Skirting line cleaning method and device, sweeping robot and storage medium

Abstract

The invention provides a skirting line cleaning method, a sweeping robot, electronic equipment and a storage medium, and relates to the technical field of smart home, the method comprises the steps of determining a target skirting line identifier in response to an obtained skirting line cleaning instruction, and driving a mechanical arm to grab a cleaning tool; according to the position information and the contour information corresponding to the target skirting line identifier, the operation path of the automatic cleaning equipment and the first pose of the mechanical arm are determined; wherein the first pose is used for determining the cleaning height and the cleaning pose of the cleaning tool; and moving along the operation path, and cleaning the skirting line corresponding to the target skirting line identifier by adopting a cleaning tool based on the first pose in the moving process. According to the embodiment of the invention, the posture adjustment of the mechanical arm is combined with the path rule of the automatic cleaning equipment, so that the targeted cleaning of the skirting line is realized, and the cleaning efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of smart home technology, and in particular to a skirting board cleaning method, device, sweeping robot and storage medium. Background Art

[0002] With the increasing demand for high-quality home appliances and the development of smart homes, smart appliances, as a key component of smart homes, have experienced rapid growth. Smart appliances are products that incorporate microprocessors, sensor technology, and network communication technologies. They automatically sense the state of the residential space, the appliance itself, and its services, and can automatically control and receive control commands from users both inside and remotely. Among these small appliances, robot vacuums are becoming increasingly popular.

[0003] A sweeping robot typically uses a brushing and vacuuming method to collect debris from the floor into its own trash collection box, completing its floor cleaning function. The robot's body consists of an automated movement mechanism and a vacuum unit with a dust collection box. It can move around the room along a pre-set control path while completing cleaning tasks, such as edge cleaning, concentrated cleaning, random cleaning, and straight line cleaning. It also uses side brushes, a rotating central main brush, and a mop to enhance the cleaning effect, achieving a personalized home cleaning effect.

[0004] In the prior art, a sweeping robot can complete the cleaning work of the floor, but it is difficult to clean the skirting board beside the wall. Summary of the Invention

[0005] The present application provides a skirting board cleaning method, device, sweeping robot and storage medium, which are used to solve the problem that the sweeping robot in the prior art has difficulty in cleaning skirting boards.

[0006] According to one aspect of an embodiment of the present application, a skirting board cleaning method is provided, which is applied to an automatic cleaning device, the automatic cleaning device including a robotic arm, and the method includes:

[0007] In response to the acquired skirting board cleaning instruction, the target skirting board identifier is determined, and the robotic arm is driven to grab the cleaning tool;

[0008] Determine the operating path of the automatic cleaning device and the first position of the robotic arm based on the position information and contour information corresponding to the target skirting mark; wherein the first position is used to determine the cleaning height and cleaning posture of the cleaning tool;

[0009] Move along the working path, and use cleaning tools based on the first posture during the movement to clean the skirting board corresponding to the target skirting board mark.

[0010] In one possible implementation, the target skirting identifier is determined based on the following method:

[0011] When it is determined that a skirting line identifier is obtained, the skirting line identifier is used as a target skirting line identifier;

[0012] When it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is screened out from the at least two skirting line identifiers; wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance.

[0013] In a possible implementation, the step of selecting a target skirting line identifier from at least two skirting line identifiers includes:

[0014] Obtain the location information corresponding to each skirting board mark and the real-time location information of the automatic cleaning equipment;

[0015] respectively determining the relative distance between each piece of location information and the real-time location information;

[0016] Obtaining a baseboard identifier corresponding to a relative distance not greater than the first distance as a candidate identifier;

[0017] When the number of candidate identifiers is 1, the candidate identifier is used as the target baseboard identifier;

[0018] When the number of candidate markers is greater than 1, the relative direction between the position information of each candidate marker and the real-time position information is determined, and the target skirting marker is selected from the candidate markers based on the relative direction.

[0019] In yet another possible implementation, the automatic cleaning device further includes an environmental information sensor, and the method further includes:

[0020] When it is determined that the preset skirting board mark is not obtained, collecting environmental information based on the environmental information sensor;

[0021] Identify the skirting board from the environmental information, and obtain the position information and contour information of the skirting board; create a skirting board identifier, and use the position information and contour information as associated information of the skirting board identifier; store the skirting board identifier and the associated information corresponding to the skirting board identifier.

[0022] In another possible implementation, after cleaning the skirting line corresponding to the target skirting line marker, the method further includes:

[0023] Adjusting the operating path of the automatic cleaning device and the first posture of the robotic arm to obtain a secondary operating path and a second posture, the second posture being used to determine the cleaning height and cleaning posture of the cleaning tool;

[0024] Move along the secondary operation path, and use the cleaning tool based on the second posture during the movement to clean the skirting board corresponding to the target skirting board mark.

[0025] In another possible implementation, the moving along the secondary operation path and using a cleaning tool based on the second posture during the movement to clean the skirting corresponding to the target skirting mark include:

[0026] Move along the secondary operation path, perform ground cleaning during the movement, and use cleaning tools based on the second posture to clean the skirting board corresponding to the target skirting board mark.

[0027] In another possible implementation, the automatic cleaning device further includes an obstacle sensor. The device moves along the working path and uses a cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark, including:

[0028] When the automatic cleaning device encounters no obstacles in the working path, it moves along the working path and uses the cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark;

[0029] When the automatic cleaning device encounters an obstacle in its operating path, the real-time coordinates of the automatic cleaning device are obtained, and obstacle sensing information is obtained from the obstacle sensor;

[0030] Adjust the working path and the posture of the robot arm based on the obstacle sensing information and real-time coordinates to obtain the corrected working path and the corrected posture of the robot arm;

[0031] Move along the correction work path, and use cleaning tools based on the correction posture during the movement to clean the skirting board corresponding to the skirting board mark.

[0032] In another possible implementation, after cleaning the skirting line corresponding to the target skirting line marker, the method further includes:

[0033] Recycling cleaning tools and robotic arms;

[0034] Clean the floor adjacent to the skirting board.

[0035] In another possible implementation, the driving the robotic arm to grab the cleaning tool includes: driving the robotic arm to grab the cleaning tool from the automatic cleaning device base station;

[0036] Recycling of cleaning tools and robotic arms, including:

[0037] Using a robotic arm, the cleaning tools are transported and placed at the base station of the automatic cleaning equipment;

[0038] Recover the robotic arm into the automatic cleaning device.

[0039] According to another aspect of an embodiment of the present application, a skirting cleaning device is provided, which is configured in an automatic cleaning device, wherein the automatic cleaning device is configured with a robotic arm, and the device includes:

[0040] A response module is used to respond to the acquired skirting board cleaning instruction, determine the target skirting board identifier, and drive the robotic arm to grab the cleaning tool;

[0041] An adjustment module is used to determine the operation path of the automatic cleaning device and the first position of the robot arm according to the position information and contour information corresponding to the target skirting mark; wherein the first position is used to determine the cleaning height and cleaning posture of the cleaning tool;

[0042] The cleaning module is used to move along the working path and use a cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark.

[0043] According to another aspect of an embodiment of the present application, a sweeping robot is provided, which includes: a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method shown in the first aspect of the embodiment of the present application.

[0044] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method shown in the first aspect of the embodiments of the present application are implemented.

[0045] The beneficial effects of the technical solution provided by the embodiments of the present application are:

[0046] The embodiment of the present application achieves the cleaning of the skirting board by grabbing the cleaning tool through the robotic arm on the automatic cleaning device. Specifically, in response to the skirting board cleaning instruction, the target skirting board identifier is determined, and the robotic arm is driven to grab the cleaning tool, and the operation path of the automatic cleaning device and the first posture of the robotic arm are determined according to the position information and contour information corresponding to the target skirting board identifier, so that the automatic cleaning device can move along the operation path and use the cleaning tool to clean the skirting board based on the first posture during the movement. The embodiment of the present application achieves targeted cleaning of the skirting board by adjusting the posture of the robotic arm in combination with the path rules of the automatic cleaning device. The embodiment of the present application can adjust the height and angle of the cleaning tool based on the different postures of the robotic arm to achieve multi-directional cleaning of the skirting board. At the same time, this cleaning method can also be adapted to skirting boards of different heights and effectively improve the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A schematic structural diagram of an automatic cleaning device provided in an embodiment of the present application;

[0049] Figure 2 A schematic flow chart of a skirting board cleaning method provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of a target identification screening process in a skirting board cleaning method provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of a structure for segmenting the side of a skirting board provided in an embodiment of the present application;

[0052] Figure 5 A schematic diagram of cleaning different surfaces of a skirting board in stages according to an embodiment of the present application;

[0053] Figure 6 A schematic diagram of the floor cleaning range provided in an embodiment of the present application;

[0054] Figure 7 A schematic flow chart of an exemplary skirting cleaning method provided in an embodiment of the present application;

[0055] Figure 8 A schematic diagram of the relative positions of the robot and the skirting board provided in an embodiment of the present application;

[0056] Figure 9 A schematic structural diagram of a skirting board cleaning device provided in an embodiment of the present application.

[0057] Description of reference numerals:

[0058] 1-Robot chassis, 2-Gripping handle, 3-End gripper, 4-Cleaning tool, 5-Cleaning brush head, 6-Top surface of skirting board. DETAILED DESCRIPTION

[0059] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0060] The accompanying drawings illustrate various schematic diagrams of structures according to embodiments of the present disclosure. These figures are not drawn to scale, and for the purpose of clarity, certain details are exaggerated and certain details may be omitted. The shapes of the various regions and layers shown in the figures, as well as their relative sizes and positional relationships, are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions as needed.

[0061] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, it can be directly on the other layer / element or an intervening layer / element may be present therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, it may be "below" the other layer / element when the orientation is reversed.

[0062] First, let’s explain the terms involved in this application:

[0063] 1. Skirting line: also called skirting or skirting board, is a component that connects the base of the wall and the ground. It is made of a variety of materials. It is a very small part of home decoration, but it has a great impact. It is generally widely present in users' homes.

[0064] Key features include:

[0065] (1) There is a design transition between the wall and the floor: From the perspective of spatial aesthetics, the inner corner line, waist line, and skirting line play a visual balancing role. Using their linear feeling, material, color, etc. to echo each other in the room can achieve a better beautification and decorative effect. The height of the skirting line and the amount of bottom exposed will have completely different effects.

[0066] Skirting lines can divide the transition of space. When the floor height is limited, narrow and thin skirting lines of 2.5-6 cm are generally selected to enhance the refinement of the space. If the floor height allows, 8-10 cm skirting lines are generally selected to achieve a balanced visual effect and make the space more grand.

[0067] (2) Protect the wall: If there is no skirting, the wall near the ground is easily stepped on. Skirting can better connect the wall to the ground, reduce wall deformation, and avoid damage caused by external forces. In addition, skirting is also easier to scrub. If dirty water splashes on the floor while mopping, it is very convenient to scrub it.

[0068] From a practical point of view, a skirting that is too low is less likely to protect the wall base. For example, a 4cm skirting is generally only installed openly, because if it is concealed, the mop will touch the wall when mopping the floor. Therefore, a skirting of 6cm or above is generally chosen.

[0069] (3) shielding and protecting lines;

[0070] The materials of skirting boards are generally wood, metal, ceramic tile or stone, and the colors are generally white, wood color, black or gray. After a period of time, dust will accumulate on the top surface and the sides will also be sticky, requiring manual cleaning. Currently, there is no electrical appliance that can achieve automatic skirting board cleaning.

[0071] 2. Automatic cleaning equipment: It can be a robot that can clean the floor, organize floor items and clean skirting boards, such as Figure 1 As shown, the automatic cleaning device may include two moving parts:

[0072] (1) The lower portion is a chassis that can move on the ground and move linearly along the z-axis (the traveling mechanism can make the chassis rise and fall relative to the ground) and includes a traveling mechanism, which can be wheeled or tracked;

[0073] (2) The upper part is a multi-degree-of-freedom robotic arm module, such as Figure 1 As shown, it includes three mechanical joints M0, M1, and M2. The robot arm module is configured on the chassis;

[0074] These two moving parts cooperate to realize the function of the automatic cleaning device, and the method for cleaning skirting boards of the present application can be applied to the automatic cleaning device.

[0075] The inventive concept of the present application is to achieve targeted cleaning of skirting boards by adjusting the posture of the robotic arm in combination with the path planning of the automatic cleaning equipment; the embodiment of the present application can adjust the cleaning height and angle of the cleaning tool based on the different postures of the robotic arm to achieve cleaning of different directions of the skirting boards, thereby improving the adaptability of the cleaning method and effectively improving the cleaning efficiency.

[0076] The following describes in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0077] The present application provides a method for cleaning a skirting board, such as Figure 2 As shown, it can be applied to an automatic cleaning device, which is equipped with a robotic arm. The method includes:

[0078] S101, in response to the acquired skirting board cleaning instruction, determining the target skirting board identifier, and driving the robotic arm to grab the cleaning tool.

[0079] The skirting board cleaning instruction may be sent by a user terminal, or may be automatically generated when the automatic cleaning device recognizes the skirting board.

[0080] The target skirting board identifier can be obtained from a pre-stored map. The cleaning tools can be stored in a storage compartment of the automatic cleaning device base station or built into the body of the automatic cleaning device, which is not specifically limited in the embodiments of this application. The automatic cleaning device can include a sweeping robot, a sweeping and mopping robot, a mopping robot, etc. The sweeping robot will be used as an example for detailed description below.

[0081] Specifically, the user terminal can send a skirting cleaning instruction to the sweeping robot via a wireless connection, or the sweeping robot can directly receive voice information to determine the skirting cleaning instruction corresponding to the voice information. The robot then responds to the instruction and obtains the target skirting cleaning identifier from a pre-stored map.

[0082] In other implementations, the sweeping robot may collect environmental information based on sensors, identify skirting boards from the environmental information, and generate skirting board cleaning instructions based on the identified skirting boards.

[0083] S102: Determine the operating path of the automatic cleaning device and the first position of the robot arm according to the position information and contour information corresponding to the target skirting mark.

[0084] Among them, the first posture is used to determine the cleaning height and cleaning posture of the cleaning tool.

[0085] like Figure 8 As shown, when the automatic cleaning device cleans the top surface of the skirting board, the robotic arm's position can fix the cleaning tool so that the cleaning tool maintains a cleaning posture perpendicular to the top surface of the skirting board. At this time, the distance X1 between the center of the automatic cleaning device chassis and the side of the skirting board is small, and the cleaning height is high. When the automatic cleaning device cleans the side of the skirting board, the robotic arm's position can fix the cleaning tool so that the cleaning tool maintains a cleaning posture perpendicular to the side of the skirting board. At this time, the distance X2 between the center of the automatic cleaning device chassis and the side of the skirting board is large, and the cleaning height is low.

[0086] Specifically, the automated cleaning device moves to the automated cleaning device base station, deploys its robotic arm to grab a cleaning tool, and then retrieves the corresponding location and contour information from a pre-set database based on the target skirting marker. The automated cleaning device's operating path and the robotic arm's initial position are then adjusted based on the location and contour information corresponding to the skirting marker.

[0087] S103, moving along the working path, and using a cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark.

[0088] The embodiment of the present application achieves the cleaning of the skirting board by grabbing the cleaning tool through the robotic arm on the automatic cleaning device. Specifically, in response to the skirting board cleaning instruction, the target skirting board identifier is determined, and the robotic arm is driven to grab the cleaning tool, and the operation path of the automatic cleaning device and the first posture of the robotic arm are determined according to the position information and contour information corresponding to the target skirting board identifier, so that the automatic cleaning device can move along the operation path and use the cleaning tool to clean the skirting board based on the first posture during the movement. The embodiment of the present application achieves targeted cleaning of the skirting board by adjusting the posture of the robotic arm in combination with the path rules of the automatic cleaning device. The embodiment of the present application can adjust the height and angle of the cleaning tool based on the different postures of the robotic arm to achieve multi-directional cleaning of the skirting board. At the same time, this cleaning method can also be adapted to skirting boards of different heights and effectively improve the cleaning efficiency.

[0089] In an embodiment of the present application, a possible implementation method is provided, wherein the target skirting mark is determined based on the following method:

[0090] S201, when it is determined that a skirting line identifier is obtained, the skirting line identifier is used as a target skirting line identifier;

[0091] S202: When it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is selected from the at least two skirting line identifiers.

[0092] Among them, the distance between the skirting line corresponding to the target skirting line mark and the automatic cleaning device is less than or equal to the preset first distance.

[0093] In an embodiment of the present application, the sweeping robot can obtain the skirtings of the four walls, that is, four skirting line identifiers, from a preset room map. According to the current real-time position of the sweeping robot, the sweeping robot can select the skirting line closest to the sweeping robot from the four skirting lines to start the cleaning operation.

[0094] Specifically, the steps for screening the target skirting board mark will be described in detail below.

[0095] A possible implementation method is provided in the embodiment of the present application, such as Figure 3 As shown, the above-mentioned step of filtering out the target skirting line mark from at least two skirting line marks includes:

[0096] S301, obtaining the position information corresponding to each skirting board mark and the real-time position information of the automatic cleaning device.

[0097] The position information corresponding to the baseboard mark may be the point coordinates of the baseboard vertex or the line coordinates of the baseboard bottom edge.

[0098] S302: Determine the relative distance between the position information corresponding to each foot line mark and the real-time position information of the automatic cleaning device.

[0099] The relative distance may be the straight-line distance between the automatic cleaning device and a vertex of the skirting board, or the shortest distance from the automatic cleaning device to the bottom edge of the skirting board.

[0100] S303: Obtain a skirting board identifier corresponding to a relative distance not greater than the first distance as a candidate identifier.

[0101] The first distance may be the minimum value among the relative distances.

[0102] S304, when the number of candidate identifiers is 1, the candidate identifier is used as the target skirting identifier; when the number of candidate identifiers is greater than 1, the relative direction of the position information of each candidate identifier and the real-time position information is determined, and the target skirting identifier is filtered out from the candidate identifiers based on the relative direction.

[0103] Specifically, you can first obtain the relative distance between the sweeping robot and each skirting board. When the sweeping robot is located in the middle of the room, it may be that the relative distance between the sweeping robot and at least two skirting boards is the same. In this case, you can give priority to the skirting board on the right side of the sweeping robot to achieve right-to-right cleaning of multiple skirting boards in the room one by one.

[0104] The embodiment of the present application selects a target skirting line from at least two skirting lines for cleaning through the real-time distance between each skirting line and the sweeping robot. The skirting line closest to the sweeping robot can be preferentially selected for cleaning, and a certain cleaning order can also be set, thereby effectively optimizing the cleaning order of each skirting line and ensuring cleaning efficiency.

[0105] An embodiment of the present application provides a possible implementation method, wherein the automatic cleaning device further includes an environmental information sensor, and the above method further includes:

[0106] S401: When it is determined that the preset skirting board mark is not obtained, environmental information is collected based on an environmental information sensor.

[0107] In an embodiment of the present application, when the sweeping robot is in a new room and has not yet mapped the room, or has mapped the room but has not yet marked the skirting board, the sweeping robot cannot obtain the skirting board identification at this time, and it can first identify the skirting board based on the environmental information sensor.

[0108] The environmental information sensor may be a laser sensor or an image sensor, etc., which is not specifically limited in this application.

[0109] S402, identifying the skirting board from the environmental information, and obtaining the position information and contour information of the skirting board; creating a skirting board identifier, and using the position information and contour information as associated information of the skirting board identifier; storing the skirting board identifier and the associated information corresponding to the skirting board identifier.

[0110] In an embodiment of the present application, the skirting board identifier can be the code of the skirting board. The skirting board identifier can be used as the key, and the corresponding position information and contour information can be used as the value. The above data can be stored in the form of a key-value pair to facilitate data query and retrieval.

[0111] In other embodiments, when the skirting board cannot be identified from the environmental information, an unidentified reminder message is sent.

[0112] Specifically, when there is no skirting board in the environment, the sweeping robot can send a voice reminder "No skirting board is recognized in the current room."

[0113] The embodiment of the present application uses environmental information sensors to identify and store data on skirting boards, which can lay a good foundation for subsequent skirting board cleaning work and effectively improve the efficiency of skirting board cleaning.

[0114] An embodiment of the present application provides a possible implementation method, which includes:

[0115] In the embodiment of the present application, after the skirting is cleaned once, it can be cleaned a second time according to the shape and degree of dirtiness of the skirting. The real-time coordinates of the current automatic cleaning device, i.e., the end point of the cleaning operation, can be used as the starting point of the next cleaning path.

[0116] S501, adjusting the operation path of the automatic cleaning device and the first posture of the robot arm to obtain a secondary operation path and a second posture.

[0117] Among them, the second posture is used to determine the cleaning height and cleaning posture of the cleaning tool;

[0118] In the embodiment of the present application, after the skirting is cleaned once, it can be cleaned a second time according to the shape and degree of dirtiness of the skirting. The real-time coordinates of the current automatic cleaning device, i.e., the end point of the cleaning operation, can be used as the starting point of the next cleaning path.

[0119] S502, moving along the secondary operation path, and using a cleaning tool based on the second posture during the movement to clean the skirting corresponding to the target skirting mark.

[0120] In an embodiment of the present application, when the robotic arm is in the first posture, it can position the gripped cleaning tool perpendicular to the side of the skirting board, completing the side cleaning of the skirting board. During the second cleaning, the inclination angle of the cleaning tool can be adjusted based on the real-time coordinates of the sweeping robot, the length of the cleaning tool, the height of the skirting board, and other data to obtain a second posture. Simultaneously, the distance between the sweeping robot and the wall is calculated to plan a second operation path to complete the cleaning of the top surface of the skirting board. Furthermore, the top surface of the skirting board can be cleaned first using the first posture, and then the sides of the skirting board can be cleaned using the second posture. This is not specifically limited in this application.

[0121] In other embodiments, Figure 4 As shown, the side of the skirting board can be divided into two parts, the upper section and the lower section, and the side of the skirting board can be cleaned in sections. When the robotic arm is in the first posture, it can make the clamped cleaning tool perpendicular to the side of the skirting board to complete the cleaning of the upper section of the side of the skirting board; after the upper section cleaning is completed, the sweeping robot can rotate the body to turn around or directly change the moving direction to prepare for secondary cleaning. The height of the cleaning tool can be adjusted according to the real-time coordinates of the sweeping robot, the length of the cleaning tool, the height of the skirting board and other data to obtain the secondary posture, and at the same time calculate the distance between the sweeping robot and the wall to plan the secondary operation path. Then the robotic arm follows the secondary operation path based on the secondary posture to complete the cleaning of the lower section of the side of the skirting board. In addition, the lower section of the skirting board can be cleaned first based on the first posture, and then the upper end of the skirting board can be cleaned based on the second posture. There is no specific limitation in this application.

[0122] In an embodiment of the present application, after cleaning the skirting board once, the posture of the robotic arm can be adjusted according to the height of the skirting board and different cleaning surfaces to achieve multiple segmented cleanings of the same surface of the same skirting board, or multiple cleaning operations on different cleaning surfaces of the skirting board, which can ensure the quality and efficiency of the cleaning work and effectively improve the user experience.

[0123] In an embodiment of the present application, a possible implementation method is provided, wherein the above-mentioned movement along the secondary operation path and the cleaning tool is used based on the second posture during the movement to clean the skirting corresponding to the target skirting mark, including:

[0124] Move along the secondary operation path, perform ground cleaning during the movement, and use cleaning tools based on the second posture to clean the skirting board corresponding to the target skirting board mark.

[0125] In the embodiments of this application, Figure 5As shown, after the first cleaning of the top surface of the skirting board is completed, the side surface of the skirting board is cleaned for the second time. During the second cleaning, the sweeping function of the sweeping robot can be turned on, so that the sweeping robot can complete the floor cleaning and skirting board cleaning when moving along the secondary operation path; that is, when the same skirting board is cleaned repeatedly, the floor and the skirting board can be cleaned at the same time; when cleaning the skirting board this time, the dust and dirt swept off the skirting board last time can be cleaned, which can maintain the cleanliness of the floor and further improve the cleaning efficiency.

[0126] In other embodiments, the floor may be cleaned after the skirting boards are cleaned. The specific solution will be described in detail below.

[0127] An embodiment of the present application provides a possible implementation method, in which the automatic cleaning device further includes an obstacle sensor. The automatic cleaning device moves along the working path, and during the movement, a cleaning tool is used based on the first posture to clean the skirting corresponding to the target skirting mark, including:

[0128] S601, when the automatic cleaning device does not encounter any obstacles in the operation path, it moves along the operation path, and uses a cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark.

[0129] S602: When the automatic cleaning device encounters an obstacle in the operation path, the real-time coordinates of the automatic cleaning device are obtained, and obstacle sensing information is obtained from the obstacle sensor.

[0130] The obstacle sensor may be a laser sensor or an image sensor, etc., which is not specifically limited in this application.

[0131] S603 , adjusting the working path and the position and posture of the robot arm based on the obstacle sensing information and the real-time coordinates to obtain a corrected working path and a corrected position and posture of the robot arm.

[0132] Among them, the correction working path can effectively avoid obstacles. At the same time, its correction posture can ensure that neither the robotic arm nor the cleaning tool will touch the obstacle.

[0133] S604, moving along the correction operation path, and using a cleaning tool based on the correction posture during the movement to clean the skirting corresponding to the target skirting mark.

[0134] In an embodiment of the present application, when a flower pot obstacle is identified in front of the sweeping robot, the sweeping robot can adjust the operating path of the sweeping robot according to the sensor information of the flower pot. At the same time, if the height of the flower pot interferes with the cleaning tool and the robotic arm, the posture of the robotic arm can be adjusted to change the height and angle of the cleaning tool. On the basis of ensuring that the obstacle is bypassed, the skirting board cleaning work is not affected, making the skirting board cleaning cleaner.

[0135] An embodiment of the present application provides a possible implementation method, which includes, after cleaning the skirting board corresponding to the target skirting board mark, further comprising:

[0136] Recover cleaning tools and robotic arms; clean the floor adjacent to the skirting board.

[0137] The cleaning tool can be stored in the base station of the automatic cleaning device or in the body of the automatic cleaning device.

[0138] Specifically, the automatic cleaning equipment can define the floor cleaning range for the floor adjacent to the skirting board according to the previous work path, and perform cleaning work within the floor cleaning range.

[0139] In some embodiments, during the skirting cleaning process, the robotic arm can set up the cleaning tool on the left front or right front of the sweeping robot; Figure 6 As shown, the body of the sweeping robot can maintain an appropriate distance from the skirting to prevent dust and dirt from falling onto the body when the skirting is cleaned. The embodiment of the present application can also be used to clean skirtings that the sweeping robot cannot approach, such as narrow corners or walkways blocked by obstacles. In this case, the robot arm can be driven to change its posture to extend the cleaning tool and clean the skirting that the sweeping robot cannot approach. Therefore, when cleaning the floor, the cleaning range is not limited to the extended range along the skirting. The above cleaning range can be delineated according to the working path during the previous skirting cleaning.

[0140] In an embodiment of the present application, after the skirting board is cleaned, dust and dirt may fall to the ground. The sweeping robot can clean the ground after the skirting board is cleaned to ensure the thoroughness of the cleaning work.

[0141] A possible implementation method is provided in an embodiment of the present application. The above-mentioned driving the robotic arm to grab the cleaning tool includes: driving the robotic arm to grab the cleaning tool from the automatic cleaning device base station.

[0142] In an embodiment of the present application, the cleaning tool can be stored in the storage bin of the sweeping robot base station, and the sweeping robot can move to the base station and drive the robotic arm to grab the cleaning tool from the storage bin of the sweeping robot base station.

[0143] The above-mentioned recycling cleaning tools and robotic arms include:

[0144] Based on the robotic arm, the cleaning tool is transported and placed on the automatic cleaning device base station; the robotic arm is recovered into the automatic cleaning device so that the automatic cleaning device can enter the automatic cleaning device base station for charging or performing other tasks.

[0145] Specifically, after completing the skirting board cleaning work, the sweeping robot can return to the sweeping robot base station, use the robotic arm to put the cleaning tools back into the storage bin, and then retract the robotic arm into the body, and then the sweeping robot can enter the base station to charge.

[0146] The embodiment of the present application uses a sweeping robot base station to store cleaning tools and charge the sweeping robot, which can make the cleaning work of the sweeping robot more systematic and orderly, and further improve the user experience.

[0147] In order to better understand the above-mentioned skirting cleaning method, Figure 7 and Figure 8 An example of a skirting board cleaning method of the present application is described in detail. The method is applied to a sweeping robot and includes the following steps:

[0148] S701 , the user sends a cleaning instruction to the sweeping robot 302 based on the user terminal 301 to trigger the skirting cleaning function.

[0149] S702 : The cleaning robot 302 obtains a pre-built environment map from the database 303 based on the wireless network.

[0150] S703, if it is recognized based on the environment map that there is a skirting board in the current environment, a voice prompt "Start cleaning the skirting board" is given.

[0151] If the skirting board recognition and annotation has not been completed through the previous mapping or floor cleaning task, or if it has been identified that there are no skirting boards in the environment, start a new mapping and recognition task:

[0152] When a skirting board is detected in the environment, the voice prompt "Start cleaning the skirting board" will be given;

[0153] If the skirting board is still not recognized in the environment, the voice prompt "No skirting board recognized" will be played.

[0154] S704, after starting to clean the skirting board, the chassis of the sweeping robot moves to the vicinity of the base station, and the robotic arm moves out of the warehouse and clamps the cleaning tool.

[0155] S705, calculating the skirting cleaning path. The sweeping robot chassis moves to the vicinity of the starting point of the cleaning path. The distance between the chassis center and the skirting, as well as the position of the robotic arm, are calculated based on the sensor information.

[0156] like Figure 8 As shown, the robot arm includes three robot arm joint modules M0, M1, and M2. The M2 robot arm joint module is also configured with an end gripper 3 for grasping a gripping handle 2 of a cleaning tool 4. The robot chassis 1 maintains an appropriate distance from the side of the skirting board to facilitate the posture change of the robot arm. Specifically, the end gripper 3 of the robot arm can drive the cleaning tool 4 to maintain a cleaning posture perpendicular to the top surface of the skirting board, so that the cleaning brush head 5 can clean the top surface 6 of the skirting board when the robot chassis moves. The robot arm can also change its posture to adjust the cleaning height and cleaning angle of the cleaning tool 4. Specifically, the height of the end gripper 3 and the tilt angle of the cleaning tool 4 can be adjusted based on the multi-degree-of-freedom rotation of the M0 and M1 robot arm joints, as shown in FIG. Figure 8 As shown, the cleaning tool can be in a posture parallel to the wall to clean the top surface of the skirting board; in other embodiments, the cleaning tool can also be in a posture perpendicular to the wall to clean the side of the skirting board; wherein, the distance between the center of the robot chassis 1 and the side of the skirting board can be adjusted in time according to the size of the activity space, obstacles, skirting board height, etc.

[0157] In other embodiments, the robotic arm can also drive the cleaning tool to rotate and clean the skirting board. For example, the robotic arm can be driven to clamp the cleaning tool and drive the cleaning tool to rotate with its handle direction as the rotation axis, so that the robot chassis moves along the cleaning path while the cleaning brush head rotates to clean the skirting board, further improving the cleaning efficiency and enhancing the user experience.

[0158] S706: The sweeping robot chassis starts to move along the wall from the starting point. When encountering obstacles or corners, the robotic arm adjusts its posture until it moves to the skirting board and completes the cleaning task.

[0159] S707: The chassis moves to the vicinity of the base station, and the robotic arm places the cleaning tool into the storage bin of the base station.

[0160] S708, the sweeping robot 302 plays a voice prompt "Baseboard cleaning completed" and returns to the base station to charge.

[0161] The embodiment of the present application provides a skirting cleaning device, which is configured in an automatic cleaning device, and the automatic cleaning device is configured with a robotic arm, such as Figure 9 As shown, the skirting cleaning device 90 may include: a response module 901, an adjustment module 902, and a cleaning module 903;

[0162] The response module 901 is used to respond to the acquired skirting cleaning instruction, determine the target skirting identification, and drive the robotic arm to grab the cleaning tool;

[0163] Adjustment module 902, for determining the operation path of the automatic cleaning device and the first position of the robot arm according to the position information and contour information corresponding to the target skirting mark; wherein the first position is used to determine the cleaning height and cleaning posture of the cleaning tool;

[0164] The cleaning module 903 is used to move along the working path and use a cleaning tool based on the first posture to clean the skirting corresponding to the target skirting mark during the movement.

[0165] In an embodiment of the present application, a possible implementation method is provided, where the target skirting mark is determined based on the following method:

[0166] When it is determined that a skirting line identifier is obtained, the skirting line identifier is used as a target skirting line identifier;

[0167] When it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is screened out from the at least two skirting line identifiers; wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance.

[0168] An embodiment of the present application provides a possible implementation method. When the response module 901 selects a target skirting line identifier from at least two skirting line identifiers, the response module 901 is configured to:

[0169] Obtain the location information corresponding to each skirting board mark and the real-time location information of the automatic cleaning equipment;

[0170] respectively determining the relative distance between each piece of location information and the real-time location information;

[0171] Obtaining a baseboard identifier corresponding to a relative distance not greater than the first distance as a candidate identifier;

[0172] When the number of candidate identifiers is 1, the candidate identifier is used as the target baseboard identifier;

[0173] When the number of candidate markers is greater than 1, the relative direction between the position information of each candidate marker and the real-time position information is determined, and the target skirting marker is selected from the candidate markers based on the relative direction.

[0174] An embodiment of the present application provides a possible implementation method, in which the automatic cleaning device is equipped with an environmental information sensor, and the response module 901 is further configured to:

[0175] When it is determined that the preset skirting board mark is not obtained, collecting environmental information based on the environmental information sensor;

[0176] Identify the skirting board from the environmental information, and obtain the position information and contour information of the skirting board; create a skirting board identifier, and use the position information and contour information as associated information of the skirting board identifier; store the skirting board identifier and the associated information corresponding to the skirting board identifier.

[0177] In an embodiment of the present application, a possible implementation is provided. After cleaning the skirting board corresponding to the target skirting board identifier, the cleaning module 903 is further configured to:

[0178] Adjusting the operating path of the automatic cleaning device and the first posture of the robotic arm to obtain a secondary operating path and a second posture, the second posture being used to determine the cleaning height and cleaning posture of the cleaning tool;

[0179] Move along the secondary operation path, and use the cleaning tool based on the second posture during the movement to clean the skirting board corresponding to the target skirting board mark.

[0180] In an embodiment of the present application, a possible implementation is provided. When the cleaning module 903 moves along the secondary operation path and uses a cleaning tool based on the second posture during the movement to clean the skirting corresponding to the target skirting mark, it is used to:

[0181] Move along the secondary operation path, perform ground cleaning during the movement, and use cleaning tools based on the second posture to clean the skirting board corresponding to the target skirting board mark.

[0182] In an embodiment of the present application, a possible implementation is provided. The automatic cleaning device is further configured with an obstacle sensor. The cleaning module 903 is further configured to:

[0183] When the automatic cleaning device encounters no obstacles in the working path, it moves along the working path and uses the cleaning tool based on the first posture during the movement to clean the skirting corresponding to the target skirting mark;

[0184] When the automatic cleaning device encounters an obstacle in its operating path, the real-time coordinates of the automatic cleaning device are obtained, and obstacle sensing information is obtained from the obstacle sensor;

[0185] Adjust the working path and the posture of the robot arm based on the obstacle sensing information and real-time coordinates to obtain the corrected working path and the corrected posture of the robot arm;

[0186] Move along the correction work path, and use cleaning tools based on the correction posture during the movement to clean the skirting board corresponding to the skirting board mark.

[0187] In an embodiment of the present application, a possible implementation is provided. After cleaning the skirting board corresponding to the target skirting board identifier, the cleaning module 903 is further configured to:

[0188] Recycling cleaning tools and robotic arms;

[0189] Clean the floor adjacent to the skirting board.

[0190] In an embodiment of the present application, a possible implementation is provided. When driving the robotic arm to grab the cleaning tool, the cleaning module 903 is used to: drive the robotic arm to grab the cleaning tool from the automatic cleaning device base station;

[0191] When recycling the cleaning tool and the robotic arm, the cleaning module 902 is used to:

[0192] Using a robotic arm, the cleaning tools are transported and placed at the base station of the automatic cleaning equipment;

[0193] Recover the robotic arm into the automatic cleaning device.

[0194] The device of the embodiment of the present application can execute the method provided by the embodiment of the present application, and its implementation principle is similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, and will not be repeated here.

[0195] The embodiment of the present application achieves the cleaning of the skirting board by grabbing the cleaning tool through the robotic arm on the automatic cleaning device. Specifically, in response to the skirting board cleaning instruction, the target skirting board identifier is determined, and the robotic arm is driven to grab the cleaning tool, and the operation path of the automatic cleaning device and the first posture of the robotic arm are determined according to the position information and contour information corresponding to the target skirting board identifier, so that the automatic cleaning device can move along the operation path and use the cleaning tool to clean the skirting board based on the first posture during the movement. The embodiment of the present application achieves targeted cleaning of the skirting board by adjusting the posture of the robotic arm in combination with the path rules of the automatic cleaning device. The embodiment of the present application can adjust the height and angle of the cleaning tool based on the different postures of the robotic arm to achieve multi-directional cleaning of the skirting board. At the same time, this cleaning method can also be adapted to skirting boards of different heights and effectively improve the cleaning efficiency.

[0196] In an embodiment of the present application, a sweeping robot is provided, comprising a memory, a processor, and a computer program stored in the memory, the processor executing the above-mentioned computer program to implement the steps of the skirting board cleaning method. Compared with the related art, the following can be achieved: In an embodiment of the present application, a robotic arm on an automatic cleaning device grabs a cleaning tool to clean the skirting board. Specifically, in response to a skirting board cleaning instruction, a target skirting board identifier is determined, and the robotic arm is driven to grab the cleaning tool. The operating path of the automatic cleaning device and the first posture of the robotic arm are determined according to the position information and contour information corresponding to the target skirting board identifier, so that the automatic cleaning device moves along the operating path, and uses the cleaning tool to clean the skirting board based on the first posture during the movement. In an embodiment of the present application, the posture adjustment of the robotic arm is combined with the path rules of the automatic cleaning device to achieve targeted cleaning of the skirting board. In an embodiment of the present application, the height and angle of the cleaning tool can be adjusted based on the different postures of the robotic arm to achieve multi-directional cleaning of the skirting board. At the same time, this cleaning method can also be adapted to skirting boards of different heights and effectively improve the cleaning efficiency.

[0197] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0198] While the above description does not provide detailed technical details regarding the patterning of each layer, those skilled in the art will appreciate that various technical means can be employed to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure. Furthermore, while each embodiment has been described separately, this does not mean that the measures in each embodiment cannot be advantageously combined.

[0199] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0200] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A skirting cleaning method, applied to automatic cleaning equipment, characterized in that: The automatic cleaning device includes a robotic arm, and the method includes: In response to the acquired skirting board cleaning instruction, determining the target skirting board identifier, and driving the robotic arm to grab the cleaning tool; Determine the operating path of the automatic cleaning device and the first posture of the robotic arm according to the position information and contour information corresponding to the target skirting mark; wherein the first posture is used to determine the cleaning height and cleaning posture of the cleaning tool; Move along the working path, and use the cleaning tool based on the first posture during the movement to clean the skirting line corresponding to the target skirting line mark.

2. The method according to claim 1, characterized in that The target baseboard identifier is determined based on the following method: When it is determined that a skirting line mark is obtained, the skirting line mark is used as a target skirting line mark; When it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is screened out from the at least two skirting line identifiers; wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance.

3. The method according to claim 2, characterized in that The step of selecting a target skirting line identifier from the at least two skirting line identifiers includes: Obtaining the position information corresponding to each of the skirting board markers and the real-time position information of the automatic cleaning device; respectively determining a relative distance between each piece of the position information and the real-time position information; Obtaining a baseboard identifier corresponding to the relative distance not greater than the first distance as a candidate identifier; When the number of candidate identifiers is 1, the candidate identifier is used as the target baseboard identifier; When the number of the candidate identifiers is greater than 1, the relative direction between the position information of each candidate identifier and the real-time position information is determined, and the target skirting identifier is filtered out from the candidate identifiers based on the relative direction.

4. The method according to claim 2, characterized in that The automatic cleaning device further includes an environmental information sensor, and the method further includes: When it is determined that the preset skirting board identifier is not obtained, collecting environmental information based on the environmental information sensor; Identify the skirting board from the environmental information, and obtain the position information and contour information of the skirting board; create a skirting board identifier, and use the position information and contour information as associated information of the skirting board identifier; store the skirting board identifier and the associated information corresponding to the skirting board identifier.

5. The method according to claim 1, wherein After cleaning the skirting line corresponding to the target skirting line mark, the method further includes: Adjusting the operating path of the automatic cleaning device and the first posture of the robotic arm to obtain a secondary operating path and a second posture, wherein the second posture is used to determine the cleaning height and cleaning posture of the cleaning tool; Move along the secondary operation path, and use the cleaning tool based on the second posture during the movement to clean the skirting line corresponding to the target skirting line mark.

6. The method according to claim 5, characterized in that The moving along the secondary operation path and using the cleaning tool based on the second posture during the movement to clean the skirting corresponding to the target skirting mark includes: Move along the secondary operation path, perform ground cleaning during the movement, and at the same time, use the cleaning tool based on the second posture to clean the skirting corresponding to the target skirting mark.

7. The method according to claim 1, characterized in that The automatic cleaning device further includes an obstacle sensor, and the moving device moves along the working path, and during the movement, the cleaning tool is used to clean the skirting corresponding to the target skirting mark based on the first posture, including: When the automatic cleaning device encounters no obstacles in the operation path, it moves along the operation path, and during the movement, uses the cleaning tool based on the first posture to clean the skirting corresponding to the target skirting mark; When the automatic cleaning device encounters an obstacle in the operation path, the real-time coordinates of the automatic cleaning device are obtained, and obstacle sensing information is obtained from the obstacle sensor; Adjusting the working path and the posture of the robotic arm based on the obstacle sensing information and the real-time coordinates to obtain a corrected working path and a corrected posture of the robotic arm; Move along the correction operation path, and use the cleaning tool based on the correction posture during the movement to clean the skirting line corresponding to the skirting line mark.

8. The method according to claim 1, characterized in that After cleaning the skirting line corresponding to the target skirting line mark, the method further includes: Recovering the cleaning tool and the robotic arm; Clean the ground adjacent to the skirting board.

9. The method according to claim 8, characterized in that The driving the robotic arm to grab the cleaning tool comprises: driving the robotic arm to grab the cleaning tool from the automatic cleaning device base station; The recovering of the cleaning tool and the robotic arm comprises: Based on the robotic arm, the cleaning tool is transported and placed on the automatic cleaning equipment base station; The robotic arm is recovered into the interior of the automatic cleaning device.

10. A skirting cleaning device, characterized in that: Configured in an automatic cleaning device, the automatic cleaning device is equipped with a robotic arm, and the skirting cleaning device includes: A response module, configured to respond to the acquired skirting board cleaning instruction, determine the target skirting board identifier, and drive the robotic arm to grab the cleaning tool; An adjustment module, configured to determine an operating path of the automatic cleaning device and a first posture of the robotic arm according to the position information and contour information corresponding to the target skirting mark; wherein the first posture is used to determine a cleaning height and a cleaning posture of the cleaning tool; The cleaning module is configured to move along the operation path and, during the movement, use the cleaning tool based on the first posture to clean the skirting board corresponding to the target skirting board identifier.

11. A sweeping robot, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 9 when executing the computer program.

12. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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