Intelligent cleaning method and device, automatic cleaning equipment and storage medium

Abstract

The invention provides an intelligent cleaning method and device, automatic cleaning equipment and a storage medium, and relates to the technical field of intelligent robots. The method comprises the following steps: receiving a control instruction of automatically searching a target object and placing the target object at a specified position; analyzing and executing the control instruction, and automatically searching a target object according to a preset search algorithm; when the target object is searched, the target object is grabbed; and after grabbing is completed, the grabbed target object is carried to automatically go to a designated position, and the target object is placed at the designated position. According to the embodiment, automatic searching and carrying of the target object are achieved, effective cleaning of the target object can be achieved, manual intervention is not needed, changing working conditions and requirements can be adapted, good flexibility and adaptability are achieved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and in particular to an intelligent cleaning method and apparatus, automatic cleaning equipment and storage medium. Background Art

[0002] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robotics has gradually become a hot topic in the field of modern robotics research. Among them, automatic cleaning equipment, as the most practical type of intelligent robot, can automatically complete floor cleaning tasks with a certain degree of artificial intelligence.

[0003] Current automatic cleaning equipment mainly cleans the floor, but cannot effectively clean objects on the floor, sofa or table, such as shoes, clothes, socks, paper balls, toys and other items. This technical problem needs to be solved urgently. Summary of the Invention

[0004] In view of the above problems, the present application is proposed to provide an intelligent cleaning method and device, an automatic cleaning device and a storage medium that overcome the above problems or at least partially solve the above problems. The technical solution is as follows:

[0005] In a first aspect, an intelligent cleaning method is provided, which is applied to an automatic cleaning device, and the method comprises:

[0006] Receive control instructions for automatically searching for a target object and placing the target object at a designated location;

[0007] Parsing and executing the control instructions, and automatically searching for the target object according to a preset search algorithm;

[0008] When the target object is found, the target object is grasped;

[0009] After completing the grabbing, it automatically goes to the designated location with the grabbed target object and places the target object at the designated location.

[0010] In a possible implementation, the receiving of a control instruction for automatically searching for a target object and placing the target object at a specified location includes:

[0011] Receive control instructions sent by the remote control device to automatically search for the target object and place the target object at the specified location.

[0012] In a possible implementation, the receiving of a control instruction for automatically searching for a target object and placing the target object at a specified location includes:

[0013] Collect voice signals that automatically search for target objects and place them at designated locations;

[0014] Based on the collected voice signals, control instructions are generated to automatically search for the target object and place the target object at the specified location.

[0015] In one possible implementation, if the control instruction carries a designated search area of the environment to be cleaned, the control instruction is parsed and executed, and the target object is automatically searched according to a preset search algorithm, including:

[0016] Parsing and executing the control instructions, detecting the designated search area of the environment to be cleaned according to a preset search algorithm, collecting image information of the designated search area of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object;

[0017] If the image information contains the target object, it is determined that the target object has been found.

[0018] In one possible implementation, if the control instruction does not carry a designated search area of the environment to be cleaned, the control instruction is parsed and executed, and the target object is automatically searched for according to a preset search algorithm, including:

[0019] Parsing and executing the control instructions, detecting all areas of the environment to be cleaned according to a preset search algorithm, collecting image information of all areas of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object;

[0020] If the image information contains the target object, it is determined that the target object has been found.

[0021] In one possible implementation, the automatic cleaning device includes a multi-degree-of-freedom robotic arm; when a target object is found, grasping the target object includes:

[0022] When the target object is found, the robotic arm is controlled to extend;

[0023] According to the perception module carried by the end of the robotic arm, the target object to be grasped is analyzed to obtain a feasible grasping point;

[0024] Control the robotic arm to grasp the target object in combination with feasible grasping points.

[0025] In a possible implementation, the method further includes:

[0026] During the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

[0027] In one possible implementation, before controlling the robotic arm to extend, the method further includes:

[0028] Determine the spatial area where the target object is currently located;

[0029] Determine whether the robotic arm can be extended based on the spatial region where the target object is currently located;

[0030] If it is determined that the robotic arm cannot be extended, a prompt message is generated indicating that the robotic arm cannot be extended, resulting in a grasping failure, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0031] In one possible implementation, after the grasping is completed and before the grasped target object is automatically carried to the designated location, the method further includes:

[0032] Determine whether the specified location is an unreachable location;

[0033] If so, an alternative location of the designated location is determined, and the captured target object is automatically moved to the alternative location;

[0034] Place the target object at the desired location.

[0035] In a possible implementation, the candidate position includes a position that is closest to the designated position and can be reached, or a starting point position where the automatic cleaning device automatically searches for the target object according to a preset search algorithm.

[0036] In a possible implementation, before placing the target object at the designated location, the method further includes:

[0037] Determine the appropriate placement area corresponding to the specified location through the device's main sensing module and / or the category of the target object;

[0038] Place the target object in the appropriate placement area corresponding to the specified location.

[0039] In a possible implementation, after placing the target object at the designated location, the method further includes:

[0040] Automatically return to the position where the target object was grabbed and continue to search for the next target object automatically according to the preset search algorithm;

[0041] When the next target object is found, the next target object is grasped;

[0042] After completing the grasping, it automatically moves to the designated location with the next target object it has grasped, and places the next target object at the designated location;

[0043] The above process is repeated until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the designated number of search target objects is reached.

[0044] In a possible implementation, the method further includes:

[0045] Video data is collected for the process of automatically searching for a target object, grabbing the target object, automatically carrying the grabbed target object to a designated location, and placing the target object at the designated location to obtain video data of the cleaning process;

[0046] The cleaning process video data is sent to the remote control device, so that the remote control device can remotely view the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated location, and placing the target object at the designated location based on the cleaning process video data.

[0047] In a possible implementation, the method further includes:

[0048] receiving a control instruction sent by a remote control device indicating that cleaning should be paused;

[0049] Smart cleaning is paused according to the control instruction indicating the pause of cleaning.

[0050] In a possible implementation, the method further includes:

[0051] collecting a voice signal indicating a pause in cleaning;

[0052] generating a control instruction indicating a pause in cleaning according to the collected voice signal indicating a pause in cleaning;

[0053] Smart cleaning is paused according to the control instruction indicating the pause of cleaning.

[0054] In a second aspect, an intelligent cleaning device is provided, which is applied to an automatic cleaning device, and the device comprises:

[0055] A receiving unit, configured to receive a control instruction for automatically searching for a target object and placing the target object at a designated location;

[0056] A search unit, configured to parse and execute the control instructions and automatically search for the target object according to a preset search algorithm;

[0057] A grasping unit, configured to grasp a target object when the target object is found;

[0058] The transport unit is used to automatically carry the grasped target object to the designated location after grasping is completed;

[0059] The placement unit is used to place the target object at the specified location.

[0060] In a third aspect, an automatic cleaning device is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any one of the above-described intelligent cleaning methods.

[0061] In a fourth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any one of the above-mentioned intelligent cleaning methods when run.

[0062] By means of the above technical solution, the embodiment of the present application provides an intelligent cleaning method and device, an automatic cleaning device and a storage medium, which can receive a control instruction for automatically searching for a target object and placing the target object in a designated location; parse and execute the control instruction, and automatically search for the target object according to a preset search algorithm; when the target object is found, the target object is grabbed; after the grabbing is completed, the grabbed target object is automatically carried to the designated location and the target object is placed in the designated location. It can be seen that the present embodiment can search for the target object according to the control instruction, and can use the grabbing ability of the automatic cleaning device to grab the target object, and then after the grabbing is completed, the grabbed target object is automatically carried to the designated location and the target object is placed in the designated location, thus realizing the automatic search and transportation of the target object, and can achieve effective cleaning of the target object without manual intervention, can adapt to changing working conditions and needs, has good flexibility and adaptability, and improves the efficiency of cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0064] Figure 1 A flow chart of the intelligent cleaning method provided by an embodiment of the present application is shown;

[0065] Figure 2 A flow chart of an intelligent cleaning method provided by another embodiment of the present application is shown;

[0066] Figure 3 A flow chart of an intelligent cleaning method provided by another embodiment of the present application is shown;

[0067] Figure 4 The figure shows a structural diagram of the intelligent cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0069] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that such usage is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to."

[0070] In order to solve the above technical problems, the embodiment of the present application provides an intelligent cleaning method that can be applied to automatic cleaning equipment, such as Figure 1 As shown, the intelligent cleaning method may include the following steps S101 to S104:

[0071] Step S101, receiving a control instruction to automatically search for a target object and place the target object at a designated location;

[0072] Step S102: parsing and executing the control instruction to automatically search for the target object according to a preset search algorithm;

[0073] Step S103, when the target object is found, the target object is captured;

[0074] Step S104: After the grabbing is completed, the robot automatically moves to a designated location with the grabbed target object and places the target object at the designated location.

[0075] In this embodiment, the target object may be shoes, clothes, socks, paper balls, toys and other items, and this embodiment does not impose any limitation on this.

[0076] This embodiment can search for target objects according to control instructions, and can use the grasping ability of the automatic cleaning equipment to grasp the target object. After completing the grasping, it automatically carries the grasped target object to the designated location and places the target object at the designated location. This realizes the automatic search and transportation of the target object, can achieve effective cleaning of the target object, does not require human intervention, can adapt to changing working conditions and needs, has good flexibility and adaptability, and improves the cleaning efficiency.

[0077] In one embodiment of the present application, a possible implementation is provided. Step S101 of receiving a control instruction for automatically searching for a target object and placing the target object at a designated location may specifically include receiving a control instruction for automatically searching for a target object and placing the target object at a designated location from a remote control device. The remote control device may be a smartphone, tablet computer, smartwatch, or other device, and this embodiment does not limit this.

[0078] For example, a user can set the target object to be searched and the designated location to be placed through an APP (application) on a smartphone; the APP generates control instructions for automatically searching for the target object and placing the target object at the designated location; and the smartphone sends the control instructions to the automatic cleaning device.

[0079] It can be seen that this embodiment allows the user to send control instructions through a remote control device to achieve automatic search and transportation of target objects, thereby providing remote operation and convenience.

[0080] In an embodiment of the present application, a possible implementation method is provided. In the above step S101, receiving a control instruction for automatically searching for a target object and placing the target object in a designated location, the control instruction for automatically searching for a target object and placing the target object in a designated location may be specifically collected. Then, based on the collected voice signal, a control instruction for automatically searching for a target object and placing the target object in a designated location is generated. Here, the automatic cleaning device has a microphone that can collect a voice signal from a user for automatically searching for a target object and placing the target object in a designated location, convert the collected voice signal into an electrical signal, and generate a control instruction for automatically searching for a target object and placing the target object in a designated location.

[0081] It can be seen that in this embodiment, through voice control, the user can quickly issue instructions, which reduces the time of manual operation and improves cleaning efficiency.

[0082] In an embodiment of the present application, a possible implementation method is provided. If the control instruction carries a specified search area of the environment to be cleaned, the above step S102 parses and executes the control instruction, and automatically searches for the target object according to a preset search algorithm. Specifically, the following steps A1 and A2 may be included:

[0083] Step A1: parsing and executing control instructions to detect a designated search area of the environment to be cleaned according to a preset search algorithm. During the detection process, the camera collects image information of the designated search area of the environment to be cleaned and analyzes whether the image information contains the target object.

[0084] In step A2, if the image information contains the target object, it is determined that the target object has been found.

[0085] The environment to be cleaned in this embodiment can be a home environment, an office environment, etc., and this embodiment does not limit this. In this embodiment, if the control instruction carries a specified search area of the environment to be cleaned, the specified search area of the environment to be cleaned is detected according to a preset search algorithm. Through automated detection and target object recognition, the efficiency of the cleaning work is improved and the time for manual inspection and positioning is reduced.

[0086] In an embodiment of the present application, a possible implementation method is provided. If the control instruction does not carry a specified search area of the environment to be cleaned, the above step S102 parses and executes the control instruction, and automatically searches for the target object according to a preset search algorithm. Specifically, the following steps B1 and B2 may be included:

[0087] Step B1: parsing and executing the control instructions, detecting the entire area of the environment to be cleaned according to a preset search algorithm. During the detection process, the camera collects image information of the entire area of the environment to be cleaned, and analyzes whether the image information contains the target object;

[0088] Step B2: If the image information contains the target object, it is determined that the target object is found.

[0089] The environment to be cleaned in this embodiment can be a home environment, an office environment, etc., and this embodiment does not limit this. In this embodiment, if the control instruction does not carry a designated search area for the environment to be cleaned, the entire area of the environment to be cleaned is detected according to a preset search algorithm. The automated detection and target object recognition helps improve the efficiency of the cleaning work and reduce the time of manual inspection and positioning.

[0090] The embodiment of the present application provides a possible implementation method. The automatic cleaning device may include a multi-degree-of-freedom robotic arm, which is an automated mechanical device with multiple rotational joints and movable axes. It can simulate the complex movements of a human arm. This multi-degree-of-freedom robotic arm is usually composed of multiple links and joints. Each joint can rotate or move independently, thereby achieving multi-directional and multi-angle operations. The number of degrees of freedom here can be expanded as needed, and this embodiment does not limit this. In the above step S103, when the target object is searched, the target object is grasped, which may specifically include the following steps C1 to C3:

[0091] Step C1: When the target object is found, the robotic arm is controlled to extend;

[0092] Step C2: Analyze the target object to be grasped based on the perception module carried by the end of the robotic arm to obtain a feasible grasping point;

[0093] Step C3: Control the robotic arm to grasp the target object in combination with feasible grasping points.

[0094] This embodiment can adapt to different target objects and environments to be cleaned by grasping with a robotic arm, showing good adaptability and flexibility.

[0095] A possible implementation method is provided in an embodiment of the present application. In the above embodiment, during the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

[0096] It can be seen that this embodiment can identify whether the weight of the target object exceeds the maximum weight that the robotic arm can grasp, which can reduce the risk of damage or accidents caused by overloading; and, it generates a prompt message indicating that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, which can inform the user of the reason for the grasping failure, thereby improving interactivity and user experience; in addition, the current position of the target object is marked on the map, which helps to re-plan the grasping strategy or perform manual intervention.

[0097] An embodiment of the present application provides a possible implementation method, which may further include the following steps C11 to C13 before the above step C1 controls the robot arm to extend:

[0098] Step C11, determining the spatial area of the current position of the target object;

[0099] Step C12, determining whether the robotic arm can be extended based on the spatial area where the target object is currently located;

[0100] In step C13 , if it is determined that the robotic arm cannot be extended, a prompt message indicating that the robotic arm cannot be extended, resulting in a grasping failure, is generated, and the current location of the target object is marked in a map corresponding to a preset search algorithm.

[0101] It can be seen that this embodiment can avoid invalid or dangerous actions by pre-judging the extendability of the robotic arm, thereby improving the safety and efficiency of the operation; and when it is determined that the robotic arm cannot be extended, a prompt message can be generated, which helps the user understand the status and limitations of the current operation; in addition, the current position of the target object is marked on the map, providing a reference for subsequent operations or manual intervention.

[0102] The embodiment of the present application provides a possible implementation method. After the above step S104 completes the grasping and before automatically moving the grasped target object to the designated location, the following steps D1 to D3 may also be included:

[0103] Step D1, determining whether the designated location is an unreachable location;

[0104] Step D2: If yes, determine an alternative location of the designated location and automatically move to the alternative location with the captured target object;

[0105] Step D3: placing the target object at the candidate position.

[0106] It can be seen that this embodiment can determine whether the designated location is reachable before going to the designated location. When the designated location is not reachable, it can determine an alternative location and automatically navigate to the location, which has high adaptability and flexibility.

[0107] The embodiments of this application provide a possible implementation method. The alternative locations mentioned in the above embodiments can include the location closest to the designated location and can be reached, or the starting point of the automatic cleaning device automatically searching for the target object according to a preset search algorithm. As can be seen, this embodiment simplifies the operation process through automated alternative location selection, making the entire cleaning task more streamlined.

[0108] The embodiment of the present application provides a possible implementation method. Before placing the target object at the designated location in step S104, the following steps E1 and E2 may be further included:

[0109] Step E1: Determine a suitable placement area corresponding to the designated location through the sensing module of the device body and / or the category of the target object;

[0110] Step E2: Place the target object in a suitable placement area corresponding to the designated position.

[0111] Here, suitable placement areas may meet some or all of the following conditions:

[0112] (1) The area should not be a low area where the robotic arm of the automatic cleaning equipment may not be able to fully extend;

[0113] (2) The area should not be a dangerous area such as a cliff;

[0114] (3) The area should not be the threshold or the extended area before and after the threshold, which may affect the passage of the main body of the automatic cleaning equipment;

[0115] (4) The area should not be a restricted area added by the user;

[0116] (5) The area should not be the area that the automatic cleaning equipment passes through to reach the designated location;

[0117] (6) This area should not be the necessary path for the automatic cleaning equipment to return to its own base station;

[0118] (7) The area should not be carpeted;

[0119] At the same time, the area judgment can also meet some or all of the following conditions according to the category of the captured target object:

[0120] 1) If the target object being grasped is a shoe, the target object cannot be stacked on top of other objects, including objects of the same category;

[0121] 2) If the target object is a fabric or a ball, the target object can be stacked on top of an object of the same type.

[0122] It can be seen that this embodiment can place the target object in the most suitable area by determining the appropriate placement area of the specified location, thereby improving the accuracy of placement, while ensuring that the target object is placed in a safe and correct position, reducing potential risks caused by improper placement.

[0123] An embodiment of the present application provides a possible implementation method. After the target object is placed at the designated location in step S104, the following steps F1 to F4 may be further included:

[0124] Step F1, automatically returning to the position where the target object was captured, and continuing to automatically search for the next target object according to the preset search algorithm;

[0125] Step F2: when the next target object is found, the next target object is captured;

[0126] Step F3: After the capture is completed, the robot automatically moves to the designated location with the next captured target object and places the next target object at the designated location;

[0127] In step F4, the above process is repeated until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the designated number of times of searching for the target object is reached.

[0128] This embodiment can automatically return to the position where the target object is grasped and continue to search for the next target object, realizing an automated cyclic operation mode; through the automated return and search mechanism, the time for manual resetting or navigation is reduced, thereby improving the efficiency of the cleaning operation.

[0129] A possible implementation method is provided in an embodiment of the present application, and video data can be collected for the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated location, and placing the target object at the designated location in the above steps S102 to S104 to obtain cleaning process video data; then, the cleaning process video data is sent to a remote control device, so that the remote control device can remotely view the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated location, and placing the target object at the designated location based on the cleaning process video data.

[0130] It can be seen that this embodiment realizes real-time monitoring of the cleaning process by collecting video data, and sends the video data to the remote control device, so that the user can remotely view the cleaning process at different locations, thereby enhancing the flexibility of operation.

[0131] The present application provides a possible implementation method, which can also receive a control instruction sent by a remote control device to pause cleaning, and then pause smart cleaning according to the control instruction to pause cleaning. It can be seen that in this embodiment, the user can pause the cleaning process at any time as needed, providing operational flexibility and convenience.

[0132] The present application provides a possible implementation method, which can also collect a voice signal indicating a pause in cleaning; based on the collected voice signal indicating a pause in cleaning, generate a control instruction indicating a pause in cleaning; and based on the control instruction indicating a pause in cleaning, pause intelligent cleaning. As can be seen, this embodiment can collect and recognize voice signals, realizing the function of controlling the device through voice commands. At the same time, the user can send a voice message to pause the cleaning process at any time as needed, providing operational flexibility and convenience.

[0133] The above introduces Figure 1 There are various implementation methods for each link of the illustrated embodiment. The intelligent cleaning method of the embodiment of the present application will be further explained through specific embodiments below.

[0134] In one specific embodiment, a user controls the automated cleaning device through an app on a smartphone. The app specifies the target object to be grabbed and the designated location to be placed, and allows the user to view task results. The automated cleaning device may include a main body and a multi-degree-of-freedom robotic arm configured with a gripping mechanism.

[0135] like Figure 2 As shown, the intelligent cleaning method is applied to an automatic cleaning device, and specifically may include the following steps S201 to S206:

[0136] Step S201 : receiving a control instruction sent by a smart phone to automatically search for a target object and place the target object at a designated location.

[0137] In this step, the user can set the target object to be searched and the designated location to be placed through the APP on the smartphone; the APP generates a control instruction to automatically search for the target object and place the target object at the designated location; the smartphone sends the control instruction to the automatic cleaning device.

[0138] Optionally, the user can set a designated search area for the environment to be cleaned in the APP. For example, the area to be searched can be designated as the designated search area on the map page of the environment to be cleaned; or one or more rooms can be selected as the designated search area on the map page of the environment to be cleaned, and so on. This embodiment does not limit this.

[0139] Step S202 , parsing and executing the control instruction, and automatically searching for the target object according to a preset search algorithm.

[0140] In this step, if the control instruction carries a specified search area for the environment to be cleaned, steps A1 and A2 introduced above can be used to search for the target object; if the control instruction does not carry a specified search area for the environment to be cleaned, steps B1 and B2 introduced above can be used to search for the target object, which will not be repeated here.

[0141] In step S203, when the target object is found, the robotic arm is controlled to extend, and the target object to be grasped is analyzed according to the sensing module carried by the end of the robotic arm to obtain a feasible grasping point, and then the robotic arm is controlled to grasp the target object in combination with the feasible grasping point.

[0142] Optionally, during the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

[0143] Optionally, before controlling the robotic arm to extend, the spatial area of the current position of the target object can also be determined, and whether the robotic arm can be extended is determined based on the spatial area of the current position of the target object. If it is determined that the robotic arm cannot be extended, a prompt message is generated indicating that the robotic arm cannot be extended, resulting in a grasping failure, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0144] For example, if the spatial area where the target object is currently located is a low area, such as the bottom of a sofa, it is determined that the robotic arm cannot be extended.

[0145] Step S204: After the grabbing is completed, the robot automatically moves to a designated location with the grabbed target object.

[0146] Optionally, after completing the grasping, before automatically moving to the designated location with the grasped target object, it is also possible to determine whether the designated location is an unreachable location. If so, determine an alternative location for the designated location, automatically move to the alternative location with the grasped target object, and then place the target object at the alternative location.

[0147] Step S205: placing the target object at a designated location.

[0148] Optionally, before placing the target object at the designated location, the appropriate placement area corresponding to the designated location can be determined through the perception module of the device body and / or the category of the target object, and the target object can be placed in the appropriate placement area corresponding to the designated location. Here, the conditions that the appropriate placement area must meet can be found in the previous introduction and will not be described in detail here.

[0149] Step S206, automatically return to the position where the target object was grabbed, and continue to automatically search for the next target object according to the preset search algorithm; when the next target object is found, grab the next target object; after completing the grabbing, automatically go to the designated position with the next target object grabbed, and place the next target object at the designated position; and so on, until the search of the designated search area or all areas of the environment to be cleaned is completed, or the specified number of searches for the target object is reached.

[0150] Optionally, the user can set a pause for cleaning through the APP, and the smartphone sends a control instruction indicating the pause for cleaning to the automatic cleaning device; the user can also set the number of searches for the target object through the APP, and the smartphone sends the number of searches for the target object to the automatic cleaning device.

[0151] Optionally, during the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated location, and placing the target object at the designated location, the user can collect video data through the camera carried by the automatic cleaning device body or the camera carried by the robotic arm, and remotely view the above process in the app. The camera here can be an RGB (Red Green Blue) camera, etc., which is not limited in this embodiment.

[0152] This embodiment can search for target objects according to control instructions sent by a smart phone, and can use the robotic arm of the automatic cleaning equipment to grab the target object. After completing the grabbing, it automatically carries the grabbed target object to a designated location and places the target object at the designated location. This realizes automatic search and transportation of the target object, can achieve effective cleaning of the target object without human intervention, can adapt to changing working conditions and needs, has good flexibility and adaptability, and improves cleaning efficiency.

[0153] In another specific embodiment, a user can use voice control to control an automated cleaning device to search for a target object in the environment to be cleaned, and then use a robotic arm to grab the target object and place it in a designated location. The automated cleaning device may include an automated cleaning device body and a multi-degree-of-freedom robotic arm configured with a grabbing mechanism. The automated cleaning device may also include a microphone and a speaker to collect and interpret user voice commands.

[0154] like Figure 3 As shown, the intelligent cleaning method is applied to an automatic cleaning device, and specifically may include the following steps S301 to S306:

[0155] Step S301 , collecting voice signals for automatically searching for a target object and placing the target object at a designated location, and then generating control instructions for automatically searching for a target object and placing the target object at a designated location based on the collected voice signals.

[0156] Optionally, if the control instruction does not include a search range, the automatic cleaning device will perform a global search later.

[0157] Optionally, if the control instruction does not include the number of searches, the automatic cleaning device will not limit the number of searches and grabs until the search of the entire area is completed.

[0158] Step S302 , parsing and executing the control instruction, and automatically searching for the target object according to a preset search algorithm.

[0159] In this step, if the control instruction carries a specified search area for the environment to be cleaned, steps A1 and A2 introduced above can be used to search for the target object; if the control instruction does not carry a specified search area for the environment to be cleaned, steps B1 and B2 introduced above can be used to search for the target object, which will not be repeated here.

[0160] In step S303, when the target object is found, the robotic arm is controlled to extend, and the target object to be grasped is analyzed according to the sensing module carried by the end of the robotic arm to obtain a feasible grasping point, and then the robotic arm is controlled to grasp the target object in combination with the feasible grasping point.

[0161] Optionally, during the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp, resulting in a grasping failure, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

[0162] Optionally, before controlling the robotic arm to extend, the spatial area of the current position of the target object can also be determined, and whether the robotic arm can be extended is determined based on the spatial area of the current position of the target object. If it is determined that the robotic arm cannot be extended, a prompt message is generated indicating that the robotic arm cannot be extended, resulting in a grasping failure, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0163] For example, if the spatial area where the target object is currently located is a low area, such as the bottom of a sofa, it is determined that the robotic arm cannot be extended.

[0164] Step S304: After the grabbing is completed, the robot automatically moves to a designated location with the grabbed target object.

[0165] Optionally, after completing the grasping, before automatically moving to the designated location with the grasped target object, it is also possible to determine whether the designated location is an unreachable location. If so, determine an alternative location for the designated location, automatically move to the alternative location with the grasped target object, and then place the target object at the alternative location.

[0166] Step S305: placing the target object at a designated location.

[0167] Optionally, before placing the target object at the designated location, the appropriate placement area corresponding to the designated location can be determined through the perception module of the device body and / or the category of the target object, and the target object can be placed in the appropriate placement area corresponding to the designated location. Here, the conditions that the appropriate placement area must meet can be found in the previous introduction and will not be described in detail here.

[0168] Step S306, automatically returns to the position where the target object was grabbed, and continues to automatically search for the next target object according to the preset search algorithm; when the next target object is found, the next target object is grabbed; after the grabbing is completed, the next target object is automatically carried to the designated position and the next target object is placed at the designated position; and so on, until the search of the designated search area or all areas of the environment to be cleaned is completed, or the designated number of searches for the target object is reached.

[0169] Optionally, a voice signal indicating that cleaning is to be paused may be collected; a control instruction indicating that cleaning is to be paused may be generated based on the collected voice signal indicating that cleaning is to be paused; and intelligent cleaning may be paused based on the control instruction indicating that cleaning is to be paused.

[0170] Optionally, the user can use voice control to pause, continue, or stop the grabbing task of the automatic cleaning device.

[0171] This embodiment can search for target objects according to voice control instructions, and can use the robotic arm of the automatic cleaning equipment to grab the target object. After completing the grabbing, it automatically carries the grabbed target object to the designated location and places the target object at the designated location. This realizes the automatic search and transportation of the target object, can achieve effective cleaning of the target object, does not require human intervention, can adapt to changing working conditions and needs, has good flexibility and adaptability, and improves the cleaning efficiency.

[0172] It should be noted that the order of execution of the steps in the above embodiments does not necessarily imply a specific order of execution. The order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. In practical applications, all possible implementation methods described above can be combined in any manner to form possible embodiments of the present application, and will not be described in detail here.

[0173] Based on the intelligent cleaning methods provided in the above embodiments and based on the same inventive concept, an embodiment of the present application also provides an intelligent cleaning device.

[0174] Figure 4 This is a structural diagram of the intelligent cleaning device provided in the embodiment of the present application. Figure 4 As shown, the intelligent cleaning device is applied to automatic cleaning equipment, and specifically may include a receiving unit 410 , a searching unit 420 , a grabbing unit 430 , a transporting unit 440 and a placing unit 450 .

[0175] A receiving unit 410 is configured to receive a control instruction for automatically searching for a target object and placing the target object at a designated location;

[0176] Search unit 420, configured to parse and execute the control instruction and automatically search for the target object according to a preset search algorithm;

[0177] The grabbing unit 430 is used to grab the target object when the target object is found;

[0178] The transport unit 440 is used to automatically carry the captured target object to a designated location after the capture is completed;

[0179] The placement unit 450 is used to place the target object at a specified location.

[0180] An embodiment of the present application provides a possible implementation method, wherein the receiving unit 410 is further configured to:

[0181] Receive control instructions sent by the remote control device to automatically search for the target object and place the target object at the specified location.

[0182] An embodiment of the present application provides a possible implementation method, wherein the receiving unit 410 is further configured to:

[0183] Collect voice signals that automatically search for target objects and place them at designated locations;

[0184] Based on the collected voice signals, control instructions are generated to automatically search for the target object and place the target object at the specified location.

[0185] An embodiment of the present application provides a possible implementation method. If the control instruction carries a specified search area of the environment to be cleaned, the search unit 420 is further configured to:

[0186] Parsing and executing the control instructions, detecting the designated search area of the environment to be cleaned according to a preset search algorithm, collecting image information of the designated search area of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object;

[0187] If the image information contains the target object, it is determined that the target object has been found.

[0188] In an embodiment of the present application, a possible implementation is provided. If the control instruction does not carry a specified search area of the environment to be cleaned, the search unit 420 is further configured to:

[0189] Parsing and executing the control instructions, detecting all areas of the environment to be cleaned according to a preset search algorithm, collecting image information of all areas of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object;

[0190] If the image information contains the target object, it is determined that the target object has been found.

[0191] In an embodiment of the present application, a possible implementation is provided, wherein the automatic cleaning device includes a multi-degree-of-freedom robotic arm; the gripping unit 430 is further configured to:

[0192] When the target object is found, the robotic arm is controlled to extend;

[0193] According to the perception module carried by the end of the robotic arm, the target object to be grasped is analyzed to obtain a feasible grasping point;

[0194] Control the robotic arm to grasp the target object in combination with feasible grasping points.

[0195] In an embodiment of the present application, a possible implementation is provided, wherein the capture unit 430 is further configured to:

[0196] During the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

[0197] In an embodiment of the present application, a possible implementation is provided, wherein the capture unit 430 is further configured to:

[0198] Before controlling the robotic arm to extend, determine the spatial region where the target object is currently located;

[0199] Determine whether the robotic arm can be extended based on the spatial region where the target object is currently located;

[0200] If it is determined that the robotic arm cannot be extended, a prompt message is generated indicating that the robotic arm cannot be extended, resulting in a grasping failure, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0201] An embodiment of the present application provides a possible implementation method, wherein the transport unit 440 is further configured to:

[0202] After completing the grasping, before automatically moving to the designated location with the grasped target object, determine whether the designated location is an unreachable location;

[0203] If so, an alternative location of the designated location is determined, and the captured target object is automatically moved to the alternative location;

[0204] Place the target object at the desired location.

[0205] A possible implementation method is provided in an embodiment of the present application, where the alternative position includes a position that is closest to the designated position and can be reached, or a starting position where the automatic cleaning device automatically searches for the target object according to a preset search algorithm.

[0206] In an embodiment of the present application, a possible implementation is provided, where the placement unit 450 is further configured to:

[0207] Before placing the target object at the designated location, determine the appropriate placement area corresponding to the designated location through the perception module of the device body and / or the category of the target object;

[0208] Place the target object in the appropriate placement area corresponding to the specified location.

[0209] An embodiment of the present application provides a possible implementation method, wherein the search unit 420 is further configured to:

[0210] After the placement unit 450 places the target object at the designated location, it automatically returns to the location where the target object was captured and continues to automatically search for the next target object according to a preset search algorithm;

[0211] The grabbing unit 430 is further configured to:

[0212] When the next target object is found, the next target object is grasped;

[0213] The transport unit 440 is further used for:

[0214] After completing the grasping, it automatically moves to the designated location with the next target object it grasped;

[0215] The placement unit 450 is further configured to:

[0216] Place the next target object at the specified location;

[0217] The above process is repeated until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the designated number of search target objects is reached.

[0218] A possible implementation method is provided in the embodiment of the present application. Figure 4 The device shown may also include a control unit (not shown in the drawings), which is further configured to:

[0219] Video data is collected for the process of automatically searching for a target object, grabbing the target object, automatically carrying the grabbed target object to a designated location, and placing the target object at the designated location to obtain video data of the cleaning process;

[0220] The cleaning process video data is sent to the remote control device, so that the remote control device can remotely view the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated location, and placing the target object at the designated location based on the cleaning process video data.

[0221] An embodiment of the present application provides a possible implementation method, wherein the control unit is further configured to:

[0222] receiving a control instruction sent by a remote control device indicating that cleaning should be paused;

[0223] Smart cleaning is paused according to the control instruction indicating the pause of cleaning.

[0224] An embodiment of the present application provides a possible implementation method, wherein the control unit is further configured to:

[0225] collecting a voice signal indicating a pause in cleaning;

[0226] generating a control instruction indicating a pause in cleaning according to the collected voice signal indicating a pause in cleaning;

[0227] Smart cleaning is paused according to the control instruction indicating the pause of cleaning.

[0228] Based on the same inventive concept, an embodiment of the present application also provides an automatic cleaning device, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the intelligent cleaning method of any one of the above embodiments.

[0229] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the intelligent cleaning method of any one of the above embodiments when running.

[0230] Those skilled in the art will clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they will not be further described here.

[0231] Those skilled in the art will appreciate that the technical solution of the present application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of program instructions for causing an electronic device (e.g., a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application when the program instructions are executed. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0232] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware related to program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the various embodiments of the present application.

[0233] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that, within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims

1. An intelligent cleaning method, characterized in that: Applied to automatic cleaning equipment, the method comprises: Receive control instructions for automatically searching for a target object and placing the target object at a designated location; Parsing and executing the control instructions, and automatically searching for the target object according to a preset search algorithm; When the target object is found, the target object is grasped; After completing the grabbing, it automatically goes to the designated location with the grabbed target object and places the target object at the designated location.

2. The method according to claim 1, characterized in that The receiving of the control instruction of automatically searching for the target object and placing the target object at the designated location includes: Receive control instructions sent by the remote control device to automatically search for the target object and place the target object at the specified location.

3. The method according to claim 1, characterized in that The receiving of the control instruction of automatically searching for the target object and placing the target object at the designated location includes: Collect voice signals that automatically search for target objects and place them at designated locations; Based on the collected voice signals, control instructions are generated to automatically search for the target object and place the target object at the specified location.

4. The method according to any one of claims 1 to 3, characterized in that If the control instruction carries a designated search area of the environment to be cleaned, the control instruction is parsed and executed, and the target object is automatically searched according to a preset search algorithm, including: Parsing and executing the control instructions, detecting the designated search area of the environment to be cleaned according to a preset search algorithm, collecting image information of the designated search area of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object; If the image information contains the target object, it is determined that the target object has been found.

5. The method according to any one of claims 1 to 3, characterized in that If the control instruction does not carry a designated search area of the environment to be cleaned, the control instruction is parsed and executed, and the target object is automatically searched according to a preset search algorithm, including: Parsing and executing the control instructions, detecting all areas of the environment to be cleaned according to a preset search algorithm, collecting image information of all areas of the environment to be cleaned through a camera during the detection process, and analyzing whether the image information contains the target object; If the image information contains the target object, it is determined that the target object has been found.

6. The method according to any one of claims 1 to 3, characterized in that The automatic cleaning device includes a multi-degree-of-freedom robotic arm; when a target object is found, the target object is grasped, including: When the target object is found, the robotic arm is controlled to extend; According to the perception module carried by the end of the robotic arm, the target object to be grasped is analyzed to obtain a feasible grasping point; Control the robotic arm to grasp the target object in combination with feasible grasping points.

7. The method according to claim 6, characterized in that The method further comprises: During the process of the robotic arm grasping the target object, if it is identified that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, a prompt message is generated indicating that the target object exceeds the maximum weight that the robotic arm can grasp and the grasping fails, and the current location of the target object is marked in the map corresponding to the preset search algorithm.

8. An intelligent cleaning device, characterized in that: Applied to automatic cleaning equipment, the device comprises: A receiving unit, configured to receive a control instruction for automatically searching for a target object and placing the target object at a designated location; A search unit, configured to parse and execute the control instructions and automatically search for the target object according to a preset search algorithm; A grasping unit, configured to grasp a target object when the target object is found; The transport unit is used to automatically carry the grasped target object to the designated location after grasping is completed; The placement unit is used to place the target object at the specified location.

9. An automatic cleaning device, characterized in that: The invention comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform the intelligent cleaning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the intelligent cleaning method according to any one of claims 1 to 7 when running.

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