Article classified placement method, storage space management method and self-moving cleaning equipment

Abstract

The invention provides an article classified placement method, a storage space management method and self-moving cleaning equipment, a plurality of storage spaces are arranged in a base station, when the self-moving cleaning equipment recognizes movable articles in the cleaning process, the movable articles are grabbed through a mechanical arm module and returned to the base station, and the storage spaces are stored in the base station. And determining a target storage space corresponding to the movable article in the base station, and putting the movable article into the target storage space. According to the self-moving cleaning equipment, classified placement of objects can be achieved, the garbage classification treatment efficiency and accuracy are improved, secondary pollution cannot be caused, and the problem that in the prior art, a single storage area is used for storing different types of garbage is solved; the technical problems of low garbage classification treatment efficiency and secondary pollution exist in the prior art. In addition, through the mode that the multiple storage spaces are arranged in the base station in a centralized mode, the positioning accuracy of the self-moving cleaning equipment on the storage spaces can be improved, and path planning is also simple.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to a method for classifying and placing items, a storage space management method, and a self-moving cleaning device. Background Art

[0002] Self-mobile cleaning equipment refers to mechanical devices that, through automation and intelligent design, can complete cleaning tasks autonomously or remotely. With the advancement of technology, some self-mobile cleaning equipment is now equipped with robotic arms. When encountering movable obstacles (such as socks, fruit peels, or toys) during cleaning, the self-mobile cleaning equipment can use the robotic arms to pick up the objects and transport them to a designated location.

[0003] However, the current method of self-mobile cleaning equipment transporting all items to the same designated location cannot distinguish different types of items, resulting in low efficiency in garbage sorting and processing. It may also cause secondary pollution, increasing the workload and complexity of subsequent garbage processing. Summary of the Invention

[0004] The present application provides a method for classifying and placing items, a storage space management method and a self-moving cleaning device, which solves the technical problems of the prior art of using a single storage area to store different types of garbage, which has low efficiency in garbage classification and processing and secondary pollution.

[0005] In a first aspect, the present application provides a method for classifying and placing items, the method being used for a self-moving cleaning device of an automatic cleaning system, the self-moving cleaning device comprising a robotic arm module and an image acquisition module, the automatic cleaning system further comprising a base station, the base station being provided with multiple storage spaces, the method comprising:

[0006] During cleaning tasks, the image acquisition module collects images of the work area.

[0007] identifying objects in the working area according to the environment image;

[0008] When the object is identified as a movable object, the movable object is grabbed by the robotic arm module and returned to the base station, and the storage space of the base station corresponding to the movable object is determined as the target storage space;

[0009] The movable object is placed into the target storage space by the robotic arm module.

[0010] Each of the storage spaces is provided with a corresponding label, each of the labels corresponds to a piece of label information, and the label information is used to identify different labels;

[0011] The determining the storage space of the movable object corresponding to the base station as the target storage space includes:

[0012] Determining a target item category of the movable item, and determining target tag information corresponding to the target item category according to a preset mapping relationship, wherein the mapping relationship includes tag information of storage spaces corresponding to different item categories;

[0013] A target tag corresponding to the target tag information is identified in the base station, and a storage space corresponding to the target tag is determined as a target storage space.

[0014] The tag of each storage space is set outside the storage space, and the identifying the target tag corresponding to the target tag information in the base station includes:

[0015] collecting a base station image of the base station by the image acquisition module;

[0016] Identifying a tag in the base station image and reading tag information corresponding to the tag;

[0017] A target tag corresponding to the target tag information is determined according to the tag information, and a position of the target tag in the base station is determined.

[0018] Wherein, the tag is an RFID tag, each of which is pre-written with corresponding tag information, and the self-moving cleaning device further includes an RFID sensing module, and the identification of the target tag corresponding to the target tag information in the base station includes:

[0019] Reading tag information of different storage spaces in the base station through the RFID sensing module;

[0020] A target tag corresponding to the target tag information is determined according to the tag information, and a position of the target tag in the base station is determined.

[0021] Each of the storage spaces is provided with a delivery portion, which is arranged on a side of the storage space close to the outside. The delivery portion is provided with a lid for closing the corresponding storage space. The base station is further used to control the opening and closing of each of the lids. After the movable object is grabbed by the robotic arm module and returned to the base station, before the movable object is placed in the target storage space by the robotic arm module, the system further includes:

[0022] Generate and send cover-opening information to the base station, so that the base station opens the cover of the target storage space according to the cover-opening information.

[0023] Each of the storage spaces is provided with a delivery portion, the delivery portion being arranged on a side of the storage space close to the outside, the delivery portion being provided with a lid for closing the corresponding storage space, the lid being configured to open when subjected to an external force and close when the external force is removed; after the movable object is grasped by the robotic arm module and returned to the base station, and before the movable object is placed in the target storage space by the robotic arm module, the system further comprises:

[0024] Applying external force to the lid corresponding to the target storage space to open the lid corresponding to the target storage space;

[0025] Accordingly, after the movable object is placed into the target storage space by the robotic arm module, the method further includes:

[0026] The external force applied to the cover is canceled to close the cover corresponding to the target storage space.

[0027] In a second aspect, the present application provides a storage space management method, which is applicable to a base station in an automatic cleaning system. The base station is provided with multiple storage spaces, each of which has corresponding item category and identification information; the storage space is provided with a storage capacity sensor, which is used to detect the remaining capacity of the storage space. The automatic cleaning system also includes a self-moving cleaning device for executing the item classification and placement method described in the first aspect. The storage space management method includes:

[0028] receiving a placement request message sent by the self-mobile cleaning device, wherein the placement request message carries a target image of the movable object grasped by the robotic arm module and identification information of the movable object to be placed in the storage space;

[0029] determining a target storage space from the plurality of storage spaces based on the identification information, and determining size information of the movable object based on the target image;

[0030] determining the remaining capacity of the target storage space by the storage capacity sensor;

[0031] In a case where it is determined based on the size information and the remaining capacity that the target storage space cannot accommodate the movable object, a placement prohibition message is sent to the self-moving cleaning device.

[0032] Wherein, after sending the prohibition placement information to the self-moving cleaning device, the method further includes:

[0033] Determining a compatible storage space corresponding to the target storage space based on a preset compatible mapping relationship of the storage spaces, wherein the compatible mapping relationship includes compatible storage spaces that have a compatible relationship with each of the storage spaces, and items placed in the storage spaces that have the compatible relationship can coexist;

[0034] Determining a target compatible storage space in the compatible storage space where the movable object can be placed based on the size information of the movable object and the remaining capacity of the compatible storage space;

[0035] Send space update information to the self-moving cleaning device so that the self-moving cleaning device updates the target storage space to the target compatible storage space based on the space update information, and then places the movable item into the target compatible storage space through the robotic arm module, wherein the space update information includes identification information corresponding to the target compatible storage space.

[0036] In a third aspect, the present application provides a self-moving cleaning device, the self-moving cleaning device comprising a processor, a memory, a robotic arm module, and an image acquisition module;

[0037] The memory is used to store a computer program and transmit the computer program to the processor;

[0038] The processor is configured to execute the method for classifying and placing items as described in the first aspect according to instructions in the computer program.

[0039] In a fourth aspect, the present application provides a base station, wherein the base station is provided with multiple storage spaces, each of the storage spaces having corresponding item categories and identification information; the storage spaces are provided with storage capacity sensors, the storage capacity sensors are used to detect the remaining capacity of the storage spaces, and the base station further includes a processor and a memory;

[0040] The memory is used to store a computer program and transmit the computer program to the processor;

[0041] The processor is configured to execute the storage space management method as described in the second aspect according to instructions in the computer program.

[0042] The present application provides a method for classifying and placing items, a storage space management method, and a self-moving cleaning device. The present application sets up multiple storage spaces in a base station. When the self-moving cleaning device identifies a movable item during the cleaning process, it grabs the movable item through a robotic arm module and returns it to the base station, and determines the target storage space corresponding to the movable item in the base station, and places the movable item into the target storage space. The self-moving cleaning device of the present application can realize the classified placement of items, improve the efficiency and accuracy of garbage classification and processing, and will not cause secondary pollution. It solves the technical problem of using a single storage area to store different types of garbage in the prior art, which has low efficiency in garbage classification and processing and secondary pollution. In addition, by centrally setting up multiple storage spaces in the base station, the positioning accuracy of the self-moving cleaning device on the storage space can be improved, and path planning is also relatively simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flowchart of a method for classifying and placing items provided in an embodiment of the present invention.

[0044] Figure 2 This is one of the storage space setting diagrams provided in an embodiment of the present invention.

[0045] Figure 3 This is the second schematic diagram of the storage space setting provided by an embodiment of the present invention.

[0046] Figure 4 A schematic diagram of a path for a self-mobile cleaning device to return to a base station provided in an embodiment of the present invention.

[0047] Figure 5 A schematic flow chart of another method for classifying and placing items provided in an embodiment of the present invention.

[0048] Figure 6 A schematic diagram of affixing a QR code label to the side of a storage space provided by an embodiment of the present invention.

[0049] Figure 7 A flowchart of a storage space management method provided by an embodiment of the present invention.

[0050] Figure 8 A circuit schematic diagram of a self-moving cleaning device provided in an embodiment of the present invention.

[0051] Figure 9 A circuit schematic diagram of a base station provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following description and accompanying drawings sufficiently illustrate specific embodiments of the present application to enable those skilled in the art to practice them. The examples represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is in fact disclosed. Herein, relational terms such as first and second, etc., are used solely to distinguish one entity or operation from another, and do not require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus comprising a set of elements includes not only those elements, but also other elements not explicitly listed. The various embodiments herein are described in a progressive manner, with each embodiment focusing on the differences from the other embodiments. Reference can be made to the common and similar parts between the various embodiments. For structures, products, etc. disclosed in the embodiments, the description is relatively simple because they correspond to the parts disclosed in the embodiments. For relevant parts, refer to the method description.

[0053] In existing technologies, after a robotic arm picks up a recyclable item, the self-mobile cleaning device typically transports the item to a designated location. However, this approach suffers from an inability to distinguish between different types of items, concentrating all types of garbage in the same area. This results in inefficient subsequent waste sorting and processing. Furthermore, the concentration of garbage in the same area can cause secondary contamination, increasing the workload for subsequent disposal.

[0054] Based on this, in order to solve the above technical problems, the embodiment of the present invention provides a method for placing items by classification, such as Figure 1 As shown, Figure 1A flow chart of a method for classifying and placing items provided in an embodiment of the present invention. The method for classifying and placing items provided in an embodiment of the present invention is applicable to self-moving cleaning equipment in an automatic cleaning system, and the self-moving cleaning equipment may be a sweeping robot, a mopping machine, a vacuum cleaner, or other equipment with automatic cleaning functions. In this embodiment, the self-moving cleaning equipment includes a robotic arm module and an image acquisition module, wherein the robotic arm module is used to grab items, and the image acquisition module is used to capture images and analyze the images. Specifically, the robotic arm module includes a robotic arm, a drive motor, a controller, and related sensors, etc. The controller is used to control the movement of the robotic arm through the drive motor, and the related sensors monitor the position, speed, and force of the robotic arm in real time and feed back to the controller to improve the accuracy and stability of the controller's control of the robotic arm. The specific structure of the robotic arm module can refer to the prior art and will not be repeated in this embodiment. The image acquisition module includes a camera and an image processor, and the camera is installed on the body of the self-moving cleaning equipment, for example, it is set directly in front of the self-moving cleaning equipment to capture images in the direction of travel of the self-moving cleaning equipment. The image processor analyzes and processes the images captured by the camera. For example, the image processor uses a deep learning algorithm to analyze the image and identify the item category corresponding to the item, which includes common garbage types such as paper, plastic, metal, and glass.

[0055] It is understood that the self-propelled cleaning device provided in this embodiment also includes a drive module, a positioning module, a charging module, and a communication module. The components involved in the electronic control of these modules are all controlled by the processor of the self-propelled cleaning device. It is understood that the drive module, positioning module, charging module, and communication module can all be implemented with reference to the relevant technical fields of self-propelled cleaning devices. The specific installation method and basic operating principle will not be described in detail here, and the corresponding working content will not be elaborated. For example, the process of returning to the base station after cleaning to charge through the charging module is not described in detail.

[0056] The automatic cleaning system also includes a base station, wherein the base station is a device that provides charging, positioning, navigation, communication, and cleaning services for the self-mobile cleaning equipment. In this embodiment, a plurality of storage spaces are provided on the base station, wherein the storage space on the base station is used to place items. Each storage space may correspond to a category of items, for example, one storage space is used to place glass-type items, and another storage space is used to place plastic-type items, and so on. In addition, the number of storage spaces and the volume of each storage space can be set according to actual needs. In actual applications, the number and volume of storage spaces can be adjusted according to the garbage generation and classification needs of different households. For example, for households that generate more plastic garbage, the volume of the storage space corresponding to the plastic category can be appropriately increased; for households that focus on metal recycling, the volume of the storage space corresponding to the metal category can be increased.

[0057] In one embodiment, the storage space is provided on the top or side of the base station to facilitate the self-mobile cleaning device to place items into the storage space. For example, Figure 2 and Figure 3 As shown, Figure 2 This is one of the storage space setting diagrams provided in an embodiment of the present invention. Figure 3 This is the second schematic diagram of the storage space setting provided by an embodiment of the present invention. Figure 2 In the embodiment, a plurality of storage spaces 21 are provided on the top of the base station 20 . Figure 3 In the embodiment, a plurality of storage spaces 21 are provided on the side of the base station 20. In addition, in order to further facilitate users to clean items in the storage space, each storage space can be installed on the base station in a detachable manner, for example, a slide rail system is provided on the side or top of the base station, and the storage space can be loaded and unloaded through a pull-out design, or a strong magnet is embedded in the top or back of the base station to cooperate with the metal contacts in the storage space to achieve rapid adsorption, or the storage space can be designed as an independent cabinet and hung on the bracket reserved by the base station through a hook. The specific setting method can be set according to actual needs and is not specifically limited in this embodiment.

[0058] The method for classifying and placing items provided in an embodiment of the present invention includes:

[0059] Step 101: During the execution of cleaning tasks, an image acquisition module is used to capture an environmental image of the work area.

[0060] In this embodiment, when the self-mobile cleaning device's cleaning function is triggered, it plans a cleaning path and performs cleaning tasks within the work area. These tasks include cleaning tasks and item sorting tasks. Cleaning tasks are used to clean the work area, while item sorting tasks are used to sort items within the work area. During the cleaning tasks, the self-mobile cleaning device moves along the cleaning path and uses an image acquisition module to capture real-time images of the work area.

[0061] Step 102: Identify objects in the work area based on the environment image.

[0062] After capturing an environmental image, the autonomous cleaning device must identify objects in the work area based on the captured environmental image. For example, the autonomous cleaning device may input the environmental image into a pre-trained object recognition model, which then identifies objects in the environmental image and outputs the object category and location. The object recognition model can be obtained by training a deep learning neural network. For details, please refer to existing technologies and will not be further described in this embodiment.

[0063] Step 103: When the object is identified as a movable object, the movable object is grabbed by the robotic arm module and returned to the base station, and the storage space of the base station corresponding to the movable object is determined as the target storage space.

[0064] After identifying an object from the environmental image, the automatic cleaning device needs to further determine whether the identified object is a movable object. Movable objects are objects that can be moved by the robotic arm of the self-moving cleaning device. For example, movable objects can be paper, slippers, fruit peels, toys, and stationery. In one embodiment, when identifying movable objects, the self-moving cleaning device can extract the contour features of the object from the image and perform similarity matching with the preset movable object model. When the confidence level is greater than 85%, the object is determined to be a movable object. In another embodiment, whether an object is a movable object can also be determined based on the object category of the object.

[0065] When the object is identified as a movable object, the self-mobile cleaning device needs to grab the movable object through the robotic arm module and plan a path to return to the base station, and then move according to the path to return to the base station, such as Figure 4 As shown, Figure 4 A schematic diagram of a path for a self-mobile cleaning device to return to a base station is provided in an embodiment of the present invention. After the self-mobile cleaning device 10 identifies and grabs the movable object pencil at position A, it plans a path to return to the base station 20. Exemplarily, the self-mobile cleaning device generally docks and identifies the base station by receiving infrared signals sent by the base station. For example, the self-mobile cleaning device is also configured with an infrared receiving module, and the base station is configured with an infrared transmitting module. The infrared receiving module is used to receive infrared signals transmitted by the infrared transmitting module, and the self-mobile cleaning device identifies the base station based on the received infrared signals. For example, when the self-mobile cleaning device returns to the base station, it determines the target position of the base station on the map and moves to the target position where the base station is located. During the movement, the self-mobile cleaning device determines in real time whether the infrared receiving module receives the infrared signal. When the infrared receiving module receives the infrared signal, it confirms the existence of the base station and moves to the front of the base station.

[0066] After returning to the base station, the self-mobile cleaning device needs to determine the target storage space corresponding to the movable item within the base station's storage space. In one embodiment, the self-mobile cleaning device can determine the corresponding target storage space based on the item category corresponding to the movable item. The location information of the storage spaces corresponding to different item categories in the base station can be pre-programmed into the self-mobile cleaning device. The self-mobile cleaning device can then query the relevant information locally to determine the location of the target storage space corresponding to the movable item in the base station, thereby determining the target storage space.

[0067] Step 104: Place the movable item into the target storage space using the robotic arm module.

[0068] After determining the target storage space, the self-moving cleaning device places the movable items into the target storage space through the robotic arm module to complete the classification and placement of the items. After the placement is completed, the self-moving cleaning device moves back to the position where the movable items were previously clamped (for example, Figure 4 Position A), and continue to move according to the originally planned sorting and cleaning path to perform sorting and cleaning tasks.

[0069] As described above, an embodiment of the present invention provides a method for the classified placement of items. The embodiment of the present invention sets up multiple storage spaces in the base station. When the self-moving cleaning device identifies a movable item during the cleaning process, the robot arm module grabs the movable item and returns it to the base station, and determines the target storage space corresponding to the movable item in the base station, and places the movable item into the target storage space. In the embodiment of the present invention, the self-moving cleaning device can realize the classified placement of items, improve the efficiency and accuracy of garbage classification and processing, and will not cause secondary pollution. It solves the technical problem of using a single storage area to store different types of garbage in the prior art, which has low efficiency in garbage classification and processing and secondary pollution. In addition, by centrally setting multiple storage spaces at the base station, the accuracy of the self-moving cleaning device in positioning the storage space can be improved, and path planning is also relatively simple.

[0070] The embodiment of the present invention also provides another method for placing items by classification, such as Figure 5 As shown, Figure 5 A flow chart of another method for sorting and placing items provided in an embodiment of the present invention. Figure 5 The method for placing items by classification shown is a specific implementation of the above method for placing items by classification. In this embodiment, each storage space is provided with a corresponding tag, each tag corresponds to a tag information, and the tag information is used to identify different tags. The method for placing items by classification provided by the embodiment of the present invention includes:

[0071] Step 201: During the execution of cleaning tasks, an image acquisition module is used to capture an environmental image of the work area.

[0072] Step 202: Identify objects in the work area based on the environment image.

[0073] Step 203: When the object is identified as a movable object, the robotic arm module grabs the movable object and returns it to the base station, and determines the target object category of the movable object. The target tag information corresponding to the target object category is determined according to a preset mapping relationship. The mapping relationship includes tag information of storage spaces corresponding to different object categories.

[0074] When the self-mobile cleaning device grabs the movable object through the robotic arm module and returns it to the base station, it needs to determine the target item category of the movable object. For example, the self-mobile cleaning device can identify the target item category of the movable object based on the environmental image collected historically that includes the movable object currently grabbed. After determining the target item category, the self-mobile cleaning device needs to further query the target label information corresponding to the target item category in the preset mapping relationship, wherein the mapping relationship includes the label information of the storage space corresponding to different item categories. For example, the base station includes three storage spaces, namely space number one, space number two, and space number three. The user can pre-define in the mapping relationship that the item category associated with the label information of space number one is paper products, the item category associated with the label information of space number two is glass products, and the item category associated with the label information of space number three is metal products. After calling the mapping relationship, the self-mobile cleaning device queries the target label information corresponding to the target item category through the mapping relationship.

[0075] Step 204: Identify the target tag corresponding to the target tag information in the base station, and determine the storage space corresponding to the target tag as the target storage space.

[0076] After the self-mobile cleaning device determines the target tag information, it needs to identify the target tag corresponding to the target tag information in the base station. In one embodiment, the label of each storage space can be pasted on the outer surface of the storage space, and the label information corresponding to each label includes a graphic mark of one or more combinations of graphic codes, numbers, symbols, and letters. For example, the label information can be a QR code, a barcode, an image symbol, an alphabetic word, or a number, etc., which can be set according to actual needs and is not specifically limited in this embodiment. After the self-mobile cleaning device captures the image of the base station through the image acquisition module, it extracts the visual feature information of each label in the image to determine the target tag information. After determining the target tag information, the target storage space corresponding to the target tag can be determined based on the position of the target tag corresponding to the target tag information in the base station. In another embodiment, each label can also be an electronic tag, and the corresponding label information is written in each electronic tag. The self-mobile cleaning device determines the position of the target tag in the base station by sensing and reading the label information of different electronic tags on the base station, thereby determining the target storage space.

[0077] In this embodiment, a preset mapping relationship is used to make each tag correspond to an item category. The item category placed in each storage space can be determined by the tag, and the user can change the item category placed in the storage space by changing the tag.

[0078] The embodiments of the present invention allow users to redefine the purpose of storage units by setting tags in storage spaces and pre-setting mapping relationships to associate item categories with tag information. This allows users to dynamically change the type of garbage corresponding to a storage space without physical modification, supporting adjustments to sudden garbage classification needs. At the same time, through the loose coupling design of tags and storage spaces, the same storage space can be adapted to different garbage types, avoiding the vacant waste caused by traditional fixed partitions. For detachable storage spaces, after removing the storage space from the base station, the user can install the storage space in another location when reinstalling it. The self-mobile cleaning equipment can also redefine the target storage space based on the tag information, improving the user experience.

[0079] Based on the above embodiment, the tag of each storage space is set outside the storage space. In step 204, identifying the target tag corresponding to the target tag information in the base station includes:

[0080] Step 2041: Capture a base station image of the base station through the image acquisition module.

[0081] Step 2042: Identify the tag in the base station image and read the tag information corresponding to the tag.

[0082] Step 2043: Determine the target tag corresponding to the target tag information according to the tag information, and determine the position of the target tag in the base station.

[0083] In one embodiment, a label of each storage space is set on the outside of the storage space to facilitate identification by the self-mobile cleaning device. Exemplarily, the label can be a QR code label, the QR code of the QR code label carries the label information, and the QR code label is attached to the outside of the storage space, for example, on the side of the storage space that contacts the outside. Exemplarily, Figure 6 As shown, Figure 6 A schematic diagram of a QR code label pasted on the side of a storage space provided in an embodiment of the present invention. After arriving at the base station, the self-mobile cleaning device collects the base station image of the outer surface of the base station through the image acquisition module. When the storage space is installed on the side of the base station, the self-mobile cleaning device can also circle the base station to collect the base station image of the outer surface of the base station. After collecting the base station image, the self-mobile cleaning device identifies the QR code in the base station image, and after reading the label information carried by the QR code, matches the read label information with the target label information to determine the target label and the position of the target label in the base station. After determining the position of the target label in the base station, the self-mobile cleaning device can determine the position of the target storage space corresponding to the target label, and place the movable items in the target storage space through the robotic arm module to complete the classified placement of the items.

[0084] Based on the above embodiment, the tag is an RFID tag, each RFID tag is pre-written with corresponding tag information, and the self-mobile cleaning device further includes an RFID sensing module. Step 204 identifies the target tag corresponding to the target tag information in the base station, including:

[0085] Step 2044: Read the tag information of different storage spaces in the base station through the RFID sensing module.

[0086] Step 2045: Determine the target tag corresponding to the target tag information according to the tag information, and determine the position of the target tag in the base station.

[0087] In one embodiment, the tag set on each storage space is an RFID tag, and the user needs to write the corresponding tag information in each RFID tag in advance. The self-mobile cleaning device also includes an RFID sensing module, which is used to sense the RFID tag. Exemplarily, the RFID sensing module can be set on the self-mobile cleaning device body, or it can be set on the robotic arm of the robotic arm module. After the self-mobile cleaning device returns to the base station, it is necessary to read the tag information of each RFID tag on the base station through the RFID sensing module. For example, when the RFID sensing module is set on the robotic arm, the self-mobile cleaning device can use the robotic arm to scan the location where the storage space is set in the base station to sense the RFID tag, and when the RFID sensing module is set on the self-mobile cleaning device body, the self-mobile cleaning device can sense the RFID tag by circling the base station. After reading the tag information, the self-mobile cleaning device can match the tag information with the target tag information to determine the target tag. After determining the target tag, the position of the target tag in the base station can be determined.

[0088] Step 205: Place the movable item into the target storage space through the robotic arm module.

[0089] After the self-mobile cleaning device determines the target storage space in the base station, it can control the robotic arm module to place the movable items into the target storage space.

[0090] In one embodiment, each storage space is provided with a delivery unit, which is arranged on a side of the storage space close to the outside. The delivery unit is provided with a lid for closing the corresponding storage space. The base station is also used to control the opening and closing of each lid. After the movable object is grasped by the robotic arm module and returned to the base station, before the movable object is placed in the target storage space by the robotic arm module, the following is also included:

[0091] Generate and send cover-opening information to the base station, so that the base station opens the cover of the target storage space according to the cover-opening information.

[0092] In one embodiment, each storage space of the base station is provided with a delivery section, which serves as an entrance for placing movable items. The delivery section is located in a side area of the storage space close to the outside and can be installed in an embedded manner. The delivery section is provided with a lid for enclosing the corresponding storage space. The lid and the delivery section can be connected by a hinge. By default, the lid is in a closed state and remains flush with the surface of the storage space when closed. The base station can control the opening and closing of each lid. In the case where the storage space is provided with a delivery section, the storage space can also be embedded inside the base station. It is only necessary to expose the delivery section of the storage space to the outside of the base station, so that the self-moving cleaning equipment can place movable items into the storage space through the delivery section.

[0093] After the self-mobile cleaning device grabs the movable object and returns to the base station, it will send a lid-opening message to the base station. This lid-opening message carries identification information of the target storage space, such as the location of the target storage space or the identification information of the corresponding tag. After receiving the lid-opening message, the base station parses it to determine the target storage space. The base station then opens the lid of the target storage space, allowing the self-mobile cleaning device to subsequently place the movable object into the target storage space via the robotic arm module. In another embodiment, after the self-mobile cleaning device completes placement of the movable object, it may also send a lid-closing message to the base station. The base station then closes the currently opened lid based on the lid-closing message.

[0094] In another embodiment, each storage space is provided with a delivery unit, which is arranged on a side of the storage space close to the outside. The delivery unit is provided with a lid for closing the corresponding storage space, and the lid is configured to open when an external force is applied and close when the external force is removed. After the movable object is grasped by the robotic arm module and returned to the base station, and before the movable object is placed in the target storage space by the robotic arm module, the system further includes:

[0095] Apply external force to the cover corresponding to the target storage space to open the cover corresponding to the target storage space.

[0096] In this embodiment, the lid provided on the storage space requires external force to open. For example, the storage space housing is further provided with a rotating shaft, and the lid is movably connected to the rotating shaft, allowing the lid to rotate about the rotating shaft. The rotating shaft is also provided with an elastic reset element. In the absence of external force, the lid closes the delivery portion of the storage space. When an external force pushes the lid to rotate about the rotating shaft, the rotating shaft overcomes the elastic force of the elastic reset element and rotates, exposing the delivery portion. When the external force is removed, the stored energy of the elastic reset element is released, causing the rotating shaft to rotate in the opposite direction, driving the lid to reset, thereby resealing the delivery portion.

[0097] Specifically, after the self-mobile cleaning device locates the target storage space in the base station, it determines the location of the lid corresponding to the target storage space in the base station. It then controls the robotic arm module to apply external force to the lid corresponding to the target storage space to open the lid. Once the lid is opened, the self-mobile cleaning device controls the robotic arm module to place the movable object into the target storage space via the delivery unit (maintaining external force on the lid during this process), completing the placement of the movable object.

[0098] Accordingly, after the movable item is placed into the target storage space by the robotic arm module, the following steps are also included:

[0099] The external force applied to the cover is released so that the cover corresponding to the target storage space is closed.

[0100] After the self-moving cleaning device places the movable object into the target storage space, it controls the robotic arm module to cancel the external force applied to the cover, so that the cover corresponding to the target storage space is closed.

[0101] In another embodiment, a linkage component corresponding to the lid of each storage space is also provided at the bottom of the base station. The linkage component is provided on one side of the bottom of the base station close to the outside, and the self-mobile cleaning device can apply external force to the lid by pushing the linkage component. In order to facilitate the self-mobile cleaning device to push the linkage component, the linkage component is usually provided directly below the lid, and the setting height matches the height of the self-mobile cleaning device. Specifically, when the linkage component is pushed by an external force, the linkage component can drive the corresponding lid to open. When the external force is removed, the linkage component can drive the lid to close through an automatic reset mechanism. In one embodiment, the linkage component can be provided on the side of the base station in the form of a protruding button, thereby facilitating the self-mobile cleaning device to push. After the self-mobile cleaning device grabs the movable item and returns to the base station, it moves to the bottom of the target storage space and pushes the target linkage component corresponding to the target storage space, so that the target linkage component opens the lid corresponding to the target storage space. Then, the self-mobile cleaning device places the movable item into the target storage space through the robotic arm module. After the movable item is placed in the target storage space, the self-moving cleaning device can move away from the target linkage component, thereby canceling the external force applied to the target linkage component, so that the target linkage component closes the lid corresponding to the target storage space through the automatic reset mechanism.

[0102] As mentioned above, by providing a lid for each storage space, the present embodiment effectively suppresses odor volatilization and reduces the probability of secondary contamination. Furthermore, when the self-propelled cleaning device needs to place a movable item, it only needs to open the lid of the corresponding target storage space, further reducing the risk of secondary contamination caused by exposing all storage spaces.

[0103] The embodiment of the present invention also provides a storage space management method, such as Figure 7 As shown, Figure 7 A flow chart of a storage space management method provided in an embodiment of the present invention, the storage space management method is applicable to a base station in an automatic cleaning system, and a plurality of storage spaces are provided on the base station, and each storage space has a corresponding item category and identification information. For example, the identification information can be the location information of the storage space in the base station or the serial number of the storage space, and each serial number corresponds to a storage space at a fixed position. When the storage space includes a label, the identification information can also be the label information of the label. In addition, a storage capacity sensor is also provided in each storage space, and the storage capacity sensor is used to detect the remaining capacity of the storage space. For example, the storage capacity sensor can be an ultrasonic sensor and a pressure-sensitive sensor. The ultrasonic sensor measures the distance to the surface of the garbage by emitting sound waves and calculates the remaining capacity in real time; and the pressure-sensitive sensor can monitor the weight change of the accumulated garbage and calculate the volume in combination with a preset density model. It can be understood that the specific type of the storage capacity sensor can be set according to actual needs. The automatic cleaning system also includes a self-moving cleaning device for executing the above-mentioned item classification and placement method. The storage space management method provided in an embodiment of the present invention includes:

[0104] Step 301: Receive placement request information sent from a mobile cleaning device, where the placement request information carries a target image of a movable object grasped by a robotic arm module and identification information of the movable object to be placed in a storage space.

[0105] In this embodiment, before the self-mobile cleaning device places the movable object in the target storage space of the base station, the self-mobile cleaning device will further generate a placement request message and send the placement request message to the base station. The placement request message is used to request that the movable object be placed in the target storage space of the base station. The placement request message carries the target image of the movable object grasped by the robotic arm module and the identification information of the storage space to be placed (i.e., the target storage space). The target image corresponding to the movable object can be acquired by the image acquisition module, and the identification information corresponding to different storage spaces can be pre-stored locally in the self-mobile cleaning device. After determining the storage space to be placed, the self-mobile cleaning device can determine the identification information of the storage space to be placed by local query.

[0106] Step 302: Determine a target storage space from multiple storage spaces based on the identification information, and determine size information of the movable object based on the target image.

[0107] After receiving the placement request information, the base station parses the placement request information, determines the target image and identification information carried by the placement request information, determines the target storage space in multiple storage spaces based on the identification information, and analyzes the target image to determine the size information of the movable object.

[0108] Step 303: Determine the remaining capacity of the target storage space through a storage capacity sensor.

[0109] After determining the target storage space, the base station needs to determine the remaining capacity of the target storage space through a storage capacity sensor of the target storage space.

[0110] Step 304: When it is determined based on the size information and the remaining capacity that the target storage space cannot accommodate the movable object, a prohibition information on placement is sent to the self-moving cleaning device.

[0111] After determining the remaining capacity of the target storage space, the base station can determine whether the movable item can be placed in the target storage space based on the size information of the movable item and the remaining capacity of the target storage space. Specifically, the base station can calculate the volume of the movable item based on the size information, and compare the volume of the movable item with the remaining capacity to determine whether the movable item can be placed in the target storage space. In the case where the movable item cannot be placed in the target storage space, the base station needs to send a prohibition placement information to the self-moving cleaning device. The prohibition placement information is used to notify the self-moving cleaning device to prohibit the movable item from being placed in the target storage space. After receiving the prohibition placement information, the self-moving cleaning device will not perform the action of placing the movable item in the target storage space, thereby preventing the items from overflowing. In addition, the base station can also determine whether the storage space is full based on the remaining capacity of the storage space detected by the storage capacity sensor. If the storage space is full, a reminder that the storage space is full can be sent to the user terminal, thereby reminding the user to clean up the storage space in time.

[0112] As mentioned above, in the embodiment of the present invention, a storage capacity sensor is also provided in each storage space of the base station. Before the self-mobile cleaning device places movable items into the target storage space of the base station, the base station will also determine whether the target storage space can place the movable items based on the size information of the placed movable items and the remaining capacity of the target storage space. If the movable items cannot be placed, the self-mobile cleaning device will be notified to prohibit the movable items from being placed in the base station to prevent the items stored in the target storage space from overflowing and causing secondary pollution.

[0113] On the basis of the above embodiment, after sending the prohibition placement information to the self-moving cleaning device, the method further includes:

[0114] Step 305: Determine the compatible storage space corresponding to the target storage space based on the preset compatible mapping relationship of the storage space. The compatible mapping relationship includes compatible storage spaces that have a compatible relationship with each storage space. Items placed in the storage spaces that have a compatible relationship can coexist.

[0115] After the base station sends a prohibition placement message to the self-moving cleaning device, the base station can further call a preset compatible mapping relationship. The compatible mapping relationship includes compatible storage spaces that have a compatible relationship with each storage space. The items placed in the storage spaces with a compatible relationship can coexist. For example, the category of items placed in storage space A is metal, and the category of items placed in storage space B is wooden products. The user can set in advance in the compatible mapping relationship that storage space A and storage space B have a compatible relationship, that is, the movable items of the metal category placed in storage space A can coexist with the movable items of the wooden category placed in storage space B. The compatible relationship in the compatible mapping relationship can be set by the user according to actual needs. After calling the compatible mapping relationship, the base station can query the compatible storage space that has a compatible relationship with the target storage space according to the compatible mapping relationship. It can be understood that in the compatible mapping relationship, the number of compatible storage spaces corresponding to each storage space can be set according to actual needs.

[0116] Step 306: Based on the size information of the movable object and the remaining capacity of the compatible storage space, determine a target compatible storage space in the compatible storage space that can accommodate the movable object.

[0117] When the compatible storage space is determined, the base station can determine the remaining capacity of each compatible storage space based on the storage capacity sensor in each compatible storage space, and determine the target compatible storage space in the compatible storage space where the movable item can be placed based on the size information of the movable item and the remaining capacity of each compatible storage space.

[0118] Step 307: Send space update information to the self-mobile cleaning device so that the self-mobile cleaning device updates the target storage space to the target compatible storage space based on the space update information, and then places the movable item into the target compatible storage space through the robotic arm module. The space update information includes identification information corresponding to the target compatible storage space.

[0119] After determining the target compatible storage space, the base station can generate space update information based on the identification information of the target compatible storage space and send the space update information to the self-moving cleaning device. After receiving the space update information, the self-moving cleaning device parses the identification information from the space update information, determines the corresponding target compatible storage space based on the identification information, updates the target storage space where the movable object is placed to the target compatible storage space, and uses the robotic arm module to place the movable object into the target compatible storage space.

[0120] As described above, in the embodiment of the present invention, if the target storage space in the base station cannot accommodate the movable object, the base station will further identify other target compatible storage spaces in other storage spaces that can accommodate the movable object, and notify the self-moving cleaning device to place the movable object in the target compatible storage space. This embodiment of the present invention can improve the flexibility of handling movable objects and minimize the situation where the movable object cannot be placed after being clamped.

[0121] This embodiment also provides a self-moving cleaning device, such as Figure 8 As shown, Figure 8 This is a circuit schematic diagram of a self-moving cleaning device provided by an embodiment of the present invention. The self-moving cleaning device 10 includes a processor 400 , a memory 401 , a robotic arm module 403 , and an image acquisition module 404 .

[0122] The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400;

[0123] The processor 400 is configured to execute the steps of the above-mentioned embodiment of the method for sorting and placing items according to the instructions in the computer program 402 .

[0124] Exemplarily, the computer program 402 may be divided into one or more modules / units, one or more of which are stored in the memory 401 and executed by the processor 400 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 402 in the self-moving cleaning device 10.

[0125] The self-moving cleaning device 10 may include, but is not limited to, a processor 400 and a memory 401. It will be understood by those skilled in the art that Figure 8 The self-moving cleaning device 10 is merely an example and does not limit the self-moving cleaning device 10 . The self-moving cleaning device 10 may include more or fewer components than shown in the figure, or may combine certain components, or may include different components.

[0126] The processor 400 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0127] Memory 401 can be the internal storage unit of self-mobile cleaning device 10, for example, the hard disk or the memory of self-mobile cleaning device 10. Memory 401 can also be the external storage device of self-mobile cleaning device 10, for example, the plug-in hard disk equipped on self-mobile cleaning device 10, smart memory card (Smart Media Card, SMC), secure digital (SecureDigital, SD) card, flash memory card (Flash Card) etc. Further, memory 401 can also comprise both the internal storage unit of self-mobile cleaning device 10 and also comprise external storage device. Memory 401 is used for storing computer program and other programs and data required for self-mobile cleaning device 10. Memory 401 can also be used for temporarily storing data that have been output or will be output.

[0128] This embodiment also provides a base station, such as Figure 9 As shown, Figure 9 A circuit schematic diagram of a base station 20 provided in an embodiment of the present invention, wherein the base station 20 is provided with multiple storage spaces, each storage space having corresponding item category and identification information; the storage space is provided with a storage capacity sensor 503, and the storage capacity sensor 503 is used to detect the remaining capacity of the storage space. The base station 20 includes a processor 500 and a memory 501.

[0129] The memory 501 is used to store the computer program 502 and transmit the computer program 502 to the processor 500;

[0130] The processor 500 is configured to execute the steps in the above-mentioned embodiment of the storage space management method according to the instructions in the computer program 502 .

[0131] Exemplarily, the computer program 502 may be divided into one or more modules / units, one or more of which are stored in the memory 501 and executed by the processor 500 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 502 in the base station 20.

[0132] The base station 20 may include, but is not limited to, a processor 500 and a memory 501. Those skilled in the art will appreciate that Figure 9 This is merely an example of the base station 20 and does not constitute a limitation on the base station 20 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0133] The processor 500 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0134] Memory 501 can be an internal storage unit of base station 20, such as a hard drive or memory of base station 20. Memory 501 can also be an external storage device of base station 20, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on base station 20. Furthermore, memory 501 can include both an internal storage unit of base station 20 and an external storage device. Memory 501 is used to store computer programs and other programs and data required by base station 20. Memory 501 can also be used to temporarily store data that has been output or is about to be output.

[0135] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0136] In addition, an embodiment of the present application also provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to perform relevant operations in the item classification and placement method or storage space management method provided in any embodiment of the present application, and have corresponding functions and beneficial effects.

[0137] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products.

[0138] Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including the instruction device, which implements the function specified in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0139] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-permanent storage in a computer-readable medium, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0140] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0141] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0142] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the embodiments of the present invention have been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the embodiments of the present invention, the embodiments of the present invention may also include more other equivalent embodiments, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A method for placing items by classification, characterized in that: The method is used for a self-moving cleaning device of an automatic cleaning system, wherein the self-moving cleaning device includes a robotic arm module and an image acquisition module, and the automatic cleaning system further includes a base station, wherein the base station is provided with multiple storage spaces, and the method includes: During cleaning tasks, the image acquisition module collects images of the work area. identifying objects in the working area according to the environment image; When the object is identified as a movable object, the movable object is grasped by the robotic arm module and returned to the base station, and the storage space of the base station corresponding to the movable object is determined as the target storage space; The movable object is placed into the target storage space by the robotic arm module.

2. The method for classifying and placing items according to claim 1, wherein: Each storage space is provided with a corresponding label, each label corresponds to a piece of label information, and the label information is used to identify different labels; The determining the storage space of the movable object corresponding to the base station as the target storage space includes: Determining a target item category of the movable item, and determining target tag information corresponding to the target item category according to a preset mapping relationship, wherein the mapping relationship includes tag information of storage spaces corresponding to different item categories; A target tag corresponding to the target tag information is identified in the base station, and a storage space corresponding to the target tag is determined as a target storage space.

3. The method for classifying and placing items according to claim 2, wherein: The tag of each storage space is set outside the storage space, and the identifying the target tag corresponding to the target tag information in the base station includes: collecting a base station image of the base station by the image acquisition module; Identifying a tag in the base station image and reading tag information corresponding to the tag; A target tag corresponding to the target tag information is determined according to the tag information, and a position of the target tag in the base station is determined.

4. The method for classifying and placing items according to claim 2, wherein: The tag is an RFID tag, each of which is pre-written with corresponding tag information. The self-moving cleaning device also includes an RFID sensing module. The identifying of the target tag corresponding to the target tag information in the base station includes: Reading tag information of different storage spaces in the base station through the RFID sensing module; A target tag corresponding to the target tag information is determined according to the tag information, and a position of the target tag in the base station is determined.

5. The method for classifying and placing items according to claim 1, wherein: Each storage space is provided with a delivery portion, which is arranged on a side of the storage space close to the outside. The delivery portion is provided with a lid for closing the corresponding storage space. The base station is further used to control the opening and closing of each lid. After the movable object is grasped by the robotic arm module and returned to the base station, before the movable object is placed in the target storage space by the robotic arm module, the system further includes: Generate and send cover-opening information to the base station, so that the base station opens the cover of the target storage space according to the cover-opening information.

6. The method for classifying and placing articles according to claim 1, characterized in that: Each storage space is provided with a delivery portion, the delivery portion being arranged on a side of the storage space close to the outside, the delivery portion being provided with a lid for closing the corresponding storage space, the lid being configured to open when subjected to an external force and close when the external force is removed; after the movable object is grasped by the robotic arm module and returned to the base station, and before the movable object is placed in the target storage space by the robotic arm module, the method further comprises: Applying external force to the lid corresponding to the target storage space to open the lid corresponding to the target storage space; Accordingly, after the movable object is placed into the target storage space by the robotic arm module, the method further includes: The external force applied to the cover is canceled to close the cover corresponding to the target storage space.

7. A storage space management method, characterized in that: The method is applicable to a base station in an automatic cleaning system, wherein the base station is provided with a plurality of storage spaces, each of which has corresponding item category and identification information; the storage space is provided with a storage capacity sensor, which is used to detect the remaining capacity of the storage space; the automatic cleaning system further comprises a self-moving cleaning device for executing the item classification and placement method according to any one of claims 1 to 6, and the storage space management method comprises: receiving a placement request message sent by the self-mobile cleaning device, wherein the placement request message carries a target image of the movable object grasped by the robotic arm module and identification information of the movable object to be placed in the storage space; determining a target storage space from the plurality of storage spaces based on the identification information, and determining size information of the movable object based on the target image; determining the remaining capacity of the target storage space by the storage capacity sensor; In a case where it is determined based on the size information and the remaining capacity that the target storage space cannot accommodate the movable object, a placement prohibition message is sent to the self-moving cleaning device.

8. The storage space management method according to claim 7, characterized in that: After sending the prohibition placement information to the self-moving cleaning device, the method further includes: Determining a compatible storage space corresponding to the target storage space based on a preset compatible mapping relationship of the storage spaces, wherein the compatible mapping relationship includes compatible storage spaces that have a compatible relationship with each of the storage spaces, and items placed in the storage spaces that have the compatible relationship can coexist; Determining a target compatible storage space in the compatible storage space where the movable object can be placed based on the size information of the movable object and the remaining capacity of the compatible storage space; Send space update information to the self-moving cleaning device so that the self-moving cleaning device updates the target storage space to the target compatible storage space based on the space update information, and then places the movable item into the target compatible storage space through the robotic arm module, wherein the space update information includes identification information corresponding to the target compatible storage space.

9. A self-moving cleaning device, characterized in that: The self-moving cleaning device includes a processor, a memory, a robotic arm module, and an image acquisition module; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to execute the method for sorting and placing items according to any one of claims 1 to 6 according to instructions in the computer program.

10. A base station, characterized in that: The base station is provided with a plurality of storage spaces, each of which has corresponding item category and identification information; the storage space is provided with a storage capacity sensor, the storage capacity sensor is used to detect the remaining capacity of the storage space, and the base station further includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to execute the storage space management method according to any one of claims 7 to 8 according to instructions in the computer program.

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