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

Abstract

The embodiment of the invention is suitable for the technical field of smart home, and provides a cleaning equipment charging control method and device, equipment, a product and a storage medium. The cleaning equipment in the embodiment of the invention comprises a mechanical arm and a mechanical arm cabin, wherein the mechanical arm cabin is used for accommodating the mechanical arm. When a mechanical arm of the cleaning equipment is outside a mechanical arm cabin, it is determined that the electric quantity of the cleaning equipment is larger than a first electric quantity threshold value, it is indicated that the electric quantity of the cleaning equipment is sufficient, the cleaning equipment can exit a base station, and the mechanical arm is controlled to conduct cabin returning operation; and after the mechanical arm successfully returns to the interior of the mechanical arm cabin, the cleaning equipment is controlled to return to the base station for charging. When the cleaning equipment is charged, if the mechanical arm is located outside the mechanical arm cabin for a long time, the risk that the mechanical arm is damaged is increased. And the mechanical arm is controlled to return to the interior of the mechanical arm cabin, so that the mechanical arm can be better protected, the damage possibility and the failure rate of the mechanical arm are reduced, and the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] The embodiments of the present application belong to the technical field of smart home, and particularly relate to a charging control method, device, equipment, product and storage medium for cleaning equipment. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self - moving cleaning equipment, such as intelligent sweeping robots, has continuously entered our daily lives. For current self - moving cleaning equipment, in order to better achieve the cleaning function, a robotic arm is added to achieve the grasping or moving of obstacles or garbage.

[0003] However, when the robotic arm is outside the robotic arm compartment for a long time, the robotic arm is more likely to be damaged by collision, or it is not conducive to performing normal operations when the robotic arm extends outside the compartment. Summary of the Invention

[0004] The embodiments of the present application provide a charging control method, device, equipment, product and storage medium for cleaning equipment, which can solve the technical problem that the robotic arm is more likely to be damaged by collision due to not correctly returning to the robotic arm compartment.

[0005] In a first aspect, the embodiments of the present application provide a charging control method for a cleaning equipment. The cleaning equipment includes a robotic arm and a robotic arm compartment for accommodating the robotic arm. The method includes:

[0006] When the robotic arm of the cleaning equipment is outside the robotic arm compartment and the cleaning equipment is charging at the base station, detect the power of the cleaning equipment;

[0007] When the power of the cleaning equipment is greater than a first power threshold, control the cleaning equipment to exit the base station and control the robotic arm to perform a retracting operation into the compartment, so that the robotic arm returns to the inside of the robotic arm compartment;

[0008] When the robotic arm successfully returns to the inside of the robotic arm compartment, control the cleaning equipment to return to the base station for charging.

[0009] In a possible implementation manner of the first aspect, the method further includes:

[0010] When the power of the cleaning equipment is less than or equal to the first power threshold, control the cleaning equipment to continue charging.

[0011] In a possible implementation manner of the first aspect, after controlling the cleaning equipment to continue charging, the method further includes:

[0012] When the power of the cleaning device is greater than the second power threshold, control the cleaning device to exit the base station and control the robotic arm to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment;

[0013] When the robotic arm successfully returns to the inside of the robotic arm compartment, control the cleaning device to return to the base station to continue charging.

[0014] In a possible implementation manner of the first aspect, the method further includes:

[0015] When the robotic arm fails to successfully return to the inside of the robotic arm compartment, control the cleaning device to perform at least one of the following operations:

[0016] If it is detected within the first preset time that the cleaning device returns to the base station again for charging, then perform charging;

[0017] If it is detected within the second preset time that the first preset button is triggered, control the robotic arm to perform a retracting operation;

[0018] If it is detected within the third preset time that the second preset button is triggered, prompt the user that the button press is incorrect;

[0019] If no operation is detected within the fourth preset time, control the robotic arm to perform a retracting operation again. If the retracting operation fails, control the cleaning device to enter the sleep state.

[0020] In a possible implementation manner of the first aspect, the robotic arm includes a gripper, and the controlling the robotic arm to perform a retracting operation includes:

[0021] Control the gripper to close, and control the robotic arm to fold and be stored in the robotic arm compartment;

[0022] When the robotic arm returns to the inside of the robotic arm compartment, control the hatch cover of the robotic arm compartment to close.

[0023] In a second aspect, an embodiment of the present application provides a cleaning device charging control device. The cleaning device includes a robotic arm and a robotic arm compartment for storing the robotic arm. The device includes:

[0024] A first detection unit, configured to detect the power of the cleaning device when the robotic arm of the cleaning device is outside the robotic arm compartment and the cleaning device is charging at the base station;

[0025] A first control unit, configured to control the cleaning device to exit the base station when the power of the cleaning device is greater than a first power threshold, and control the robotic arm to perform a cabin-return operation so that the robotic arm returns to the inside of the robotic arm cabin;

[0026] A second control unit, configured to control the cleaning device to return to the base station for charging when the robotic arm successfully returns to the inside of the robotic arm cabin.

[0027] In a possible implementation manner of the second aspect, the first control unit is further configured to:

[0028] Control the cleaning device to continue charging when the power of the cleaning device is less than or equal to the first power threshold.

[0029] In a possible implementation manner of the second aspect, the first control unit is further configured to:

[0030] Control the cleaning device to exit the base station and control the robotic arm to perform a cabin-return operation so that the robotic arm returns to the inside of the robotic arm cabin when the power of the cleaning device is greater than a second power threshold;

[0031] The second control unit is further configured to control the cleaning device to return to the base station to continue charging when the robotic arm successfully returns to the inside of the robotic arm cabin.

[0032] In a possible implementation manner of the second aspect, the device further includes:

[0033] A third control unit, configured to control the cleaning device to perform at least one of the following operations when the robotic arm fails to successfully return to the inside of the robotic arm cabin:

[0034] If it is detected that the cleaning device returns to the base station for charging again within a first preset time, perform charging;

[0035] If it is detected that a first preset button is triggered within a second preset time, control the robotic arm to perform a cabin-return operation;

[0036] If it is detected that a second preset button is triggered within a third preset time, prompt the user that the button press is incorrect;

[0037] If no operation is detected within a fourth preset time, control the robotic arm to perform a cabin-return operation again. If the cabin-return operation fails, control the cleaning device to enter a sleep state.

[0038] In a possible implementation of the second aspect, the robotic arm includes a gripper; the first control unit is specifically configured to: control the gripper to close, and control the robotic arm to be folded and stored in the robotic arm compartment, and when the robotic arm returns to the interior of the robotic arm compartment, control the hatch cover of the robotic arm compartment to close.

[0039] In a third aspect, an embodiment of the present application provides a cleaning device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the cleaning device implements the method described in any one of the above first aspects.

[0040] 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 method described in any one of the above first aspects are implemented.

[0041] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above first aspects is implemented.

[0042] It can be understood that the beneficial effects of the above second aspect to the fifth aspect can be referred to the relevant descriptions in the above first aspect, and will not be elaborated here.

[0043] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0044] In an embodiment of the present application, the cleaning device includes a robotic arm and a robotic arm compartment for housing the robotic arm. When the robotic arm of the cleaning device is outside the robotic arm compartment and the cleaning device is being charged at the base station, the power of the cleaning device is detected. If it is determined that the power of the cleaning device is greater than a first power threshold, the cleaning device is controlled to exit the base station and the robotic arm is controlled to perform a retracting operation to return the robotic arm to the inside of the robotic arm compartment. When the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is controlled to return to the base station for charging. When the robotic arm of the cleaning device is outside the robotic arm compartment, if the power of the cleaning device is greater than the first power threshold, it indicates that the power of the cleaning device is relatively sufficient. The cleaning device can exit the base station, and the robotic arm is controlled to perform a retracting operation so that after the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is then controlled to return to the base station for charging. If the robotic arm remains outside the robotic arm compartment for a long time during charging, the risk of damage to the robotic arm may increase. By controlling the robotic arm to return to the inside of the robotic arm compartment, the robotic arm can be better protected, the likelihood of damage and the failure rate of the robotic arm are reduced, the service life of the robotic arm is extended, the stability of the robotic arm is improved, and abnormal situations that may occur when the user uses the cleaning device again are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 is a schematic side view structure diagram of the cleaning device provided by an embodiment of Embodiment 1 of the present application;

[0047] Figure 2 is a schematic flowchart of the cleaning device charging control method provided by an embodiment of Embodiment 1 of the present application;

[0048] Figure 3 is a schematic flowchart of the cleaning device charging control method provided by another embodiment of the present application;

[0049] Figure 4 is a schematic flowchart of the cleaning device charging control method provided by another embodiment of the present application;

[0050] Figure 5 is a schematic flowchart of the cleaning device charging control method provided by another embodiment of the present application;

[0051] Figure 6It is a schematic structural diagram of a charging control device for a cleaning device provided in the first embodiment of the present application;

[0052] Figure 7 It is a schematic structural diagram of a cleaning device provided in the first embodiment of the present application. Detailed implementation manners

[0053] In the following description, specific details such as specific system architectures 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 embodiments of 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 embodiments of the present application.

[0054] It should be understood that when used in the specification of the embodiments 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.

[0055] It should also be understood that the term "and / or" as used in the specification of the embodiments of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] As used in the specification of the embodiments of the present application and the appended claims, the term "if" can be interpreted as "when...", "once", "in response to determining", or "in response to detecting" according to 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]" according to the context.

[0057] In addition, in the description of the specification of the embodiments of the present application and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0058] References to "one embodiment" or "some embodiments" etc. described in the specification of the embodiments of the present application mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of the embodiments of the present application. Thus, statements such as "in some embodiments", "in some embodiments", "in other some embodiments", "in still other some 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 other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0059] Based on the function of cleaning the ground, users and the market require that the cleaning device can also realize the function of automatically organizing items on the user's ground. For example, the cleaning device needs to automatically identify obstacles on the ground and mark their positions during ground cleaning, and automatically classify and organize the obstacles on the ground 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 the present application provide a cleaning device, which can realize the function of organizing items on the ground of the user's room by integrating and controlling the 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.

[0060] Figure 1 It is a schematic side view structure diagram of the cleaning device provided by an embodiment of the embodiments of the present application.

[0061] The cleaning device provided by the embodiments of the present application includes an upper moving part and a lower moving part. The upper moving part may include a robotic arm for organizing items on the ground, and the lower moving part may be a moving chassis for cleaning the ground.

[0062] 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 the movable area according to the control instruction. Among them, the movable chassis 11 can be a wheeled chassis or a tracked chassis.

[0063] 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 one active walking wheel 13 on each side 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.

[0064] 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 equipped with a gripper and an RGB camera. Combining Figure 1 As shown, the robotic arm 2 includes joints 21, 22, 23, 24, and 25. Among them, joint 21 can drive the entire robotic arm to rotate left and right ( Figure 1 in the direction of the paper facing inward or outward in the figure). The rotation direction of joint 22 can be the same as that of joints 23 and 24.

[0065] In some embodiments, joints 21 and 22 can be used to perform the actions of the robotic arm exiting and returning to the cabin. After the robotic arm exits the cabin, joints 21 and 22 maintain a fixed angle. Joints 23 and 24 are the main joints that determine the position of the gripper at the end of the robotic arm in space. Joint 25 is the spin joint of the end gripper that determines the posture of the gripper at the end of the robotic arm.

[0066] In some embodiments, the robotic arm of the cleaning device can be a multi-axis robotic arm.

[0067] Figure 1 The shown robotic arm is a five-axis robotic arm, and 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.

[0068] The folding rotation axis (the rotation axis corresponding to joint 21) and the folding rotation axis (the rotation axis corresponding to joint 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 pitch 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.

[0069] 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 position and orientation 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 position and orientation 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 posture of the end of the robotic arm.

[0070] In some embodiments, through the cooperation of the folding rotation axis, the folding rotation axis, 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.

[0071] An embodiment of the present application provides a charging control method for a cleaning device. Refer to Figure 2 As shown, the charging control method for the cleaning device in this embodiment includes steps S100 to S300.

[0072] In step S100, when the robotic arm of the cleaning device is outside the robotic arm compartment and the cleaning device is charging at the base station, the power of the cleaning device is detected.

[0073] In the embodiment of the present application, the cleaning device includes a robotic arm and a robotic arm compartment, and the robotic arm compartment is used to accommodate the robotic arm. Generally, during the normal process of the cleaning device returning to the base station for charging, the robotic arm will be controlled to return to the robotic arm compartment. In some special scenarios, for example, when the cleaning device is in a paused, emergency stop, automatic stop, or other abnormal stop state, the robotic arm of the cleaning device may be outside the robotic arm compartment, and the user may move the cleaning device and place it on the base station for charging. In these special scenarios, if the cleaning device detects that the charging contact is connected to the charging connector of the base station in place, the cleaning device does not send a charging instruction to the base station first, but detects the power of the cleaning device.

[0074] In some embodiments, the paused state refers to a temporarily stopped state entered by the cleaning device. When the cleaning device is in the working state and the power button, or the recharge button (the button used to control the cleaning device to return to the base station for charging), or a pause instruction sent by an application (APP) on a mobile terminal, etc., is received, the cleaning device enters the paused state. After entering the paused state, if the power button is pressed again, or a resume work instruction sent by an application (APP) on a mobile terminal, etc., is received, the cleaning device can resume working.

[0075] The emergency stop state refers to the state where the cleaning device is immediately stopped when an emergency occurs during the working state. When the cleaning device encounters an emergency during the working state and the robotic arm key is pressed, the cleaning device enters the emergency stop state. After entering the emergency stop state, if the user long-presses the power button and the robotic arm key, the robotic arm of the cleaning device can be reset (return the robotic arm to the inside of the robotic arm compartment). After the robotic arm is reset, if the user presses the power button again, the cleaning device can start a new task.

[0076] The automatic stop state refers to two situations: the stop state directly entered when the cleaning device encounters a shutdown - type error and the stop state entered when the automatic recovery is unsuccessful. When a shutdown - type error occurs, the cleaning device can prompt the user with error messages through voice prompts or through an application (APP) on the mobile terminal. The recovery method after the robotic arm enters the automatic stop is as follows: the user is allowed to control the cleaning device to continue working through the physical buttons or control the robotic arm to reset; the user is not allowed to control the cleaning device to continue working or control the robotic arm to reset through the application (APP) on the mobile terminal. After the cleaning device automatically stops with an error, the user can press the power button to control the cleaning device to continue working, press the charging button to control the cleaning device to return to the base station for charging, and long - press the power button and the robotic arm button to control the robotic arm to reset. The user cannot control the cleaning device to perform actions through the application (APP) on the mobile terminal. The interface of the application (APP) can prompt the user "Please operate the cleaning device using the physical buttons". Automatic recovery refers to the state where the cleaning device tries to solve the error by itself in the abnormal pause state without triggering an error. In abnormal situations, the cleaning device will stop briefly and try to handle the abnormality by itself. If the abnormality is resolved within the preset number of attempts or the preset time, the cleaning device will automatically continue to handle the cleaning task. If the abnormality is not resolved, the cleaning device will enter the shutdown error (automatic stop state).

[0077] In step S200, when the battery power of the cleaning device is greater than the first power threshold, control the cleaning device to exit the base station and control the robotic arm to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment.

[0078] In this embodiment, the first power threshold can be represented, for example, by a percentage value. The first power threshold can be, for example, 5% to 25%. Preferably, the first power threshold is 15%. In addition, the first power threshold can also be represented by an absolute value of the battery power. If it is determined that the battery power of the cleaning device is greater than the first power threshold, it means that the battery power of the cleaning device is relatively sufficient. The cleaning device can exit the base station and control the robotic arm to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment. The robotic arm returning to the inside of the robotic arm compartment can better protect the robotic arm. If the robotic arm is outside the robotic arm compartment for a long time during charging, the risk of damage to the robotic arm may increase.

[0079] In some embodiments, if the battery power of the cleaning device is greater than the first power threshold, during the process of exiting the base station and controlling the robotic arm to perform a retracting operation, the cleaning device can also prompt the user through voice. The voice content can be, for example, "The robotic arm has not retracted. After the robotic arm automatically retracts, it will charge".

[0080] In step S300, when the robotic arm successfully returns to the inside of the robotic arm compartment, control the cleaning device to return to the base station for charging.

[0081] If the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device can return to the base station for charging. When the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device can prompt the user through voice, and the voice content can be, for example, "The robotic arm is successfully reset". After the charging contacts of the cleaning device are properly connected to the charging connector of the base station, the cleaning device sends a charging instruction to the base station. Also, the cleaning device can prompt the user through voice, and the voice content can be, for example, "Start charging".

[0082] In the embodiment of the present application, the cleaning device includes a robotic arm and a robotic arm compartment for accommodating the robotic arm. When the robotic arm of the cleaning device is outside the robotic arm compartment and the cleaning device is in the case of charging at the base station, the power of the cleaning device is detected; it is determined that the power of the cleaning device is greater than the first power threshold, and the cleaning device is controlled to exit the base station and the robotic arm is controlled to perform a return-to-compartment operation so that the robotic arm returns to the inside of the robotic arm compartment; when the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is controlled to return to the base station for charging. When the robotic arm of the cleaning device is outside the robotic arm compartment and it is determined that the power of the cleaning device is greater than the first power threshold, it means that the power of the cleaning device is relatively sufficient, the cleaning device can exit the base station, and the robotic arm is controlled to perform a return-to-compartment operation so that after the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is then controlled to return to the base station for charging. If the robotic arm is outside the robotic arm compartment for a long time during the charging of the cleaning device, the risk of damage to the robotic arm may increase. By controlling the robotic arm to return to the inside of the robotic arm compartment, the robotic arm can be better protected, the possibility of damage and the failure rate of the robotic arm are reduced, the service life of the robotic arm is extended, the stability of the robotic arm is improved, and abnormal situations that may occur when the user uses the cleaning device again are avoided.

[0083] In some embodiments, referring to Figure 3 As shown, the cleaning device charging control method in the embodiment of the present application further includes step S210: When the power of the cleaning device is less than or equal to the first power threshold, control the cleaning device to continue charging.

[0084] In this embodiment, if the power of the cleaning device is less than or equal to the first power threshold, it means that the power of the cleaning device is insufficient, then the cleaning device can directly continue to charge to more quickly replenish the electric energy and avoid the problem that the user experience is reduced because the cleaning device cannot execute instructions due to too low power.

[0085] In the embodiments of the present application, when the power of the cleaning device is greater than the first power threshold, the cleaning device exits the base station and controls the robotic arm to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment; when the power of the cleaning device is less than or equal to the first power threshold, the cleaning device directly continues to charge, which improves the charging flexibility of the cleaning device, avoids the possibility that controlling the robotic arm to perform a retracting operation causes the cleaning device to malfunction due to insufficient power, and improves the stability of the cleaning device system.

[0086] In some embodiments, as shown in Figure 4 After controlling the cleaning device to continue charging, steps S211 and S212 are further included.

[0087] In step S211, when the power of the cleaning device is greater than the second power threshold, the cleaning device is controlled to exit the base station and the robotic arm is controlled to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment.

[0088] In step S212, when the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is controlled to return to the base station to continue charging.

[0089] In some embodiments, if the power of the cleaning device is less than or equal to the first power threshold, after controlling the cleaning device to continue charging, the power of the cleaning device will continuously increase. When the power of the cleaning device continuously increases and the power of the cleaning device is greater than the second power threshold, the cleaning device can be controlled to exit the base station and the robotic arm can be controlled to perform a retracting operation so that the robotic arm returns to the inside of the robotic arm compartment. And when the robotic arm successfully returns to the inside of the robotic arm compartment, the cleaning device is controlled to return to the base station to continue charging. Among them, the second power threshold can be represented by a percentage value, for example. The second power threshold can be, for example, 10% to 40%. Preferably, the second power threshold is 30%. In addition, the second power threshold can also be represented by an absolute value of the power.

[0090] In the embodiments of the present application, charging is performed when the power of the cleaning device is less than or equal to the first power threshold. And when the power of the cleaning device is greater than the second power threshold, the cleaning device is controlled to exit the base station and the robotic arm is controlled to perform a retracting operation into the cabin, so that the robotic arm returns to the inside of the robotic arm cabin. This improves the flexibility of charging of the cleaning device, avoids the possibility that controlling the robotic arm to perform a retracting operation causes the cleaning device to make mistakes due to insufficient power, and improves the stability of the cleaning device system. Moreover, when the power of the cleaning device is greater than the second power threshold, it means that the power of the cleaning device is relatively sufficient. The cleaning device can exit the base station, and the robotic arm is controlled to perform a retracting operation. After the robotic arm successfully returns to the inside of the robotic arm cabin, charging is carried out. If the robotic arm is outside the robotic arm cabin for a long time during charging, the risk of damage to the robotic arm may increase. By controlling the robotic arm to return to the inside of the robotic arm cabin, the robotic arm can be better protected, the possibility of damage to the robotic arm and the failure rate are reduced, and the stability of the robotic arm is improved. The embodiments of the present application can not only ensure that the cleaning device can quickly replenish electric energy during charging and avoid mistakes due to lack of electric energy, etc., but also protect the robotic arm of the cleaning device during charging of the cleaning device.

[0091] In some embodiments, as shown in Figure 5 the cleaning device control method provided by the embodiments of the present application further includes step S400.

[0092] In step S400, when the robotic arm fails to successfully return to the inside of the robotic arm cabin, the cleaning device is controlled to perform a preset reset operation.

[0093] In this embodiment, the preset reset operation includes at least one of the following operations 1 to 4.

[0094] Operation 1: If it is detected within the first preset time that the cleaning device returns to the base station for charging again, charging is performed.

[0095] Operation 2: If it is detected within the second preset time that the first preset button is triggered, the robotic arm is controlled to perform a retracting operation;

[0096] Operation 3: If it is detected that a second preset button other than the third preset button is triggered, the user is prompted that the button is incorrect;

[0097] Operation 4: If no operation is detected within the fourth preset time, the robotic arm is controlled to perform a retracting operation again. If the retracting operation fails, the cleaning device is controlled to enter the sleep state.

[0098] In some embodiments, if the robotic arm fails to successfully return to the interior of the robotic arm compartment, the cleaning device can prompt the user with an error via voice. The voice content can be, for example, "The robotic arm reset failed". After prompting the error, the cleaning device can stop working and enter an error reporting waiting logic. Specifically, the cleaning device can start timing processing and monitor the status of the cleaning device during the timing process to determine the subsequent processing method. At this time, the cleaning device can also prompt the user via voice. For example, it can prompt the user that they can control the robotic arm of the cleaning device to try to return to the robotic arm compartment again by touching the physical button, or control the cleaning device to directly return to the base station for charging, etc.

[0099] In the embodiments of the present application, if the robotic arm fails to successfully return to the interior of the robotic arm compartment, an error is prompted, timing processing is started, and the status of the cleaning device is monitored. This allows the user to understand the status that the robotic arm has not successfully returned to the robotic arm compartment, and can prompt the user on how to perform subsequent operations, enabling the cleaning device to charge faster or try to return the robotic arm to the robotic arm compartment again, improving the flexibility of the subsequent operations of the cleaning device system.

[0100] In some embodiments, in operation 1, within the first preset time, if it is detected that the cleaning device returns to the base station for charging again, charging is performed. For example, when the user moves the cleaning device back to the base station for charging, and at this time the cleaning device detects that the charging contact is properly connected to the charging connector of the base station, charging is directly performed.

[0101] In this embodiment, the first preset time can be, for example, 5 minutes to 15 minutes. Preferably, the first preset time can be 10 minutes.

[0102] In some embodiments, in operation 2, within the second preset time, if it is detected that the first preset button is triggered, the robotic arm is controlled to perform a retracting operation. The first preset button is used to trigger the robotic arm to retract. The second preset time can be, for example, 5 minutes to 15 minutes. Preferably, the second preset time can be 10 minutes. The first preset button can be a single preset button (such as a robotic arm button), or a combination of multiple preset buttons (such as the power button and the robotic arm button). For example, if it is detected that the power button and the robotic arm button are long-pressed by the user, the cleaning device can control the robotic arm to perform a retracting operation. Also, the cleaning device can prompt the user via voice. The voice content can be, for example, "The robotic arm starts to reset". If the robotic arm successfully returns to the robotic arm compartment, the cleaning device can prompt the user via voice "The robotic arm reset is successful". If the robotic arm fails to successfully return to the robotic arm compartment, the cleaning device can enter the sleep state.

[0103] In some embodiments, in operation 3, within a third preset time, if it is detected that a second preset button other than the first preset button is triggered, the cleaning device can, for example, prompt the user through voice that the button press is incorrect. The voice content can be, for example, "Please first long-press the power button and the robotic arm button to reset the robotic arm."

[0104] In some embodiments, in operation 4, when no operation is detected within a fourth preset time, control the robotic arm to perform the operation of returning to the cabin again. The third preset time can be, for example, 5 minutes to 15 minutes. Preferably, the third preset time can be 10 minutes. If the robotic arm successfully returns to the robotic arm cabin, the cleaning device can prompt the user through voice "The robotic arm reset is successful." If the robotic arm fails to return to the robotic arm cabin successfully, the cleaning device can enter the sleep state.

[0105] Those skilled in the art should be able to understand that in the case where the robotic arm fails to return successfully to the interior of the robotic arm cabin, control the cleaning device to perform at least one of the preset reset operations in the above embodiments.

[0106] In the embodiments of the present application, in the case where the robotic arm fails to return successfully to the interior of the robotic arm cabin, controlling the cleaning device to perform at least one preset reset operation can determine the subsequent operation mode within a preset time according to the user's operation on the preset button of the cleaning device or no operation, so that the cleaning device can charge more flexibly or try again to return the robotic arm to the robotic arm cabin, improving the flexibility of the cleaning device system to perform subsequent operations.

[0107] In some embodiments, the robotic arm of the cleaning device includes a gripper. In step S200, controlling the robotic arm to perform the operation of returning to the cabin specifically includes step S201 and step S202.

[0108] In step S201, control the gripper to close and control the robotic arm to fold and store in the robotic arm cabin.

[0109] In step S202, when the robotic arm returns to the interior of the robotic arm cabin, control the hatch cover of the robotic arm cabin to close.

[0110] In this embodiment, the cleaning device can first control the gripper to close, and then control the robotic arm to fold and store it in the robotic arm compartment. Alternatively, the cleaning device can also control the gripper to close during the process of controlling the robotic arm to return to the robotic arm compartment. Those skilled in the art should understand that the above embodiments all fall within the protection scope of the embodiments of the present application. When the robotic arm returns to the inside of the robotic arm compartment, control the hatch cover of the robotic arm compartment to close. The hatch cover of the robotic arm compartment can be an electric hatch. The electric hatch is composed of a motor, a gearbox, and several connecting rods. The electric hatch is driven with a fixed duty cycle and can be automatically controlled to open and close. In addition, the user can also manually open or close the hatch cover. During the process of the robotic arm returning to the robotic arm compartment and controlling the hatch cover of the robotic arm compartment to close, if the cleaning device detects that the power button or the recharge button is triggered, it can pause the robotic arm from returning to the compartment. If the cleaning device detects that the power button is pressed again, or if the cleaning device detects that both the power button and the robotic arm button are long-pressed by the user, the cleaning device continues to control the robotic arm to return to the compartment. During the process of the robotic arm returning to the robotic arm compartment and controlling the hatch cover of the robotic arm compartment to close, if the cleaning device detects that the robotic arm button is triggered, the cleaning device can enter an emergency stop state. If the cleaning device detects that both the power button and the robotic arm button are long-pressed by the user, the cleaning device continues to control the robotic arm to return to the compartment.

[0111] In the embodiment of the present application, by controlling the gripper to close, controlling the robotic arm to fold and store it in the robotic arm compartment, and controlling the hatch cover of the robotic arm compartment to close, the automatic return operation of the robotic arm is realized, improving the convenience and effectiveness of use.

[0112] In some embodiments, before step S201, step S203 is further included.

[0113] In step S203, detect whether the gripper holds an object. If the gripper holds an object, control the gripper to release the object and open after releasing the object; if the gripper does not hold an object, control the gripper to open.

[0114] In the embodiment of the present application, according to whether the gripper holds an object, when the gripper holds an object, control the gripper to release the object and open after releasing the object. When the gripper does not hold an object, the gripper can be directly controlled to open. On the one hand, the embodiment of the present application can ensure that the object held by the gripper can be released, and on the other hand, it ensures that the gripper will not be damaged, improving the stability of the robotic arm.

[0115] Figure 6 It is a schematic structural diagram of a charging control device for a cleaning device provided by an embodiment of the present application.

[0116] The cleaning device includes a robotic arm and a robotic arm compartment for storing the robotic arm.

[0117] Combined with Figure 6As shown, the charging control device 4 of the cleaning device includes a first detection unit 41, a first control unit 42, and a second control unit 43.

[0118] The first detection unit 41 is used to detect the power of the cleaning device when the robotic arm of the cleaning device is outside the robotic arm compartment and the cleaning device is charging at the base station.

[0119] The first control unit 42 is used to determine that the power of the cleaning device is greater than the first power threshold, control the cleaning device to exit the base station, and control the robotic arm to perform a retracting operation to return the robotic arm to the inside of the robotic arm compartment.

[0120] The second control unit 43 is used to control the cleaning device to return to the base station for charging when the robotic arm successfully returns to the inside of the robotic arm compartment.

[0121] In some embodiments, the first control unit 42 is further used to control the cleaning device to continue charging when the power of the cleaning device is less than or equal to the first power threshold.

[0122] In some embodiments, the first control unit 42 is further used to control the cleaning device to exit the base station and control the robotic arm to perform a retracting operation to return the robotic arm to the inside of the robotic arm compartment when the power of the cleaning device is greater than the second power threshold; the second control unit 43 is further used to control the cleaning device to return to the base station to continue charging when the robotic arm successfully returns to the inside of the robotic arm compartment.

[0123] Another embodiment of the present invention discloses a charging control device 4 for a cleaning device. Based on the above Figure 4 corresponding embodiment, the charging control device 4 of the cleaning device further includes: a third control unit, configured to control the cleaning device to perform a preset reset operation when the robotic arm fails to successfully return to the inside of the robotic arm compartment.

[0124] In this embodiment, the preset reset operation includes at least one of the following operations 1 to 4.

[0125] Operation 1: If it is detected that the cleaning device returns to the base station for charging again within the first preset time, charging is performed.

[0126] Operation 2: If it is detected that the first preset button is triggered within the second preset time, control the robotic arm to perform a retracting operation.

[0127] Operation 3: If it is detected that a second preset button other than the third preset button is triggered, prompt the user that the button press is incorrect.

[0128] Operation 4: When no operation is detected within the fourth preset time, control the robotic arm to perform the operation of returning to the capsule again. If the operation of returning to the capsule fails, control the cleaning device to enter the sleep state.

[0129] Another embodiment of the present invention discloses a charging control device 4 for a cleaning device. Based on the corresponding embodiment above, Figure 6 the robotic arm includes a gripper. The first control unit 42 is specifically configured to: control the gripper to close, and control the robotic arm to fold and store in the robotic arm compartment. When the robotic arm returns to the inside of the robotic arm compartment, control the hatch cover of the robotic arm compartment to close.

[0130] Another embodiment of the present invention discloses a charging control device 4 for a cleaning device. Based on the corresponding embodiment above, Figure 6 before controlling the gripper to close, the first detection unit 41 is further configured to detect whether the gripper holds an object. The first control unit 42 is further configured to: if the gripper holds an object, control the gripper to release the object and open after releasing the object; if the gripper does not hold an object, control the gripper to open.

[0131] It should be noted that for the information interaction, execution process, etc. between the above-mentioned device / units, since it is based on the same concept as the method embodiment of the present application, for its specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details are not described herein again.

[0132] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is 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 in a processing unit, or each unit exists physically alone, or two or more units are integrated in one unit. The above-mentioned 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 the embodiments of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, and details are not described herein again.

[0133] The embodiment of the present application also provides a cleaning device, as Figure 7 shown. The cleaning device 5 includes: at least one processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on at least one processor 50. When the processor 50 executes the computer program 52, the steps in any of the above method embodiments are implemented.

[0134] The embodiments of the present application also provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0135] The embodiments of the present application provide a computer program product including a computer program or instruction, and when the computer program or instruction is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0136] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned method embodiments of the present application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps in the above-mentioned 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 / electronic 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 may not be an electrical carrier signal and a telecommunication signal.

[0137] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by 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. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0139] In the embodiments provided by the present application, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For example, the division of units or cells is only a logical function division. In actual implementation, there may 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 between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to 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.

[0141] The above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application have 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 recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. 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 embodiments of the present application, and should all be included in the protection scope of the embodiments of the present application.

Claims

1. A cleaning equipment charging control method, characterized in that: The cleaning device comprises a mechanical arm and a mechanical arm cabin, wherein the mechanical arm cabin is used to store the mechanical arm, and the method comprises: When the mechanical arm of the cleaning device is located outside the mechanical arm cabin and the cleaning device is being charged by the base station, detecting the power of the cleaning device; When the power of the cleaning device is greater than a first power threshold, controlling the cleaning device to exit the base station, and controlling the manipulator arm to perform a return operation so that the manipulator arm returns to the interior of the manipulator arm cabin; When the robot arm successfully returns to the interior of the robot arm cabin, the cleaning device is controlled to return to the base station for charging.

2. The method according to claim 1, characterized in that The method further comprises: When the power level of the cleaning device is less than or equal to the first power level threshold, the cleaning device is controlled to continue charging.

3. The method according to claim 2, characterized in that After controlling the cleaning device to continue charging, the method further includes: When the power of the cleaning device is greater than a second power threshold, controlling the cleaning device to exit the base station and controlling the manipulator arm to perform a return operation so that the manipulator arm returns to the interior of the manipulator arm cabin; When the robot arm successfully returns to the interior of the robot arm cabin, the cleaning device is controlled to return to the base station to continue charging.

4. The method according to claim 1 or 3, characterized in that The method further comprises: In the case that the robot arm fails to return to the interior of the robot arm cabin, controlling the cleaning device to perform at least one of the following operations: If it is detected that the cleaning device returns to the base station for charging again within the first preset time, charging is performed; Within the second preset time, if it is detected that the first preset button is triggered, the robotic arm is controlled to perform a return operation; If the second preset button is detected to be triggered within the third preset time, the user is prompted that the button is pressed incorrectly; When no operation is detected within a fourth preset time, the robot arm is controlled to perform a return operation again; if the return operation fails, the cleaning device is controlled to enter a dormant state.

5. The method according to claim 4, characterized in that The mechanical arm includes a gripper; and controlling the mechanical arm to perform a return operation includes: Controlling the clamp to close, and controlling the mechanical arm to fold and store in the mechanical arm cabin; When the robotic arm returns to the interior of the robotic arm compartment, the hatch cover of the robotic arm compartment is controlled to close.

6. A cleaning equipment charging control device, characterized in that: The cleaning device comprises a mechanical arm and a mechanical arm cabin, wherein the mechanical arm cabin is used to store the mechanical arm, and the device comprises: A first detection unit, configured to detect the power level of the cleaning device when the mechanical arm of the cleaning device is outside the mechanical arm cabin and the cleaning device is being charged by a base station; A first control unit, configured to control the cleaning device to exit the base station and control the manipulator to return to the cabin when the power of the cleaning device is greater than a first power threshold, so that the manipulator returns to the interior of the manipulator cabin; The second control unit is used to control the cleaning device to return to the base station for charging when the robot arm successfully returns to the interior of the robot arm cabin.

7. The device according to claim 6, characterized in that The first control unit is also used for: When the power level of the cleaning device is less than or equal to the first power level threshold, the cleaning device is controlled to continue charging.

8. The device according to claim 7, characterized in that The first control unit is also used for: When the power of the cleaning device is greater than a second power threshold, controlling the cleaning device to exit the base station and controlling the manipulator arm to perform a return operation so that the manipulator arm returns to the interior of the manipulator arm cabin; The second control unit is also used to control the cleaning device to return to the base station to continue charging when the robot arm successfully returns to the interior of the robot arm cabin.

9. The device according to claim 6 or 8, characterized in that The device also includes: A third control unit is configured to control the cleaning device to perform at least one of the following operations if the robot arm fails to return to the interior of the robot arm cabin: If it is detected that the cleaning device returns to the base station for charging again within the first preset time, charging is performed; Within the second preset time, if it is detected that the first preset button is triggered, the robotic arm is controlled to perform a return operation; If the second preset button is detected to be triggered within the third preset time, the user is prompted that the button is pressed incorrectly; When no operation is detected within a fourth preset time, the robot arm is controlled to perform a return operation again; if the return operation fails, the cleaning device is controlled to enter a dormant state.

10. The device according to claim 9, characterized in that The robotic arm includes a clamp; the first control unit is specifically used to: control the clamp to close, and control the robotic arm to be folded and stored in the robotic arm compartment, and when the robotic arm returns to the interior of the robotic arm compartment, control the hatch cover of the robotic arm compartment to close.

11. A cleaning device, characterized in that: The cleaning device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the cleaning device implements the method according to any one of claims 1 to 5.

12. 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 method according to any one of claims 1 to 5.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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