the robotic arm compartment. When the robotic arm is not out of the compartment, the robotic arm can be folded and stored inside the robotic arm compartment, and the robotic arm compartment door is in a closed state. When the robotic arm needs to work out of the compartment, the electric hatch door opens, and at this time, the robotic arm executes corresponding actions out of the compartment under a control instruction.

[0131] In some embodiments, the electric hatch door provided above the hatch of the robotic arm compartment is composed of a motor, a gearbox, and several connecting rods. The opening and closing of the electric hatch door are driven by the first control module, the second control module, the third control module, the fourth control module, and the fifth control module of the cleaning device.

[0132] In some embodiments, a manual switch assembly can also be provided on the cleaning device, and the user can control the opening or closing of the hatch door through the manual switch assembly.

[0133] In step S200, determine the state of the hatch door of the robotic arm compartment according to the hatch door information.

[0134] In this embodiment, by obtaining the hatch door information of the robotic arm compartment and determining the state of the hatch door of the robotic arm compartment according to the hatch door information, the abnormal detection of the hatch door of the robotic arm compartment is realized. It is possible to detect abnormal situations during the opening and closing processes of the hatch door of the robotic arm compartment, and the actions of the robotic arm and the cleaning actions of the cleaning device can also be linked with the state of the hatch door of the robotic arm compartment, avoiding the possibility of system errors caused by the inconsistency between the recorded state of the hatch door of the robotic arm compartment and the actual state in the cleaning device, reducing potential errors, improving the success rate and effectiveness of the robotic arm of the cleaning device in executing the actions of getting out of the compartment and returning to the compartment, and enhancing the stability of the cleaning device system.

[0135] In some embodiments, as shown in Figure 3 The control method in this embodiment further includes step S300.

[0136] In step S300, control the actions of the robotic arm and the cleaning actions of the cleaning device according to the hatch door information and the control instruction of the robotic arm.

[0137] In this embodiment, by obtaining the hatch door information of the robotic arm compartment and controlling the actions of the robotic arm and the cleaning actions of the cleaning device according to the hatch door information and the control instruction of the robotic arm, the actions of the robotic arm and the cleaning actions of the cleaning device can be linked with the state of the hatch door of the robotic arm compartment, avoiding the possibility of system errors caused by the inconsistency between the recorded state of the hatch door of the robotic arm compartment and the actual state in the cleaning device, reducing potential errors, improving the success rate and effectiveness of the robotic arm of the cleaning device in executing the actions of getting out of the compartment and returning to the compartment, and enhancing the stability of the cleaning device system.

[0138] In some embodiments, the control instructions of the robotic arm include, but are not limited to, the robotic arm out-of-cabin instruction, the robotic arm in-cabin instruction, etc.

[0139] In some embodiments, the control instructions of the robotic arm include the robotic arm out-of-cabin instruction. If the cleaning device receives the robotic arm out-of-cabin instruction and the door of the robotic arm cabin is not in the fully closed state at this time, the door of the robotic arm cabin can be controlled to close first, then the door can be opened, and when the door is in the fully open state, the cleaning device can be controlled to perform the robotic arm out-of-cabin action.

[0140] In some embodiments, the control instructions of the robotic arm include the robotic arm in-cabin instruction. If the cleaning device receives the robotic arm in-cabin instruction and the door of the robotic arm cabin is not in the fully closed state, the door of the robotic arm cabin can be controlled to close first, then the door can be opened after the door is closed, and when the door is in the fully open state, the cleaning device can be controlled to perform the robotic arm in-cabin action.

[0141] In some embodiments, when the cleaning device encounters an obstacle, by sending a robotic arm out-of-cabin instruction, the robotic arm can be controlled to go out of the cabin to move the position of the obstacle on the ground, so that the cleaning device can, with the assistance of the robotic arm, perform actions such as clamping and carrying the obstacle, and after carrying the obstacle, clean the ground at the bottom and around the position of the obstacle, improving the ground cleaning coverage rate, making the cleaning effect more in line with the user's expectations, and improving the user's satisfaction with the ground cleaning function of the cleaning device.

[0142] In some embodiments, the cleaning device can also perform a ground item sorting action by controlling the robotic arm to go out of the cabin. For example, there may be some objects randomly placed or dropped on the ground in the user's home, resulting in a messy ground. The cleaning device automatically identifies the obstacles on the ground and marks their positions during ground cleaning, controls the robotic arm to go out of the cabin, and controls the robotic arm to automatically sort and organize the obstacles on the ground. In some specific embodiments, the robotic arm can be controlled to place the user's slippers at the door, toys in the children's room, and paper balls in the trash can, etc.

[0143] In some embodiments, in step S200, determining the state of the door of the robotic arm cabin according to the door information includes: determining the open state of the door according to the state of the fully open sensor, the state of the overcurrent sensor during opening, the state of the door anti-pinch sensor, and the door open abnormal judgment logic.

[0144] In this embodiment, the fully opened sensor can be used to detect whether the hatch of the robotic arm compartment is fully opened. If the fully opened sensor is triggered, it means that the hatch of the robotic arm compartment is fully opened. If the fully opened sensor is not triggered, it means that the hatch of the robotic arm compartment is not fully opened. The overcurrent sensor for opening is used to detect whether there is an overcurrent when the hatch motor drive performs the opening action. The hatch anti-pinch sensor is used to detect whether the hatch is under pressure, that is, whether the hatch pinches an object. If the overcurrent sensor is triggered, it means that an obstacle is encountered during the opening of the hatch. If the hatch anti-pinch sensor is triggered, it means that the hatch pinches an object.

[0145] In some embodiments, in step S200, the hatch opening abnormality determination logic includes at least one of the following:

[0146] If the fully opened sensor is triggered, the hatch is in the fully opened state;

[0147] If the fully opened sensor is not triggered, the overcurrent sensor for opening is triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the state of being blocked during opening, and the hatch motor performs a first preset recovery operation;

[0148] If the fully opened sensor is not triggered, the overcurrent sensor for opening is triggered, and the hatch anti-pinch sensor is triggered, the hatch is in the abnormal opening state, and the hatch motor performs a first preset recovery operation;

[0149] If the fully opened sensor is not triggered, the overcurrent sensor for opening is not triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the process of opening;

[0150] If the fully opened sensor is not triggered, the overcurrent sensor for opening is not triggered, and the hatch anti-pinch sensor is triggered, the hatch is in the abnormal opening state, and the hatch motor performs a first preset recovery operation;

[0151] If the fully opened sensor is not triggered, the overcurrent sensor for opening is not triggered, and the hatch anti-pinch sensor does not sense, an error message is output.

[0152] In some embodiments, the hatch opening abnormality determination logic during the hatch opening process is shown in Table 1:

[0153] Table 1:

[0154]

[0155] In some embodiments, in combination with Table 1, the preset abnormality determination logic includes: Before reaching the first time since the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is already in the fully opened state (for example, the optocoupler sensor is triggered), it can be determined that the hatch opening process is normal and the hatch is fully opened.

[0156] In some embodiments, as shown in Table 1, before the first time from when the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is not in the fully opened state (for example, the optocoupler sensor is not triggered), and the state of the overcurrent sensor for opening is triggered, and the state of the anti-pinch sensor for the hatch is not triggered, then it can be determined that the hatch opening process is blocked, and it can be determined that there is an obstruction during the hatch opening process, and the hatch is in the blocked state during opening. In this case, a first preset recovery operation can be performed.

[0157] In some embodiments, as shown in Table 1, before the first time from when the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is not in the fully opened state (for example, the optocoupler sensor is not triggered), and the state of the overcurrent sensor for opening is triggered, and the state of the anti-pinch sensor for the hatch is triggered, then it can be determined that the hatch opening process is abnormal, and it can be determined that the robotic arm hatch has pinched an object. In this case, a first preset recovery operation can be performed.

[0158] In some embodiments, as shown in Table 1, before the first time from when the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is not in the fully opened state (for example, the optocoupler sensor is not triggered), and the state of the overcurrent sensor for opening is not triggered, and the state of the anti-pinch sensor for the hatch is not triggered, then it can be determined that the hatch opening process is normal and the robotic arm hatch is in the process of opening. In this case, since the robotic arm hatch is in the process of opening, it can continue to determine whether the hatch opening process is normal according to the hatch opening abnormal judgment logic.

[0159] In some embodiments, as shown in Table 1, before the first time from when the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is not in the fully opened state (for example, the optocoupler sensor is not triggered), and the state of the overcurrent sensor for opening is not triggered, and the state of the anti-pinch sensor for the hatch is triggered, then it can be determined that the hatch opening process is abnormal, and it can be determined that the anti-pinch sensor for the hatch has been touched. In this case, a first preset recovery operation can be performed.

[0160] In some embodiments, as shown in Table 1, after the first time from when the motor starts to rotate to drive the hatch to open, if it is determined that the hatch is not in the fully opened state (for example, the optocoupler sensor is not triggered), and the state of the overcurrent sensor for opening is not triggered, then it can be determined that the hatch opening process is abnormal, and it can be determined that there is a problem inside the device. In this case, a first automatic stop and error reporting process can be performed.

[0161] In some embodiments, the range of the first time can be, for example, from 3 seconds to 30 seconds.

[0162] In some embodiments, the first time can be 6 seconds.

[0163] In some embodiments, as shown in Table 1, if there is an abnormality in the opening process of the hatch before reaching the first time, a first preset recovery operation is performed; if there is an abnormality in the opening process of the hatch after reaching the first time, a first automatic stop error reporting process is performed.

[0164] In some embodiments, in step S200, the first preset recovery operation includes the following S210 to S230:

[0165] S210, after controlling the hatch motor to rotate forward and backward a first preset number of opening times, determine whether the hatch is in the fully opened state;

[0166] S220, if not, then after pausing for a first preset opening time, control the hatch motor to perform forward and reverse operations in sequence within the range of a second preset number of opening times;

[0167] S230, according to the number of forward rotations of the hatch motor, output corresponding error messages. If the number of forward rotations of the hatch motor reaches the second preset number of opening times, control the hatch motor to enter the sleep state.

[0168] The first preset recovery operation may include controlling the hatch motor to rotate forward and backward a first preset number of opening times. During the retry process of controlling the hatch motor to rotate forward and backward a first preset number of opening times, if the hatch is in the normal fully opened state, control the robotic arm to perform the action of exiting the cabin. During the retry process of controlling the hatch motor to rotate forward and backward a first preset number of opening times, if the hatch is not in the normal fully opened state, pause for a first preset opening time, and after the first preset opening time, control the hatch motor to perform forward and reverse operations in sequence within the range of a second preset number of opening times. According to the number of forward rotations of the hatch motor, output corresponding error messages. For example, if the number of forward rotations of the hatch motor is greater than 3 times, output an error type of A. If the number of forward rotations of the hatch motor reaches the second preset number of opening times, control the hatch motor to enter the sleep state.

[0169] In some embodiments, the first preset recovery operation may be to drive the motor to reverse and forward and retry several times. During the retry process of driving the motor to reverse and forward several times, if the hatch is in the normal fully opened state, control the robotic arm to perform the action of exiting the cabin. If the hatch is not in the normal fully opened state after driving the motor to reverse and forward and retry several times, perform a first automatic stop error reporting process.

[0170] In some embodiments, the retry process when performing the first preset recovery operation includes: the motor pauses for several seconds, and the cumulative number of times is increased by 1 time. The reverse motor closes the hatch, and the abnormal judgment logic for hatch closing can be used to determine whether the closing process of the hatch is normal.

[0171] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the hatch is closed in place, the forward motor opens the hatch, and the abnormal hatch opening judgment logic can be used to determine whether the opening process of the hatch is normal.

[0172] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the hatch is opened normally (the situations of condition 1 and condition 2 in Table 1), it is determined that the retry is successful, and the manipulator is controlled to perform the out-of-cabin action.

[0173] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the hatch opening is abnormal, the cumulative count is increased by 1 time. When the cumulative count is less than or equal to the preset total cumulative count, or the situations of condition 3, condition 4, and condition 6 in Table 1 occur, after pausing for several seconds, the next retry is performed.

[0174] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the situation of condition 7 in Table 1 occurs, the first automatic stop error reporting process is performed (error type: C). If the cumulative count is greater than the preset total cumulative count, the third automatic stop error reporting process is performed (error type: A).

[0175] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the hatch closing is abnormal and not closed in place, pause for several seconds, increase the cumulative count by 1 time, the forward motor opens the hatch, and the abnormal hatch opening judgment logic can be used to determine whether the opening process of the hatch is normal.

[0176] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the hatch is opened normally (the situations of condition 1 and condition 2 in Table 1), it is determined that the retry is successful, and the manipulator is controlled to perform the out-of-cabin action. If the hatch opening is abnormal, the cumulative count is increased by 1 time. When the cumulative count is less than or equal to the preset total cumulative count, or the situations of condition 3, condition 4, and condition 6 in Table 1 occur, after pausing for several seconds, the next retry process is performed.

[0177] In some embodiments, the retry process when performing the first preset recovery operation further includes: if the situation of condition 7 in Table 1 occurs, the first automatic stop error reporting process is performed (error type: C); if the cumulative count is greater than the preset total cumulative count, the fourth automatic stop error reporting process is performed (error type: B).

[0178] In some embodiments, if the cleaning device encounters an abnormal situation resulting in the motor shutdown, the first automatic stop error reporting process is directly performed.

[0179] In this embodiment, after the first automatic stop error handling, the user is allowed to operate the physical buttons of the cleaning device to make the cleaning device continue to work or reset (for example, the user can press the "charging button" to make the cleaning device charge, and long-press the "power button" and "robotic arm button" to reset). The user is not allowed to make the cleaning device continue to work or reset by operating the APP. At this time, the APP can prompt the user on the interface "Please use the physical buttons to operate the cleaning device".

[0180] In some embodiments, after the first preset recovery operation is performed but fails, the first automatic stop error handling is entered.

[0181] In this embodiment, during the process of the cleaning device performing the first preset recovery operation, if the exception is resolved within the fixed number of retries or retry time, the cleaning device continues with the subsequent tasks. If not, the first automatic stop error handling is entered.

[0182] In some embodiments, in step S200, determining the state of the hatch of the robotic arm cabin according to the hatch information includes: determining the closed state of the hatch according to the state of the closed-in-place sensor, the state of the overcurrent sensor during closing, the state of the anti-pinch sensor of the hatch, and the hatch closing abnormality judgment logic.

[0183] In this embodiment, the closed-in-place sensor can be used to detect whether the hatch of the robotic arm cabin is closed in place. If the closed-in-place sensor is triggered, it means that the hatch of the robotic arm cabin is closed in place. If the closed sensor is not triggered, it means that the hatch of the robotic arm cabin is not closed in place. The overcurrent sensor during closing is used to detect whether there is overcurrent when the hatch motor drive performs the closing action. The anti-pinch sensor of the hatch is used to detect whether the hatch is pressed, that is, whether the hatch pinches an object. If the overcurrent sensor during closing is triggered, it means that there is an obstacle during the closing process of the hatch. If the anti-pinch sensor of the hatch is triggered, it means that the hatch pinches an object.

[0184] In some embodiments, the hatch closing abnormality judgment logic includes at least one of the following:

[0185] If the closed-in-place sensor is triggered, the hatch is in the closed-in-place state;

[0186] If the closed-in-place sensor is not triggered, the overcurrent sensor during closing is triggered, and the anti-pinch sensor of the hatch is not triggered, the hatch is in the closed-blocked state, and the hatch motor performs the second preset recovery operation;

[0187] If the closed-in-place sensor is not triggered, the overcurrent sensor during closing is triggered, and the anti-pinch sensor of the hatch is triggered, the hatch is in the closed-abnormal state, and the hatch motor performs the second preset recovery operation;

[0188] If the closed-in-place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the anti-pinch sensor of the hatch is not triggered, then the hatch is in the process of closing;

[0189] If the closed-in-place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the anti-pinch sensor of the hatch is triggered, then the hatch is in an abnormal closed state, and the hatch motor performs a second preset recovery operation;

[0190] If the closed-in-place sensor is not triggered, the overcurrent sensor during closing is not triggered, and the anti-pinch sensor of the hatch does not sense, an error message is output.

[0191] In some embodiments, the abnormal hatch closing judgment logic in this embodiment is as shown in Table 2 below:

[0192] Table 2:

[0193]

[0194]

[0195] In some embodiments, as shown in Table 2, if the hatch is in the closed-in-place state, start to open the hatch and determine whether the opening process of the hatch is normal according to the abnormal hatch opening judgment logic.

[0196] In some embodiments, as shown in Table 2, if the hatch is in the closed-in-place state, before starting to open the hatch, the angles of the joints of the robotic arm can also be updated to 0 degrees, and the state of the robotic arm is cleared.

[0197] In some embodiments, as shown in Table 2, if the hatch is in the normal fully open state, control the robotic arm to perform an out-of-hatch action.

[0198] In some embodiments, as shown in Table 2, if there is an abnormality in the closing process of the hatch before reaching the second time, a second preset recovery operation is performed.

[0199] In some embodiments, as shown in Table 2, if there is an abnormality in the closing process of the hatch after reaching the second time, a second automatic stop error reporting process is performed.

[0200] In some embodiments, in step S200, the second preset recovery operation includes the following S240 to S260:

[0201] S240, after controlling the hatch motor to rotate forward and backward a first preset number of closing times, determine whether the hatch is in the closed-in-place state;

[0202] S250, if not, after pausing for the first preset closing time, control the hatch motor to perform forward and reverse operations in sequence within the range of the second preset closing times;

[0203] S260, output corresponding error messages according to the number of reverse rotations of the hatch motor. If the number of reverse rotations of the hatch motor reaches the second preset closing times, control the hatch motor to enter the sleep state.

[0204] The second preset recovery operation may include controlling the hatch motor to rotate forward and reverse for the first preset closing times. During the retry process of controlling the hatch motor to rotate forward and reverse for the first preset closing times, if the hatch is in the normal closed position, the angles of the joints of the robotic arm can be updated to 0 degrees, and the state of the robotic arm can be cleared. During the retry process of controlling the hatch motor to rotate forward and reverse for the first preset closing times, if the hatch is not normally closed in place, pause for the first preset closing time, and after the first preset closing time, control the hatch motor to perform forward and reverse operations in sequence within the range of the second preset closing times. Output corresponding error messages according to the number of reverse rotations of the hatch motor. For example, if the number of reverse rotations of the hatch motor is greater than 3 times, output an error type of B. If the number of reverse rotations of the hatch motor reaches the second preset closing times, control the hatch motor to enter the sleep state.

[0205] In some embodiments, the second preset recovery operation may be to drive the motor to reverse and forward for several retries. During the retry process of driving the motor to reverse and forward several times, if the hatch has been normally closed in place, the angles of the joints of the robotic arm can be updated to 0 degrees, and the state of the robotic arm can be cleared. If the hatch is not normally closed in place after driving the motor to reverse and forward for several retries, perform the second automatic stop error handling.

[0206] In some embodiments, the retry process in the second preset recovery operation includes: pausing for several seconds, increasing the cumulative number of times by 1, rotating the motor forward to open the hatch, and the abnormal hatch opening judgment logic can be used to determine whether the opening process of the hatch is normal.

[0207] In some embodiments, the retry process in the second preset recovery operation further includes: if the hatch is opened in place, reverse the motor to close the hatch, and the abnormal hatch closing judgment logic can be used to determine whether the hatch closing process is normal. If the hatch is closed normally (the situations of Condition 1 and Condition 2 in Table 2), it is determined that the retry is successful, then the angles of the joints of the robotic arm can be updated to 0 degrees, and the status of the robotic arm can be cleared. If the hatch is closed abnormally, the cumulative count is incremented by 1. When the cumulative count is less than or equal to the preset total cumulative count, or when the situations of Condition 3, Condition 4, and Condition 6 in Table 2 occur, the next retry is performed. If the situation of Condition 7 in Table 2 occurs, the second automatic stop error reporting process is performed (error type is C). If the cumulative count is greater than the preset total cumulative count, the fifth automatic stop error reporting process is performed (error type is B).

[0208] In some embodiments, the retry process in the second preset recovery operation further includes: if the hatch is opened abnormally and not in place, the cumulative count is incremented by 1, pause for a few seconds, reverse the motor to close the hatch, and the abnormal hatch closing judgment logic can be used to determine whether the hatch closing process is normal. If the hatch is closed normally (the situations of Condition 1 and Condition 2 in Table 2), it is determined that the retry is successful, then the angles of the joints of the robotic arm can be updated to 0 degrees, and the status of the robotic arm can be cleared. If the hatch is closed abnormally, the cumulative count is incremented by 1. When the cumulative count is less than or equal to the preset total cumulative count, or when the situations of Condition 3, Condition 4, and Condition 6 in Table 2 occur, the next retry is performed. If the situation of Condition 7 in Table 2 occurs, the second automatic stop error reporting process is performed (error type is C). If the cumulative count is greater than the preset total cumulative count, the sixth automatic stop error reporting process is performed (error type is A).

[0209] In some embodiments, the opened-in-place sensor can be a microswitch, and the microswitch can be disposed at the bottom of the hatch of the robotic arm compartment.

[0210] In this embodiment, the microswitch is used to detect whether the hatch of the robotic arm compartment is closed normally. For example, when the hatch descends to the bottom, the microswitch at the bottom of the hatch is triggered, indicating that the hatch is at the bottom, that is, closed in place.

[0211] In some embodiments, the hatch information includes hatch closed-in-place information, the status information of the microswitch includes trigger information, the microswitch is used to detect whether the hatch of the robotic arm compartment is closed normally, and if the microswitch is triggered, it is determined that the hatch is closed in place.

[0212] In some embodiments, the status information of the microswitch includes microswitch triggered and microswitch not triggered. If the microswitch detection signal is microswitch triggered, it can be determined that the hatch door closed in-place information is yes, indicating that the hatch door is closed in place. If the microswitch detection signal is microswitch not triggered, it can be determined that the hatch door information for the hatch door closed in-place information is no, indicating that the hatch door is not closed in place.

[0213] In some embodiments, the microswitch is disposed at the edge position of the hatch door of the robotic arm. The microswitch can be used to detect whether the hatch door is closed in place. For example, one microswitch is disposed on each side of the hatch door of the robotic arm cabin. If all the microswitches on both sides of the hatch door are triggered, it is determined that the hatch door of the robotic arm cabin is in the closed in-place state. If at least one of the microswitches on both sides of the hatch door is not triggered, it is determined that the hatch door of the robotic arm cabin is in the not-closed-in-place state.

[0214] In some embodiments, the closed-in-place sensor can be an optocoupler sensor.

[0215] In this embodiment, one optocoupler sensor can be used to detect whether the hatch door of the robotic arm cabin is open and whether the hatch door is in the open-in-place state when the hatch door is open. For example, the optocoupler sensor is disposed inside the robotic arm cabin. If the hatch door is open, light enters the robotic arm cabin, and the optocoupler sensor can output corresponding hatch door information indicating that the hatch door is open. The optocoupler sensor can be disposed at the top of the robotic arm cabin. If the hatch door is open in place, there is no obstruction at the top of the robotic arm cabin, and the optocoupler sensor at the top of the robotic arm cabin outputs corresponding hatch door information, indicating that the hatch door is in the open-in-place state.

[0216] In some embodiments, the optocoupler sensor is used to detect the opening amplitude of the hatch door of the robotic arm cabin and output the hatch door detection information according to the opening amplitude. The hatch door information includes hatch door open-in-place information.

[0217] In some embodiments, the optocoupler sensor can be used to detect whether the hatch door of the robotic arm cabin is in the open-in-place state. If the optocoupler sensor is triggered, it can be determined that the state of the hatch door is open in place. A hatch door detection signal is generated according to the state of the hatch door, and it is determined that the hatch door open-in-place information is yes according to the hatch door detection signal, indicating that the hatch door is open in place. If the optocoupler sensor is not triggered, it can be determined that the state of the hatch door is not open in place. A hatch door detection signal is generated according to the state of the hatch door, and it is determined that the hatch door open-in-place information is no according to the hatch door detection signal, indicating that the hatch door is not open in place.

[0218] In some embodiments, the overcurrent sensor includes an opening overcurrent sensor and a closing overcurrent sensor. When the opening overcurrent sensor and the closing overcurrent sensor are triggered, the hatch door motor overcurrent information is yes. When the opening overcurrent sensor and the closing overcurrent sensor are not triggered, the hatch door motor overcurrent information is no.

[0219] In some embodiments, when the hatch anti-pinch sensor is triggered, the edge anti-pinch detection information is "yes". When the hatch anti-pinch sensor is not triggered, the edge anti-pinch detection information is "no".

[0220] In some embodiments, the control method further includes:

[0221] S400, in the case of receiving a manipulator out-of-cabin instruction, controlling the cleaning device to perform an out-of-cabin action according to the hatch information, and entering S500 or S600;

[0222] S500, if the hatch of the manipulator cabin is not in the fully closed state, controlling the hatch of the manipulator cabin to close, and after controlling the joint angles of the manipulator to be cleared, controlling the hatch of the manipulator cabin to open, and controlling the cleaning device to perform an out-of-cabin action when the hatch of the manipulator cabin is in the fully open state;

[0223] S600, if the hatch of the manipulator cabin is in the fully closed state, controlling the hatch of the manipulator cabin to open, and controlling the cleaning device to perform an out-of-cabin action when the hatch of the manipulator cabin is in the fully open state.

[0224] In this embodiment, in step S400, when receiving a manipulator out-of-cabin instruction, it is necessary to determine whether to immediately perform an out-of-cabin action in combination with the hatch information of the manipulator cabin, so as to avoid the problem of damage to the manipulator caused by the manipulator forcibly performing an out-of-cabin action when the hatch of the manipulator cabin is not fully open. For example, if the hatch information of the manipulator cabin indicates that the hatch is not in the fully closed state, the hatch of the manipulator cabin can be controlled to close first, then opened, and the cleaning device can be controlled to perform the manipulator out-of-cabin action when the hatch is in the fully open state. Such an operation can avoid the possibility of system errors caused by the inconsistency between the hatch state of the manipulator cabin recorded by the cleaning device and the actual state, and improve the stability of the manipulator system.

[0225] In this embodiment, since the robotic arm compartment can be manually opened by a human, and the robotic arm can be manually pulled out of the robotic arm compartment by a human, the cleaning device records that the door of the robotic arm compartment is closed, but it is actually not closed, resulting in a situation where the recorded door state of the robotic arm compartment by the cleaning device is inconsistent with the actual state. In step S500, when receiving a robotic arm out-of-compartment instruction, if the door of the robotic arm compartment is in a state of not being closed in place, control the door of the robotic arm compartment to close, and control the joint angles of the robotic arm to be cleared to zero, which can make the door close in place first, thereby solving the adverse effects caused by manual operation interfering with system information and reducing abnormal situations. After the door is closed and the joint angles of the robotic arm are cleared to zero, then open the door, and when the door of the robotic arm compartment is in a state of being opened in place, control the cleaning device to perform an out-of-compartment action, which can ensure the accuracy and effectiveness of the cleaning device performing the out-of-compartment action and improve the stability of the cleaning device system.

[0226] In this embodiment, in step S600, if the door of the robotic arm compartment is in a state of being closed in place, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is in a state of being opened in place, control the cleaning device to perform an out-of-compartment action. If the door is in a normal state of being opened in place, control the robotic arm to perform an out-of-compartment action. An opto-coupler sensor can be used to determine whether the door is opened in place. When the state of the opto-coupler sensor is triggered, it can be determined that the door is in a normal state of being opened in place, and control the robotic arm to perform an out-of-compartment action.

[0227] In some embodiments, the control method further includes:

[0228] S700, when receiving a robotic arm retracting-into-compartment instruction, control the door of the robotic arm compartment to open, and control the cleaning device to perform a retracting-into-compartment action according to the door information, and enter S800 or S900;

[0229] S800, if the door of the robotic arm compartment is in a state of being closed in place, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is in a state of being opened in place, control the cleaning device to perform a retracting-into-compartment action;

[0230] S900, if the door of the robotic arm compartment is in a state of not being closed in place, control the door of the robotic arm compartment to close and then control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is in a state of being opened in place, control the cleaning device to perform a retracting-into-compartment action.

[0231] In this embodiment, when a manipulator retracting into the cabin instruction is received, if the cabin door information of the manipulator cabin indicates that the cabin door is in the fully closed state, the cabin door of the manipulator cabin can be controlled to open first, and when the cabin door is in the fully open state, the cleaning device can be controlled to perform the manipulator retracting into the cabin action. By operating in this way, the possibility of system errors caused by the inconsistency between the cabin door state of the manipulator cabin recorded by the cleaning device and the actual state can be avoided, and the stability of the manipulator system can be improved.

[0232] In this embodiment, during the opening process of the cabin door, it can be determined whether the opening process of the cabin door is normal according to a preset abnormal judgment logic for the opening of the cabin door. The specific implementation manner is similar or close to the implementation manner described previously, and will not be elaborated here.

[0233] In this embodiment, since the manipulator cabin can be manually opened by a human, and the manipulator can be manually pulled out of the manipulator cabin by a human, it results in the cabin door of the manipulator cabin recorded by the cleaning device being closed, but actually not closed, causing the inconsistency between the cabin door state of the manipulator cabin recorded by the cleaning device and the actual state. When a manipulator retracting into the cabin instruction is received, if the cabin door of the manipulator cabin is in the not fully closed state, controlling the cabin door of the manipulator cabin to close can make the cabin door close in place first, thereby solving the adverse impact caused by manual operation interfering with system information and reducing abnormal situations. After the cabin door is closed, controlling the cabin door of the manipulator cabin to open again, and when the cabin door of the manipulator cabin is in the fully open state, controlling the cleaning device to perform the retracting into the cabin action can ensure the accuracy and effectiveness of the cleaning device performing the retracting into the cabin action, and improve the stability of the cleaning device system.

[0234] In some embodiments, the control method further includes:

[0235] S1000, when a manipulator retracting into the cabin instruction is received, controlling the joints of the manipulator to be at a preset retracting into the cabin angle.

[0236] In this embodiment, the joints of the manipulator being at a preset retracting into the cabin angle includes but is not limited to: joints 21, 22, 23, and 24 being reset to zero, and the angles of joints 22, 23, and 24 being such that the manipulator can be stored in the manipulator cabin.

[0237] In some embodiments, when the joints of the robotic arm are at a preset angle for returning to the cabin, joint 21 can be in the state of a small-angle in-place switch, the in-place switches of joints 22, 23, and 24 for returning to the cabin are in a certain state, the angle of joint 25 is 0 degrees, and the reporting status of the abnormal problems of the sensor (such as abnormal problems caused by the collision of the robotic arm resulting in overcurrent, overheating of the motor, and the top surface sensing sensor detecting an object invading the safety space, etc.) is no abnormal problem, then it can be determined that the action of the robotic arm returning to the cabin is completed, and the cabin door can be closed and whether the closing process of the cabin door is normal can be determined according to the abnormal judgment logic for closing the cabin door. If the cabin door has been normally closed in place, the angles of each joint included in the robotic arm are updated to 0 degrees. If it is determined that the closing-in-place sensor is triggered (for example, both micro-switches are triggered), it can be determined that the closing process of the cabin door is normal and the cabin door has been closed in place. In this case, the angles of each joint of the robotic arm can be updated to 0 degrees, and the status of the robotic arm can be cleared.

[0238] In the embodiments of the present application, the influence of abnormal situations caused by manually opening the cabin door and manually taking out the robotic arm on the stability of the cleaning equipment system can be reduced, the success rate of the robotic arm leaving the cabin is improved, potential error hazards are eliminated, and the stability of the cleaning equipment system is enhanced. The embodiments of the present application provide a method for opening and closing the cabin door of the robotic arm cabin in a cleaning equipment, as well as the abnormal judgment logic, automatic recovery logic, and error reporting processing logic during the opening and closing processes of the cabin door. The robotic arm and the cabin door are combined into a system, and whether the robotic arm is in the cabin state is determined by whether the cabin door is closed in place. Each joint of the robotic arm is at a preset angle for returning to the cabin every time the cabin door is closed, avoiding the need to separately judge the state of the robotic arm and reducing the structural complexity.

[0239] In some embodiments, the cabin door of the robotic arm cabin can be driven to open by the forward rotation of the motor. During the opening process of the cabin door of the robotic arm cabin, whether the opening process of the cabin door is normal can be determined according to the preset abnormal judgment logic for opening the cabin door.

[0240] In some embodiments, as shown in Figure 4 the control method in this embodiment further includes step S410 and step S420.

[0241] In step S410, the force information of the cabin door of the robotic arm cabin is obtained.

[0242] In step S420, according to the force information of the cabin door and the working state of the cleaning equipment, the working states of the cleaning equipment and the robotic arm are adjusted.

[0243] In this embodiment, the force condition of the hatch of the robotic arm compartment can be detected by a hatch anti-pinch sensor and an over-current sensor, and corresponding force information can be generated. The cleaning device can adjust the working state of the robotic arm in combination with the force information of the hatch, thereby avoiding the problem that the robotic arm or the hatch is damaged due to the robotic arm forcibly executing a preset action. For example, if the state of the hatch anti-pinch sensor is triggered or the state of the over-current sensor is triggered, a hatch pressure detection signal can be generated; if the hatch pressure detection signal indicates that the hatch is stressed and pressed, and the cleaning device is in the closing process, it can be determined that there is an abnormality in the hatch closing process, and a second preset recovery operation can be performed.

[0244] In some embodiments, an over-current sensor for opening is used to detect whether there is an obstruction during the opening of the hatch. If the over-current sensor for opening is triggered, it means that there is an obstruction during the opening of the hatch. As shown in Figure 1, the state of the over-current sensor for opening is usually not triggered; or, considering the structural tolerance, the state of the over-current sensor for opening can also be triggered; after the hatch is in the fully opened state, the robotic arm can be controlled to perform an out-of-compartment action. In this case, the state of the hatch anti-pinch sensor can be either triggered or not triggered.

[0245] In some embodiments, as shown in Figure 5 the control method in this embodiment further includes step S510 and step S520.

[0246] In step S510, spatial parameters of the area to be cleaned of the cleaning device are obtained.

[0247] In step S520, the states of the cleaning device and the robotic arm are controlled according to the spatial parameters.

[0248] In this embodiment, the cleaning device can measure the surrounding environment by means of a laser range finder or the like to determine the spatial parameters of the area to be cleaned. The spatial parameters of the area to be cleaned include, for example, the area of the area to be cleaned, the height of obstacles, etc. If there are obstacles in the area to be cleaned resulting in a small accessible height of the area to be cleaned, it is determined that the cleaning device is about to enter a low space. Before the cleaning device enters the low space, the state of the hatch of the robotic arm compartment is detected. Only when the hatch of the robotic arm compartment is in the fully closed state, the cleaning device is controlled to enter the low space, avoiding the possibility of damage to the robotic arm of the cleaning device when the cleaning device does not normally retract the robotic arm and does not normally close the hatch of the robotic arm compartment, reducing the probability of failure of the cleaning device system, and improving the stability of the cleaning device system.

[0249] In some embodiments, if the hatch is not closed in place, start closing the hatch and determine whether the closing process of the hatch is normal according to the abnormal hatch closing judgment logic. If the hatch is closed in place, enter the low space. If the hatch is not closed in place, give up entering the low space.

[0250] In some embodiments, the in-place sensor can be a microswitch. If it is detected that the closing in-place sensor of the robotic arm is not triggered (for example, at least one of the two microswitches is not triggered), it can be determined that the hatch of the robotic arm compartment is not closed in place, and give up entering the low space. At this time, the cleaning device can enter other areas for operations such as cleaning and item sorting. After the cleaning device finishes processing in other areas, it can normally return to the charging base for charging and does not need to report an error.

[0251] In some embodiments, before the state of the cleaning device is switched, the state of the hatch of the robotic arm compartment is detected.

[0252] In this embodiment, the state switching of the cleaning device includes: switching from other states (such as the normal working state) to the charging state, the backwashing state, and the shutdown state; switching from the standby state to the startup state, the start task state, and the continue task state; switching from the sleep state to the wake state.

[0253] In some embodiments, if the hatch is closed in place, the state of the cleaning device is switched; if it is detected that the closing in-place sensor of the robotic arm is triggered (for example, both of the two microswitches are triggered), it can be determined that the hatch of the robotic arm compartment is closed in place, and the state of the robotic arm is considered to be in the compartment state, and the state of the cleaning device is switched.

[0254] In some embodiments, if the hatch is not closed in place, control the robotic arm to return to the compartment and close the hatch; if it is not closed in place, the state of the robotic arm can be determined to be in the out-of-compartment state. And when controlling the robotic arm to return to the compartment and close the hatch, it can be prompted by voice, for example, prompt "automatic resetting" and perform the automatic reset operation. If the operation of the robotic arm to return to the compartment and close the hatch is successful, the state of the cleaning device is switched. If the operation of the robotic arm to return to the compartment and close the hatch fails, an error reporting process for the failed operation is performed.

[0255] In some embodiments, if the state of the robotic arm is abnormal, when the cleaning device receives a shutdown instruction, it can directly perform the shutdown operation without detecting whether the hatch of the robotic arm compartment is closed.

[0256] In some embodiments, before the state of the cleaning device is switched, the closed-in-place state of the door of the robotic arm compartment is detected, it is determined whether the robotic arm is in the out-of-compartment state, and if the door is in the closed-in-place state, the state of the cleaning device is switched, avoiding the possibility of damage to the robotic arm of the cleaning device caused by switching the state when the cleaning device does not properly retract the robotic arm and does not properly close the door of the robotic arm compartment, reducing the probability of failure of the cleaning device system, and improving the stability of the cleaning device system.

[0257] In some embodiments, if the door is not in the closed-in-place state, the door is started to be closed and it is determined whether the closing process of the door is normal according to the door closing abnormality determination logic.

[0258] For example, if at least one of the two microswitches does not trigger, it is determined that the door of the robotic arm compartment is not in the closed-in-place state. The door of the robotic arm compartment can be driven to close by reversing the motor.

[0259] In some embodiments, the door closing abnormality determination logic in this embodiment includes: before reaching the second time since the motor starts to rotate to drive the door to close, if it is determined that the closed-in-place sensor is triggered (for example, both microswitches are triggered), it can be determined that the door closing process is normal and the door has been closed in place. In this case, the state of the overcurrent sensor for closing is usually not triggered. Or, considering the structural tolerance, the state of the overcurrent sensor for closing can also be triggered. After the door has been closed in place, the angles of the respective joints of the robotic arm can be updated to 0 degrees, and the state of the robotic arm can be cleared. In this case, the state of the door anti-pinch sensor can be either triggered or not triggered.

[0260] In some embodiments, the door closing abnormality determination logic in this embodiment includes: before reaching the second time since the motor starts to rotate to drive the door to close, if it is determined that the closed-in-place sensor is not triggered (for example, at least one of the two microswitches is not triggered), and the state of the overcurrent sensor for closing is triggered, and the state of the door anti-pinch sensor is not triggered, it can be determined that the door closing process is abnormal and it can be determined that there is an obstruction during the door closing process. In this case, a second preset recovery operation can be performed.

[0261] In some embodiments, the door closing abnormality determination logic in this embodiment includes: before reaching the second time since the motor starts to rotate to drive the door to close, if it is determined that the closed-in-place sensor is not triggered (for example, at least one of the two microswitches is not triggered), and the state of the overcurrent sensor for closing is triggered, and the state of the door anti-pinch sensor is triggered, it can be determined that the door closing process is abnormal and it can be determined that the robotic arm door has pinched an object or a hand. In this case, a second preset recovery operation can be performed.

[0262] In some embodiments, the abnormal judgment logic for the hatch closing in this embodiment includes: before reaching the second time since the motor starts to rotate to drive the hatch to close, if it is determined that the closing-in-place sensor is not triggered (for example, at least one of the two microswitches is not triggered), and the state of the over-current sensor for closing is not triggered, and the state of the anti-pinch sensor for the hatch is not triggered, it can be determined that the hatch closing process is normal and the robotic arm hatch is in the process of closing. In this case, since the robotic arm hatch is in the process of closing, the abnormal judgment logic for the hatch closing can be continuously used to determine whether the hatch closing process is normal.

[0263] In some embodiments, the abnormal judgment logic for the hatch closing in this embodiment includes: before reaching the second time since the motor starts to rotate to drive the hatch to close, if it is determined that the closing-in-place sensor is not triggered (for example, at least one of the two microswitches is not triggered), and the state of the over-current sensor for closing is not triggered, and the state of the anti-pinch sensor for the hatch is triggered, it can be determined that the hatch closing process is abnormal and it can be determined that the anti-pinch sensor for the hatch has been touched. In this case, a second preset recovery operation can be performed.

[0264] In some embodiments, the abnormal judgment logic for the hatch closing in this embodiment includes: after reaching the second time since the motor starts to rotate to drive the hatch to close, if it is determined that the closing-in-place sensor is not triggered (for example, at least one of the two microswitches is not triggered), and the state of the over-current sensor for closing is not triggered, it can be determined that the hatch closing process is abnormal and it can be determined that there is a problem inside the device. In this case, a second automatic stop and error reporting process can be performed.

[0265] In some embodiments, the range of the second time can be, for example, from 3 seconds to 30 seconds. Preferably, the second time is 6 seconds.

[0266] The embodiments of the present application further provide a control device for a cleaning device. The cleaning device includes a robotic arm and a robotic arm compartment, and the robotic arm can be stored in the robotic arm compartment. Refer to Figure 6 As shown, the control device 3 in this embodiment includes a first acquisition module 31 and a state determination module 32.

[0267] In this embodiment, the first acquisition module 31 is used to acquire the hatch information of the robotic arm compartment. The hatch information includes at least one of the hatch opening-in-place information, the hatch closing-in-place information, the hatch motor over-current information, and the edge anti-pinch detection information. The state determination module 32 is used to determine the state of the hatch of the robotic arm compartment according to the hatch information.

[0268] In this embodiment, various sensors or detection components can be provided on the hatch of the robotic arm compartment of the cleaning device, at the hatch of the robotic arm compartment, and inside the compartment. The various sensors or detection components are used to detect the state of the hatch of the robotic arm compartment and output corresponding hatch information according to the detection results. The first acquisition module 31 is used to execute step S100 in the control method described in any of the above embodiments to acquire the corresponding hatch information. The state determination module 32 is used to execute step S200 in the control method described in any of the above embodiments to determine the state of the hatch of the robotic arm compartment according to the hatch information.

[0269] In some embodiments, referring to Figure 7 as shown, the control device 3 further includes: a first control module 33. The first control module 33 is used to execute step S300 described in any of the above embodiments to control the actions of the robotic arm and the cleaning actions of the cleaning device according to the hatch information and the control instructions of the robotic arm.

[0270] In this embodiment, by using the first acquisition module 31 to acquire the hatch information of the robotic arm compartment, and the first control module 33 to control the actions of the robotic arm and the cleaning actions of the cleaning device according to the hatch information and the control instructions of the robotic arm, the actions of the robotic arm and the cleaning actions of the cleaning device can be linked with the state of the hatch of the robotic arm compartment, avoiding the possibility of system errors caused by the inconsistency between the recorded state of the hatch of the robotic arm compartment and the actual state in the cleaning device, reducing the hidden risks of errors, improving the success rate and effectiveness of the robotic arm of the cleaning device in performing the out-of-compartment action and the in-compartment action, and enhancing the stability of the cleaning device system.

[0271] In some embodiments, the state determination module 32 is specifically used for:

[0272] Determining the open state of the hatch according to the state of the open-in-place sensor, the state of the open overcurrent sensor, the state of the hatch anti-pinch sensor, and a preset hatch open abnormality judgment logic.

[0273] In some embodiments, the hatch open abnormality judgment logic includes at least one of the following:

[0274] If the open-in-place sensor is triggered, the hatch is in the open-in-place state;

[0275] If the open-in-place sensor is not triggered, the open overcurrent sensor is triggered, and the hatch anti-pinch sensor is not triggered, the hatch is in the open-blocked state, and the hatch motor performs a first preset recovery operation;

[0276] If the open-in-place sensor is not triggered, the open overcurrent sensor is triggered, and the hatch anti-pinch sensor is triggered, the hatch is in the open-abnormal state, and the hatch motor performs a first preset recovery operation;

[0277] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, then the door is in the process of opening;

[0278] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the door anti-pinch sensor is triggered, then the door is in an abnormal open state, and the door motor performs a first preset recovery operation;

[0279] If the open-in-place sensor is not triggered, the open-overcurrent sensor is not triggered, and the door anti-pinch sensor does not sense, an error message is output. In some embodiments, the first preset recovery operation includes:

[0280] After controlling the door motor to rotate forward and backward a first preset number of opening times, it is judged whether the door is in the open-in-place state;

[0281] If not, after pausing for a first preset opening time, control the door motor to perform forward and reverse operations in sequence within the range of a second preset number of opening times;

[0282] According to the number of forward rotations of the door motor, an appropriate error message is output. If the number of forward rotations of the door motor reaches the second preset number of opening times, control the door motor to enter the sleep state.

[0283] In some embodiments, the state determination module 32 is specifically configured to:

[0284] Determine the closing state of the door according to the state of the close-in-place sensor, the state of the close-overcurrent sensor, the state of the door anti-pinch sensor, and the door closing abnormal judgment logic.

[0285] In some embodiments, the door closing abnormal judgment logic includes at least one of the following:

[0286] If the close-in-place sensor is triggered, the door is in the close-in-place state;

[0287] If the close-in-place sensor is not triggered, the close-overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, then the door is in a blocked closing state, and the door motor performs a second preset recovery operation;

[0288] If the close-in-place sensor is not triggered, the close-overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, then the door is in a blocked closing state, and the door motor performs a second preset recovery operation;

[0289] If the close-in-place sensor is not triggered, the close-overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, then the door is in the process of closing;

[0290] If the closed-in-place sensor is not triggered, the closed-overcurrent sensor is not triggered, and the hatch anti-pinch sensor is triggered, then the hatch is in an abnormal closed state, and the hatch motor performs a second preset recovery operation;

[0291] If the closed-in-place sensor is not triggered, the closed-overcurrent sensor is not triggered, and the hatch anti-pinch sensor does not sense, an error message is output. In some embodiments, the second preset recovery operation includes:

[0292] After controlling the hatch motor to rotate forward and backward a first preset number of closing times, determine whether the hatch is in the closed-in-place state;

[0293] If not, after pausing for a first preset closing time, control the hatch motor to perform forward and reverse operations in sequence within the range of a second preset number of closing times;

[0294] Output a corresponding error message according to the number of reverse rotations of the hatch motor. If the number of reverse rotations of the hatch motor reaches the second preset number of closing times, control the hatch motor to enter the sleep state.

[0295] In some embodiments, the control device further includes:

[0296] A first control module 33, configured to:

[0297] In the case of receiving a command for the manipulator to leave the cabin, control the cleaning device to perform an action of leaving the cabin according to the hatch information;

[0298] If the hatch of the manipulator cabin is in a state of not being closed in place, control the hatch of the manipulator cabin to close, and after controlling the joint angles of the manipulator to be cleared, control the hatch of the manipulator cabin to open, and control the cleaning device to perform an action of leaving the cabin when the hatch of the manipulator cabin is in the open-in-place state;

[0299] If the hatch of the manipulator cabin is in the closed-in-place state, control the hatch of the manipulator cabin to open, and control the cleaning device to perform an action of leaving the cabin when the hatch of the manipulator cabin is in the open-in-place state.

[0300] In some embodiments, the control device further includes:

[0301] A second control module, configured to:

[0302] In the case of receiving a command for the manipulator to return to the cabin, control the hatch of the manipulator cabin to open, and control the cleaning device to perform an action of returning to the cabin according to the hatch information;

[0303] If the door of the robotic arm compartment is in the fully closed state, control the door of the robotic arm compartment to open, and when the door of the robotic arm compartment is in the fully open state, control the cleaning device to perform the action of returning to the compartment;

[0304] If the door of the robotic arm compartment is not in the fully closed state, control the door of the robotic arm compartment to close and then open it, and when the door of the robotic arm compartment is in the fully open state, control the cleaning device to perform the action of returning to the compartment.

[0305] In some embodiments, the control device further includes:

[0306] A third control module, configured to:

[0307] When receiving a robotic arm returning-to-compartment instruction, control the joints of the robotic arm to be at a preset returning-to-compartment angle.

[0308] In some embodiments, the control device further includes:

[0309] A fourth control module, configured to:

[0310] Obtain spatial parameters of the area to be cleaned by the cleaning device;

[0311] Control the states of the cleaning device and the robotic arm according to the spatial parameters.

[0312] In some embodiments, the control device further includes:

[0313] A fifth control module, configured to:

[0314] Obtain the force information of the door of the robotic arm compartment;

[0315] Adjust the working states of the cleaning device and the robotic arm according to the force information of the door and the working state of the cleaning device.

[0316] It should be noted that for the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiments of the present application, their specific functions and the technical effects brought are specifically described in the method embodiment part, and will not be elaborated here.

[0317] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0318] An embodiment of this application also provides a cleaning device, which includes a robotic arm, a robotic arm cabin, and a controller. The robotic arm can be stored in the robotic arm cabin, and the controller is used to execute the steps in any of the foregoing method embodiments.

[0319] An embodiment of this application also provides a cleaning device, as Figure 8 shown. The cleaning device 4 includes: a robotic arm, a robotic arm cabin, at least one processor 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40. The robotic arm can be stored in the robotic arm cabin. When the processor 40 executes the computer program 42, the steps in any of the foregoing method embodiments are implemented.

[0320] An embodiment of this application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

[0321] An embodiment of this application provides a computer program product, including a computer program or instruction. When the computer program or instruction is executed by a processor, the steps in each of the foregoing method embodiments are executed.

[0322] When 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, to implement all or part of the processes in the above-described embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / cleaning device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0323] In the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0324] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0325] In the embodiments provided in this application, it should be understood that the disclosed device / cleaning device and method can be implemented in other ways. For example, the device / cleaning device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in an electrical, mechanical, or other form.

[0326] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0327] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a mechanical arm and a mechanical arm cabin, wherein the mechanical arm can be stored in the mechanical arm cabin, and the control method comprises: Obtaining door information of the manipulator cabin; the door information includes at least one of door opening position information, door closing position information, door motor overcurrent information, and edge anti-pinch detection information; The state of the door of the manipulator cabin is determined according to the door information.

2. The control method according to claim 1, characterized in that: The determining the state of the door of the manipulator arm and the manipulator arm cabin according to the door information includes: The opening state of the door is determined according to the state of the opening position sensor, the state of the opening overcurrent sensor, the state of the door anti-pinch sensor and the door opening abnormality judgment logic.

3. The control method according to claim 2, characterized in that: The door opening abnormality judgment logic includes at least one of the following: If the fully opened sensor is triggered, the door is in a fully opened state; If the fully opened sensor is not triggered, the open overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, the door is in an opening obstructed state, and the door motor performs a first preset recovery operation; If the fully opened sensor is not triggered, the open overcurrent sensor is triggered, and the door anti-pinch sensor is triggered, the door is in an abnormally opened state, and the door motor performs a first preset recovery operation; If the opening position sensor is not triggered, the opening overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, the door is in the process of opening; If the fully opened sensor is not triggered, the open overcurrent sensor is not triggered, and the door anti-pinch sensor is triggered, the door is in an abnormally opened state, and the door motor performs a first preset recovery operation; If the opening position sensor is not triggered, the opening overcurrent sensor is not triggered, and the door anti-pinch sensor is not sensed, an error message is output.

4. The control method according to claim 3, characterized in that: The first preset recovery operation includes: After controlling the door motor to rotate forward and reverse for a first preset opening number of times, determining whether the door is in a fully opened state; If not, after pausing the first opening preset time, control the door motor to perform forward and reverse operations in sequence within the range of the second preset opening times; According to the number of forward rotations of the door motor, corresponding error information is outputted; if the number of forward rotations of the door motor reaches a second preset opening number, the door motor is controlled to enter a dormant state.

5. The control method according to claim 1, characterized in that: The determining the state of the door of the manipulator cabin according to the door information includes: The closed state of the door is determined according to the state of the closed position sensor, the state of the closed overcurrent sensor, the state of the door anti-pinch sensor and the door closing abnormality judgment logic.

6. The control method according to claim 5, characterized in that: The door closing abnormality judgment logic includes at least one of the following: If the closed position sensor is triggered, the door is in the closed position state; If the closed position sensor is not triggered, the closed overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, the door is in a closed obstructed state, and the door motor performs a second preset recovery operation; If the closed position sensor is not triggered, the closed overcurrent sensor is triggered, and the door anti-pinch sensor is triggered, the door is in an abnormal closed state, and the door motor performs a second preset recovery operation; If the closed position sensor is not triggered, the closed overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, the door is in the process of closing; If the closed position sensor is not triggered, the closed overcurrent sensor is not triggered, and the door anti-pinch sensor is triggered, the door is in an abnormal closed state, and the door motor performs a second preset recovery operation; If the closing position sensor is not triggered, the closing overcurrent sensor is not triggered, and the door anti-pinch sensor is not sensed, an error message is output.

7. The control method according to claim 6, characterized in that: The second preset recovery operation includes: After controlling the door motor to rotate forward and reverse for a first preset closing number of times, determining whether the door is in a fully closed state; If not, after pausing the first closing preset time, control the door motor to perform forward and reverse operations in sequence within the range of the second preset closing times; According to the number of reverse rotations of the door motor, a corresponding error message is output; if the number of reverse rotations of the door motor reaches a second preset closing number, the door motor is controlled to enter a dormant state.

8. The control method according to claim 1, characterized in that: The control method further comprises: When receiving the command for the robot arm to exit the cabin, controlling the cleaning device to execute the exit action according to the cabin door information; If the door of the manipulator cabin is in an unclosed state, the door of the manipulator cabin is controlled to be closed, and after the joint angle of the manipulator is controlled to be reset to zero, the door of the manipulator cabin is controlled to be opened, and when the door of the manipulator cabin is in an opened state, the cleaning device is controlled to perform an exit action; If the door of the robotic arm cabin is in a closed position, the door of the robotic arm cabin is controlled to open, and when the door of the robotic arm cabin is in an opened position, the cleaning device is controlled to perform an exit action.

9. The control method according to claim 1, characterized in that: The control method further comprises: When receiving a command for the robot arm to return to the cabin, controlling the cabin door of the robot arm cabin to open, and controlling the cleaning device to return to the cabin according to the cabin door information; If the door of the manipulator cabin is in a closed position, the door of the manipulator cabin is controlled to open, and when the door of the manipulator cabin is in an opened position, the cleaning device is controlled to return to the cabin; If the door of the robotic arm cabin is in an unclosed state, the door of the robotic arm cabin is controlled to be closed and then controlled to be opened, and the cleaning device is controlled to return to the cabin when the door of the robotic arm cabin is in an opened state.

10. The control method according to claim 1, characterized in that: The control method further comprises: When a command for the robot arm to return to the cabin is received, the joints of the robot arm are controlled to be at a preset return angle.

11. The control method according to claim 1, characterized in that: The control method further comprises: Acquire spatial parameters of the area to be cleaned of the cleaning device; The states of the cleaning device and the robot arm are controlled according to the space parameters.

12. A control device for a cleaning device, characterized in that: The cleaning device comprises a mechanical arm and a mechanical arm cabin, wherein the mechanical arm can be stored in the mechanical arm cabin, and the control device comprises: A first acquisition module is used to acquire the door information of the manipulator cabin; the door information includes at least one of the following: the door opening position information, the door closing position information, the door motor overcurrent information, and the edge anti-pinch detection information; A state determination module is used to determine the state of the door of the manipulator cabin according to the door information.

13. The control device according to claim 12, characterized in that: The state determination module is specifically used for: The opening state of the door is determined according to the state of the opening position sensor, the state of the opening overcurrent sensor, the state of the door anti-pinch sensor and the preset door opening abnormality judgment logic.

14. The control device according to claim 13, characterized in that The door opening abnormality judgment logic includes at least one of the following: If the fully opened sensor is triggered, the door is in a fully opened state; If the fully opened sensor is not triggered, the open overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, the door is in an opening obstructed state, and the door motor performs a first preset recovery operation; If the fully opened sensor is not triggered, the open overcurrent sensor is triggered, and the door anti-pinch sensor is triggered, the door is in an abnormally opened state, and the door motor performs a first preset recovery operation; If the opening position sensor is not triggered, the opening overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, the door is in the process of opening; If the fully opened sensor is not triggered, the open overcurrent sensor is not triggered, and the door anti-pinch sensor is triggered, the door is in an abnormally opened state, and the door motor performs a first preset recovery operation; If the opening position sensor is not triggered, the opening overcurrent sensor is not triggered, and the door anti-pinch sensor is not sensed, an error message is output.

15. The control device according to claim 14, characterized in that The first preset recovery operation includes: After controlling the door motor to rotate forward and reverse for a first preset opening number of times, determining whether the door is in a fully opened state; If not, after pausing the first opening preset time, control the door motor to perform forward and reverse operations in sequence within the range of the second preset opening times; According to the number of forward rotations of the door motor, corresponding error information is outputted; if the number of forward rotations of the door motor reaches a second preset opening number, the door motor is controlled to enter a dormant state.

16. The control device according to claim 12, characterized in that: The state determination module is specifically used for: The closed state of the door is determined according to the state of the closed position sensor, the state of the closed overcurrent sensor, the state of the door anti-pinch sensor and the door closing abnormality judgment logic.

17. The control device according to claim 16, characterized in that The door closing abnormality judgment logic includes at least one of the following: If the closed position sensor is triggered, the door is in the closed position state; If the closed position sensor is not triggered, the closed overcurrent sensor is triggered, and the door anti-pinch sensor is not triggered, the door is in a closed obstructed state, and the door motor performs a second preset recovery operation; If the closed position sensor is not triggered, the closed overcurrent sensor is triggered, and the door anti-pinch sensor is triggered, the door is in an abnormal closed state, and the door motor performs a second preset recovery operation; If the closed position sensor is not triggered, the closed overcurrent sensor is not triggered, and the door anti-pinch sensor is not triggered, the door is in the process of closing; If the closed position sensor is not triggered, the closed overcurrent sensor is not triggered, and the door anti-pinch sensor is triggered, the door is in an abnormal closed state, and the door motor performs a second preset recovery operation; If the closing position sensor is not triggered, the closing overcurrent sensor is not triggered, and the door anti-pinch sensor is not sensed, an error message is output.

18. The control device according to claim 17, characterized in that The second preset recovery operation includes: After controlling the door motor to rotate forward and reverse for a first preset closing number of times, determining whether the door is in a fully closed state; If not, after pausing the first closing preset time, control the door motor to perform forward and reverse operations in sequence within the range of the second preset closing times; According to the number of reverse rotations of the door motor, a corresponding error message is output; if the number of reverse rotations of the door motor reaches a second preset closing number, the door motor is controlled to enter a dormant state.

19. The control device according to claim 12, characterized in that: The control device also includes: The first control module is used for: When receiving the command for the robot arm to exit the cabin, controlling the cleaning device to execute the exit action according to the cabin door information; If the door of the manipulator cabin is in an unclosed state, the door of the manipulator cabin is controlled to be closed, and after the joint angle of the manipulator is controlled to be reset to zero, the door of the manipulator cabin is controlled to be opened, and when the door of the manipulator cabin is in an opened state, the cleaning device is controlled to perform an exit action; If the door of the robotic arm cabin is in a closed position, the door of the robotic arm cabin is controlled to open, and when the door of the robotic arm cabin is in an opened position, the cleaning device is controlled to perform an exit action.

20. The control device according to claim 12, characterized in that: The control device also includes: The second control module is used for: When receiving a command for the robot arm to return to the cabin, controlling the cabin door of the robot arm cabin to open, and controlling the cleaning device to return to the cabin according to the cabin door information; If the door of the manipulator cabin is in a closed position, the door of the manipulator cabin is controlled to open, and when the door of the manipulator cabin is in an opened position, the cleaning device is controlled to return to the cabin; If the door of the robotic arm cabin is in an unclosed state, the door of the robotic arm cabin is controlled to be closed and then controlled to be opened, and the cleaning device is controlled to return to the cabin when the door of the robotic arm cabin is in an opened state.

21. The control device according to claim 12, characterized in that The control device also includes: The third control module is used for: When a command for the robot arm to return to the cabin is received, the joints of the robot arm are controlled to be at a preset return angle.

22. The control device according to claim 12, characterized in that: The control device also includes: The fourth control module is used for: Acquire spatial parameters of the area to be cleaned of the cleaning device; The states of the cleaning device and the robot arm are controlled according to the space parameters.

23. A cleaning device, characterized in that: The cleaning device includes a robot arm, a robot arm cabin, and a controller. The robot arm can be stored in the robot arm cabin. The controller is used to execute the control method according to any one of claims 1 to 12.

24. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed by a processor, implements the steps of the control method according to any one of claims 1 to 12.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method according to any one of claims 1 to 12 is implemented.

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