Cleaning equipment control method and device and cleaning equipment

Abstract

The embodiment of the invention discloses a control method and device of cleaning equipment and the cleaning equipment, and relates to the technical field of cleaning equipment. According to the specific implementation scheme, in response to a target area where the cleaning equipment cannot enter in a working area, a mechanical arm of the cleaning equipment is controlled to clamp an auxiliary cleaning piece, and the mechanical arm is controlled to drive the auxiliary cleaning piece to move into the target area; and the cleaning equipment and / or the mechanical arm are / is controlled to move so as to drive the auxiliary cleaning piece to clean the target area. According to the scheme, when the target area where the cleaning equipment cannot enter exists in the working area, the mechanical arm of the cleaning equipment is controlled to clamp the auxiliary cleaning piece, so that the auxiliary cleaning piece can be driven to move on the to-be-cleaned surface of the target area by controlling the cleaning equipment and / or the mechanical arm to move, and effective cleaning of the target area is achieved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, apparatus and cleaning equipment for cleaning equipment. Background Technology

[0002] With the development of artificial intelligence technology, intelligent cleaning equipment is gradually entering people's daily lives, enabling automatic cleaning of home and office environments.

[0003] Currently, cleaning equipment mostly cleans the environment through its equipped cleaning components, such as side brushes, roller brushes, and cloths. However, for some specific areas, cleaning equipment cannot achieve effective cleaning using conventional cleaning components. Summary of the Invention

[0004] This application provides a control method, apparatus, and cleaning equipment for cleaning equipment, which can achieve effective cleaning of certain specific areas.

[0005] This application provides the following solution: According to a first aspect, a control method for a cleaning device is provided, wherein the cleaning device is equipped with a robotic arm; the control method includes: in response to the existence of a target area in the working area that the cleaning device cannot enter, controlling the robotic arm of the cleaning device to grip an auxiliary cleaning component, and controlling the robotic arm to move the auxiliary cleaning component to the target area; controlling the movement of the cleaning device and / or the robotic arm to drive the auxiliary cleaning component to clean the target area.

[0006] As an alternative, the width of the target area is less than the width of the cleaning equipment body, or there is an obstacle above the target area and the distance between the target area and the obstacle above is less than the height of the cleaning equipment body; controlling the movement of the cleaning equipment and / or the robotic arm includes: controlling the cleaning equipment to move away from the target area, and then controlling the movement of the cleaning equipment and / or the robotic arm.

[0007] As an optional approach, controlling the cleaning equipment to move away from the target area includes: controlling the cleaning equipment to move a preset distance away from the target area, and / or controlling the cleaning equipment to move to a preset area away from the target area; the preset distance is determined based on the length of the area in the area where the cleaning equipment is located that cannot be reached by the robotic arm; the preset area is the edge of the target area and the preset area is determined based on the optimal cleaning distance of the robotic arm.

[0008] As an optional approach, it also includes: selecting auxiliary cleaning parts from candidate cleaning parts, including cleaning parts stored in a preset accessory compartment, and / or cleaning tools present in the work area.

[0009] As an optional approach, candidate cleaning components include cleaning accessories; selecting auxiliary cleaning components from the candidate cleaning components includes: determining auxiliary cleaning components suitable for the target area from the cleaning accessories based on the attribute information of the target area and the cleaning parameters of the cleaning accessories.

[0010] As an alternative approach, candidate cleaning accessories include cleaning tools; selecting auxiliary cleaning accessories from candidate cleaning accessories further includes: in response to not determining an auxiliary cleaning accessory from cleaning accessories, determining an auxiliary cleaning accessory adapted to the target area based on at least one feature data of the cleaning tool.

[0011] As an optional approach, the feature data includes at least one of the following: the clampability of the cleaning tool; whether the cleaning tool is stored in a designated passage area; the weight of the cleaning tool; the size of the cleaning tool; and the shape of the cleaning tool.

[0012] As an alternative approach, it also includes controlling the cleaning equipment to perform environmental sensing of the work area, to detect the cleaning tools present in the work area, and to mark the cleaning tools on an electronic map of the work area.

[0013] As an optional approach, this also includes marking the target area on an electronic map of the work area.

[0014] As an alternative approach, controlling the robotic arm of the cleaning equipment to grip the auxiliary cleaning component includes: planning a gripping path based on the position of the auxiliary cleaning component and obstacle information in the area where the auxiliary cleaning component is located; and controlling the robotic arm to grip the auxiliary cleaning component according to the gripping path.

[0015] As an alternative approach, after controlling the movement of the cleaning equipment and / or robotic arm to drive the auxiliary cleaning component to clean the target area, the control method further includes: in response to the absence of an uncleaned target area within the work area, controlling the robotic arm to return the auxiliary cleaning component to the designated area.

[0016] According to a second aspect, a control device for a cleaning device is provided, wherein the cleaning device is provided with a robotic arm; the control device includes: a first control unit configured to, in response to the existence of a target area in the working area that the cleaning device cannot enter, control the robotic arm of the cleaning device to grasp an auxiliary cleaning component, and control the robotic arm to move the auxiliary cleaning component to the target area; and a second control unit configured to control the movement of the cleaning device and / or the robotic arm to drive the auxiliary cleaning component to clean the target area.

[0017] According to a third aspect, a cleaning device is provided, comprising: a robotic arm, the cleaning device being configured to perform the control method of the cleaning device of the first aspect.

[0018] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application can provide candidate cleaning parts for cleaning equipment. These candidate cleaning parts can be cleaning accessories stored in a pre-set accessory compartment or cleaning tools existing within the working area of ​​the cleaning equipment. When there is a target area in the working area of ​​the cleaning equipment that the cleaning equipment cannot access, the cleaning equipment can select an auxiliary cleaning part that is compatible with the target area from the candidate cleaning parts. The robotic arm of the cleaning equipment can grasp the auxiliary cleaning part and move it to the target area. By controlling the movement of the cleaning equipment and / or the robotic arm, effective cleaning of the target area can be achieved based on the auxiliary cleaning part.

[0019] Of course, any product implementing this application does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the control system of the cleaning equipment provided in an embodiment of this application.

[0022] Figure 2 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application.

[0023] Figure 3 This is a flowchart illustrating another control method for a cleaning device provided in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram of the control device for the cleaning equipment provided in an embodiment of this application.

[0025] Figure 5 A schematic block diagram of a cleaning device provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0027] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0029] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0030] With the development of artificial intelligence technology, intelligent cleaning equipment is gradually entering people's daily lives, enabling automatic cleaning of home and office environments.

[0031] Cleaning equipment is typically equipped with cleaning components such as side brushes, roller brushes, and cloths, which are driven by corresponding drive modules to perform cleaning operations. However, the inventors discovered in their research that while the cleaning components currently equipped with cleaning equipment support cleaning regular flat areas, they cannot support cleaning certain inaccessible areas, such as narrow areas like gaps between furniture or non-floor areas like walls.

[0032] The inventors continued their research and discovered that some cleaning devices are equipped with robotic arms to provide gripping capabilities for items. If some auxiliary cleaning components could be provided to achieve cleaning, and the robotic arms could be used to grip and clean these auxiliary components, it might be helpful to achieve cleaning of the aforementioned specific areas.

[0033] In view of this, this application provides a completely new approach. To facilitate understanding of the embodiments of this application, please first refer to... Figure 1 The control system of the cleaning equipment in this application is described. Figure 1 This is a schematic diagram of the control system of the cleaning equipment provided in an embodiment of this application. Figure 1 As shown, the control system 10 of the cleaning equipment may include: a multimodal sensing module 11, an accessory compartment 12, and a cleaning tool grasping feasibility analysis module 13.

[0034] The multimodal perception module 11 includes a vision sensor 111 and a force sensor 112. The vision sensor 111 can collect real-time 3D environmental information of the cleaning equipment's working area and the attributes of obstacles within the working area (such as size and material). It can also use artificial intelligence (AI) models to identify objects that the cleaning equipment's robotic arm can grasp (such as cleaning accessories, cleaning tools, and other objects of preset categories), and calculate the relative pose of the object and the robotic arm to facilitate better object grasping. The force sensor 112 can be installed at the end of the cleaning equipment's robotic arm to detect whether the robotic arm has a firm grip on the cleaning accessories or cleaning tools.

[0035] The accessory compartment 12 stores at least one cleaning accessory. The accessory compartment 12 can communicate with the cleaning equipment to assist the robotic arm of the cleaning equipment in grasping the cleaning accessory.

[0036] The cleaning tool grasping feasibility analysis module 13 is used to determine whether the cleaning equipment has started the grasping mode based on the cleaning logic. After the cleaning equipment starts the grasping mode and identifies the graspable object, it can calculate the highest priority grasping point of the graspable object. It can also determine whether there are graspable tools in the working area of ​​the cleaning equipment. When determining the cleaning tool to grasp, it uses an AI model to prioritize cleaning tools that are lightweight, easy to clamp, and can significantly expand the passage space of the cleaning equipment after movement.

[0037] Optionally, the control system 10 of the cleaning equipment may further include: a cleaning accessories and cleaning tool usage decision module 14, a control module 15, a path replanning module 16, and a cleaning area planning module 17.

[0038] The cleaning accessory and cleaning tool decision module 14 is used to grab the corresponding cleaning accessory according to the cleaning mode and area type of the area to be cleaned (such as a narrow area, a non-ground area, or other target area) after the AI ​​model recognizes a grabbable cleaning accessory; or grab the corresponding cleaning tool according to the cleaning mode and area type of the area to be cleaned after the AI ​​model does not recognize a grabbable cleaning accessory but recognizes a grabbable cleaning tool, thereby achieving the cleaning of the area to be cleaned.

[0039] The control module 15 can be used to determine the robotic arm's grasping strategy based on the type of cleaning accessories or tools when the robotic arm grasps them, thereby planning the robotic arm's obstacle avoidance trajectory and preventing it from encountering obstacles during the grasping process. It can also control the robotic arm to place the grasped object (e.g., shoes, toys, crumpled paper) into a temporary safe zone and retract the robotic arm, or temporarily maintain the current grasping state when there is no temporary safe zone around the cleaning equipment, thus reducing the robotic arm's energy consumption. Furthermore, when cleaning narrow or non-ground areas, it can control the robotic arm to grasp cleaning accessories or tools and clean them close to the surface to be cleaned in the narrow or non-ground area. Finally, it can control the movement of the cleaning equipment during the cleaning process in narrow or non-ground areas to increase the degree of freedom of the cleaning equipment and expand the area of ​​the surface to be cleaned by the robotic arm.

[0040] The path replanning module 16 can be used to update the electronic map of the working area of ​​the cleaning equipment after the robotic arm has grasped the graspable object, thereby generating a new navigation path so that the control module 15 can control the cleaning equipment to move according to the new navigation path (move to the area to be cleaned, or place the grasped obstacle into the corresponding area).

[0041] The cleaning area planning module 17 can identify the cleaning area in the work area after the cleaning equipment has finished cleaning the cleanable area of ​​the work area, or divide the cleaning area after the mapping of the work area is completed, so as to re-plan the electronic map of the work area and mark the cleaning area on the electronic map.

[0042] It should be noted that, Figure 1 The multimodal sensing module 11, accessory storage 12, cleaning tool grasping feasibility analysis module 13, cleaning accessory and cleaning tool usage decision module 14, control module 15, path replanning module 16, and area to be cleaned planning module 17 shown are merely illustrative. Depending on implementation needs, any number of these modules can be used.

[0043] Next reference Figure 2 This application describes a control method for a cleaning device, wherein the cleaning device is equipped with a robotic arm. Figure 2 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The method can be... Figure 1 The system executes within it. For example... Figure 2 As shown, the method may include the following steps: Step 210: In response to the presence of a target area in the work area that the cleaning equipment cannot access, control the robotic arm of the cleaning equipment to pick up the auxiliary cleaning component, and control the robotic arm to move the auxiliary cleaning component to the target area.

[0044] Step 220: Control the movement of the cleaning equipment and / or robotic arm to drive the auxiliary cleaning components to clean the target area.

[0045] As can be seen from the above process, this application can provide candidate cleaning parts for cleaning equipment. These candidate cleaning parts can be cleaning accessories stored in a pre-set accessory compartment, or cleaning tools existing within the working area of ​​the cleaning equipment. When there is a target area in the working area of ​​the cleaning equipment that the cleaning equipment cannot access, the cleaning equipment can select an auxiliary cleaning part that is compatible with the target area from the candidate cleaning parts. The robotic arm of the cleaning equipment can grasp the auxiliary cleaning part and move it to the target area. Thus, by controlling the movement of the cleaning equipment and / or the robotic arm, effective cleaning of the target area can be achieved based on the auxiliary cleaning part.

[0046] In this embodiment, the target area can be an area within the working area of ​​the cleaning equipment that cannot be cleaned by the cleaning components of the cleaning equipment. This allows the cleaning equipment to be provided with candidate cleaning parts, which can be cleaning accessories stored in a pre-set accessory compartment or cleaning tools present within the working area of ​​the cleaning equipment. When a target area exists within the working area of ​​the cleaning equipment that cannot be cleaned by the cleaning components, the cleaning equipment can select an auxiliary cleaning part adapted to the target area from the candidate cleaning parts. The robotic arm of the cleaning equipment can then grasp the auxiliary cleaning part, thereby effectively cleaning the target area. That is, in response to the existence of a target area within the working area that cannot be cleaned by the cleaning components of the cleaning equipment, an auxiliary cleaning part adapted to the target area is determined from the candidate cleaning parts. The candidate cleaning parts include cleaning accessories stored in a pre-set accessory compartment and / or cleaning tools present within the working area. The robotic arm of the cleaning equipment is controlled to grasp the auxiliary cleaning part, and the target area is cleaned based on the auxiliary cleaning part.

[0047] The target area includes any of the following: areas where the surface to be cleaned is higher than the height accessible to the cleaning components of the cleaning equipment, such as walls, baseboards, cabinet doors, and the upper surface of stairs in vertical spaces; areas inaccessible to the cleaning equipment, such as behind doors or under sofas. Cleaning the target area improves the overall cleaning completion of the work area, thereby enhancing the user experience.

[0048] In one implementation, if the target area within the working area is an area where the height of the surface to be cleaned is higher than the height reachable by the cleaning components of the cleaning equipment, then controlling the robotic arm of the cleaning equipment to grip the auxiliary cleaning component and cleaning the target area based on the auxiliary cleaning component can be: controlling the robotic arm of the cleaning equipment to grip the auxiliary cleaning component and controlling the robotic arm to lift the auxiliary cleaning component and bring it into contact with the surface to be cleaned; controlling the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the surface to be cleaned.

[0049] In another implementation, if the target area within the working area is a target area that the cleaning equipment cannot enter, then controlling the robotic arm of the cleaning equipment to grasp an auxiliary cleaning component and cleaning the target area based on the auxiliary cleaning component can be: controlling the robotic arm of the cleaning equipment to grasp the auxiliary cleaning component and controlling the robotic arm to move the auxiliary cleaning component to the target area; controlling the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the target area.

[0050] The steps in the above process will be described in detail below with reference to the embodiments.

[0051] First, in conjunction with the embodiments, the above step 210, namely "in response to the existence of a target area in the work area where the cleaning equipment cannot enter, controlling the robotic arm of the cleaning equipment to pick up the auxiliary cleaning part, and controlling the robotic arm to move the auxiliary cleaning part to the target area", will be described in detail.

[0052] The auxiliary cleaning parts are selected from the candidate cleaning parts. That is, auxiliary cleaning parts are selected from the candidate cleaning parts, which include cleaning parts stored in the preset accessory compartment and / or cleaning tools present in the work area.

[0053] The accessory compartment can include at least one cleaning accessory, such as a brush accessory, a vacuuming accessory, a mop accessory, and so on. Different cleaning accessories can be used to perform different types of cleaning. For example, the brush accessory can be used to sweep away dust and debris, the vacuuming accessory can be used to pick up fine particles and dust, and the mop accessory can be used for wiping, and so on.

[0054] Cleaning tools can be any tools that cleaning equipment can use to assist in cleaning tasks in the work area, such as brooms, dusters, lint rollers, crevice brushes, etc.

[0055] For example, before performing cleaning tasks on the target area, the cleaning equipment can utilize an AI model to identify all obstacles in the work area while performing cleaning tasks on non-target areas. Each obstacle is tagged to determine whether it is a cleaning tool that can be used to assist cleaning or another object that cannot, laying the foundation for effective cleaning of the target area subsequently. In other words, the cleaning equipment is controlled to perform environmental perception of the work area to detect the cleaning tools present and mark them on an electronic map of the work area.

[0056] Optionally, since the cleaning accessories in the accessory compartment are pre-designed to be gripped by the robotic arm of the cleaning equipment, making them easy for the robotic arm to grip and with good cleaning adaptability, when there is a target area in the work area that cannot be cleaned by the cleaning components of the cleaning equipment, in order to clean the target area more effectively, when selecting auxiliary cleaning accessories from the candidate cleaning accessories, the cleaning accessories adapted to the target area can be prioritized among the candidate cleaning accessories. If there are no cleaning accessories adapted to the target area, then the cleaning tools adapted to the target area can be selected.

[0057] In one embodiment, the candidate cleaning components include cleaning accessories; selecting an auxiliary cleaning component from the candidate cleaning components includes: determining an auxiliary cleaning component adapted to the target area from the cleaning accessories based on the attribute information of the target area and the cleaning parameters of the cleaning accessories.

[0058] The target area's attribute information can be used to describe its physical characteristics, the cleaning actions to be performed, etc. For example, it can include the type of surface to be cleaned and the type of cleaning task for that surface. The type of surface to be cleaned can be one whose height is higher than the reachable height of the cleaning equipment's components, or it can be a surface on a floor area inaccessible to the cleaning equipment. The type of cleaning task for that surface can include sweeping, vacuuming, scrubbing, etc.

[0059] The cleaning parameters of cleaning accessories can include the function of the cleaning accessories (such as sweeping away dust and debris, sucking up fine particles and dust, wiping, etc.) and the cleaning type (such as dry cleaning, wet cleaning, etc.).

[0060] When the candidate cleaning components include cleaning accessories, the appropriate cleaning accessory can be selected as an auxiliary cleaning component based on the target area's attribute information and the accessory's cleaning parameters. This auxiliary component can then be used to effectively clean the target area. For example, if the surface to be cleaned is higher than the reachable height of the cleaning equipment's cleaning components, and the cleaning task for this surface is dusting, then a brush accessory can be selected as an auxiliary cleaning component from the candidate cleaning components to achieve effective cleaning of the surface.

[0061] In another embodiment, the candidate cleaning accessories include cleaning tools; selecting an auxiliary cleaning accessory from the candidate cleaning accessories further includes: in response to not determining an auxiliary cleaning accessory from the cleaning accessories, determining an auxiliary cleaning accessory adapted to the target area based on at least one feature data of the cleaning tools.

[0062] If no matching cleaning accessory is found, further cleaning tools can be selected from the candidate cleaning accessories to assist in cleaning the target area. When selecting a cleaning tool, at least one of its characteristic data can be used as the auxiliary cleaning accessory, choosing one suitable for the target area from the candidate cleaning accessories. The characteristic data includes at least one of the following: the clamping capability of the cleaning tool; whether the cleaning tool is stored in a designated passageway; the weight of the cleaning tool; the size of the cleaning tool; and the shape of the cleaning tool.

[0063] AI models can be used to assess the gripping ability, weight, size, and shape of cleaning tools, while visual sensors can be used to determine whether the cleaning tools are stored in designated access areas. When selecting cleaning tools as auxiliary cleaning components from among the candidate cleaning components, priority can be given to cleaning tools that are easy to grip (e.g., have an easy-to-grip shape), are lightweight, and can significantly expand the access space after movement (e.g., the cleaning tool is in a designated access area with a large width). This improves the cleaning efficiency of the cleaning equipment while effectively reducing damage to the robotic arm of the cleaning equipment.

[0064] In one implementation, determining an auxiliary cleaning component from a pool of cleaning tools based on at least one characteristic data point of the cleaning tools includes: for each of a plurality of cleaning tools, performing a weighted summation of at least one preset cleaning index for that cleaning tool to determine its cleaning contribution, wherein the cleaning index is determined based on the characteristic data of the cleaning tools; and identifying the cleaning tool with the highest cleaning contribution among the plurality of cleaning tools as the auxiliary cleaning component. In this way, the cleaning tool best matched to the surface to be cleaned in the target area can be determined, thereby improving the cleaning efficiency and effectiveness of the target area.

[0065] In another embodiment, when controlling the robotic arm of the cleaning equipment to grip the auxiliary cleaning component and controlling the robotic arm to lift the auxiliary cleaning component and bring it into contact with the surface to be cleaned, or controlling the movement of the cleaning equipment and / or the robotic arm to clean the surface to be cleaned in the target area based on the auxiliary cleaning component, in order to ensure that the robotic arm can stably grip the auxiliary cleaning component and thereby reduce the possibility of the auxiliary cleaning component falling off during the process of the robotic arm lifting the auxiliary cleaning component or during the process of cleaning the surface to be cleaned based on the auxiliary cleaning component, the robotic arm can be controlled to lift the auxiliary cleaning component and bring it into contact with the surface to be cleaned after detecting that the robotic arm has successfully gripped the auxiliary cleaning component. The successful detection of the robotic arm gripping the auxiliary cleaning component can be achieved using a force sensor at the end of the robotic arm. Specifically, within a preset time period after the robotic arm grips the auxiliary cleaning component, the force sensor at the end of the robotic arm determines the gripping force value of the robotic arm at at least two time points. Using the gripping force values ​​at at least two time points, at least one of the average gripping force, maximum gripping force, and minimum gripping force value of the robotic arm's gripper is determined. In response to the detection that a first difference between the preset gripping force value and the average gripping force value is less than a first preset difference, and / or a second difference between the preset gripping force value and the maximum gripping force value is less than a second preset difference, and / or a third difference between the preset gripping force value and the minimum gripping force value is less than a third preset difference, it is determined that the gripping force of the robotic arm when gripping the auxiliary cleaning component is highly stable, thereby confirming that the robotic arm has successfully gripped the auxiliary cleaning component.

[0066] If the first difference between the preset gripping force value and the average gripping force is greater than or equal to the first preset difference, and / or the second difference between the preset gripping force value and the maximum gripping force value is greater than or equal to the second preset difference, and / or the third difference between the preset gripping force value and the minimum gripping force value is greater than or equal to the third preset difference, then it is considered that the gripping force of the robotic arm is unstable when gripping the auxiliary cleaning part, which may cause the auxiliary cleaning part to fall. In order to avoid the auxiliary cleaning part falling due to the robotic arm not gripping the auxiliary cleaning part, it can be determined that the robotic arm has failed to grip the auxiliary cleaning part when the gripping force of the robotic arm is unstable.

[0067] The following describes step 220, namely "controlling the movement of the cleaning equipment and / or robotic arm to drive the auxiliary cleaning components to clean the target area," in detail with reference to the embodiments.

[0068] Where the height of the target area to be cleaned is higher than the reachable height of the cleaning components of the cleaning equipment, the target area to be cleaned can be a vertical cleaning surface (e.g., walls, baseboards, cabinet doors), a horizontal cleaning surface in a vertical space (e.g., the upper surface of stairs, tabletops), etc. Controlling the movement of the cleaning equipment and / or robotic arm includes: controlling the movement of the cleaning equipment and / or robotic arm to move the auxiliary cleaning components on the surface to be cleaned, thereby achieving effective cleaning of the surface to be cleaned.

[0069] When the target area is a narrow area that the cleaning equipment cannot access (such as behind a door, under a sofa, etc.), the width of the target area is less than the width of the cleaning equipment, or there is an obstacle above the target area and the distance between the target area and the obstacle is less than the height of the cleaning equipment. Controlling the movement of the cleaning equipment and / or the robotic arm includes: controlling the cleaning equipment to move away from the target area, and then controlling the movement of the cleaning equipment and / or the robotic arm. That is, the cleaning equipment can first approach the edge of the target area to clean the edge, and then by controlling the cleaning equipment to move backward, the robotic arm can contact more of the target area, thereby achieving effective cleaning of the target area by using the robotic arm to grip auxiliary cleaning parts.

[0070] Controlling the cleaning equipment to move away from the target area includes: controlling the cleaning equipment to move a preset distance away from the target area, and / or controlling the cleaning equipment to move to a preset area away from the target area; the preset distance is determined based on the length of the area in the cleaning equipment's location that the robotic arm cannot reach; the preset area is an area away from the edge of the target area and is determined based on the optimal cleaning distance of the robotic arm. Specifically, the preset distance can be the length of the robotic arm's blind spot around the cleaning equipment, which is the length away from the edge of the cleaning equipment; the preset area can be an area away from the edge of the target area, with the closest point of the preset area being the edge of the blind spot away from the cleaning equipment, and the farthest point of the preset area being the position of the robotic arm's end-effector in the optimal cleaning state, i.e., the optimal cleaning distance of the robotic arm. In other words, the backward movement distance of the mobile device cannot be too small or too large, otherwise the target area may not be completely cleaned. Therefore, the shortest backward movement distance of the mobile device is the length of its blind spot around the cleaning equipment, and the longest distance is the length from the end-effector of the robotic arm to the edge of the cleaning equipment in the optimal cleaning state. Therefore, the cleaning equipment can first approach the edge of the target area to clean the edge of the target area, and then retreat a preset distance or retreat to a preset area, so that the robotic arm can use the auxiliary cleaning components to effectively clean the target area in the optimal cleaning state.

[0071] In one embodiment, controlling the robotic arm of the cleaning device to grip an auxiliary cleaning component includes: planning a gripping path based on the position of the auxiliary cleaning component and obstacle information in the area where the auxiliary cleaning component is located; and controlling the robotic arm to grip the auxiliary cleaning component according to the gripping path.

[0072] To prevent the robotic arm of the cleaning equipment from encountering obstacles while gripping auxiliary cleaning parts, a gripping path can be planned for the robotic arm based on the position of the auxiliary cleaning parts and the obstacle information in the area where the auxiliary cleaning parts are located, thereby controlling the robotic arm to grip the auxiliary cleaning parts according to the gripping path.

[0073] In one feasible implementation, when planning the gripping path, first point cloud information of obstacles within the area where the auxiliary cleaning component is located, second point cloud information of the cleaning equipment's robotic arm, and third point cloud information of the auxiliary cleaning component can be acquired. Based on these three point cloud information, a three-dimensional coordinate system is generated, and the positions of the obstacles, the robotic arm, and the auxiliary cleaning component within the area are mapped onto this three-dimensional coordinate system. By marking the first position information of the obstacles, the second position information of the robotic arm, and the third position information of the auxiliary cleaning component within this three-dimensional coordinate system, an empty position within the system can be determined. This empty position does not contain any objects. Therefore, using the second position information of the robotic arm as the starting point and the third position information of the auxiliary cleaning component as the ending point, a gripping path that avoids the first position can be planned using the empty position.

[0074] Optionally, the three-dimensional coordinate system can be divided into multiple grids according to a preset size, and the free grids can be marked, thereby planning a gripping path from the robotic arm of the cleaning equipment to the auxiliary cleaning component that includes the free grids.

[0075] In another embodiment, if the contact force between the auxiliary cleaning component and the surface to be cleaned is too large, it can easily damage the auxiliary cleaning component or the surface to be cleaned. If the contact force is too small, the cleaning effect on the surface to be cleaned will be poor. Therefore, in order to ensure a better cleaning effect while reducing damage to the auxiliary cleaning component or the surface to be cleaned, when cleaning the target area based on the auxiliary cleaning component, a force sensor installed at the end of the robotic arm can be used to detect the contact force between the auxiliary cleaning component and the surface to be cleaned in real time. The movement of the cleaning equipment and / or the robotic arm can be adjusted in real time according to the detected contact force to adjust the contact force between the auxiliary cleaning component and the surface to be cleaned.

[0076] In another embodiment, after cleaning the target area based on the auxiliary cleaning component, the control method further includes: in response to the absence of an uncleaned target area within the work area, controlling the robotic arm to return the auxiliary cleaning component to the designated area.

[0077] After the robotic arm of the cleaning equipment picks up the auxiliary cleaning parts and completes the cleaning of the target area, an AI model can be used to sense the working area of ​​the cleaning equipment to determine if there are any uncleaned target areas. Alternatively, the presence of uncleaned target areas can be determined by marking them on an electronic map of the working area. If no uncleaned target areas exist within the working area of ​​the cleaning equipment, the robotic arm can be controlled to return the auxiliary cleaning parts to a designated area. For example, cleaning accessories can be returned to their corresponding slots in the accessory compartment, or cleaning tools can be returned to their original positions or user-specified areas. This further improves the overall cleanliness of the working area and increases the efficiency of subsequently picking up cleaning accessories or cleaning tools again.

[0078] In another embodiment, to improve the cleaning efficiency of the cleaning equipment in the work area, after the cleaning equipment has finished cleaning the cleanable areas of the work area, a target area can be identified within the work area, or the target area can be delineated after mapping the work area. This allows for the replanning of the electronic map of the work area, with the target area marked on the electronic map. When the cleaning equipment completes the cleaning task for a target area, the electronic map of the work area can be updated to remove the mark of the target area whose cleaning task has been completed from the electronic map.

[0079] Next reference Figure 3 Another method for controlling a cleaning device according to this application is described, wherein a robotic arm is provided on the cleaning device. Figure 3 This is a schematic flowchart illustrating another control method for a cleaning device provided in an embodiment of this application. Figure 3 As shown, the method may include the following steps: Step 301: The cleaning equipment begins the cleaning task.

[0080] Step 302: Is the robotic arm-assisted cleaning mode activated on the cleaning equipment?

[0081] If yes, proceed to step 303; otherwise, proceed to step 312.

[0082] Step 303: Is there a spare parts warehouse signal?

[0083] If yes, proceed to step 304; otherwise, proceed to step 313.

[0084] Step 304: Pick up the auxiliary cleaning component.

[0085] Step 305: Has the robotic arm successfully picked up the auxiliary cleaning component?

[0086] If yes, proceed to step 306; otherwise, proceed to step 304.

[0087] Step 306: Update the movement path of the cleaning equipment. The cleaning equipment moves to the target area corresponding to the auxiliary cleaning part gripped by the robotic arm according to the movement path.

[0088] Step 307: Is the auxiliary cleaning part gripped by the robotic arm a cleaning part from the parts compartment?

[0089] If yes, proceed to step 308; otherwise, proceed to step 315.

[0090] Step 308: Open the function area of ​​the cleaning accessories via remote control to control the robotic arm of the cleaning equipment to grip the cleaning accessories and clean the surface to be cleaned in the target area.

[0091] Step 309: Update the electronic map of the cleaning equipment's work area.

[0092] Step 310: Are there any uncleaned target areas?

[0093] If yes, proceed to step 304; otherwise, proceed to step 311.

[0094] Step 311: Return the auxiliary cleaning parts to the designated area and control the cleaning equipment to recharge.

[0095] Step 312: Complete the current cleaning task of the cleaning equipment.

[0096] Step 313: Control the cleaning equipment to identify obstacles during the cleaning process in the work area and add tags to the obstacles.

[0097] Step 314: Are there any cleaning tools in the obstacles that can be used to assist the robotic arm in cleaning?

[0098] If yes, proceed to step 304; otherwise, proceed to step 312.

[0099] Step 315: Control the robotic arm of the cleaning equipment to grip the cleaning tool and clean the surface to be cleaned in close contact with the target area.

[0100] As can be seen from the above process, this application can utilize a robotic arm to identify cleaning accessories or tools and control the robotic arm to actively grasp them, thereby expanding the area that the cleaning equipment can clean. This includes areas where the height of the surface to be cleaned is higher than the height that the cleaning components of the cleaning equipment can reach, as well as areas that the cleaning equipment cannot access, enabling the cleaning equipment to effectively clean these specific areas. Furthermore, by deeply coupling the functions of the robotic arm with cleaning accessories or tools, path navigation modules, etc., the degree of human intervention can be reduced, and the cleaning efficiency of the cleaning equipment in complex scenarios can be improved. In addition, when expanding the functions of the cleaning equipment in the future, the hardware resources of the robotic arm can be reused, requiring only software upgrades, thereby reducing costs.

[0101] Next reference Figure 4 The control device of the cleaning equipment of this application will be described. Figure 4 This is a schematic diagram of the control device for the cleaning equipment provided in an embodiment of this application. Figure 4 As shown, the control device 400 of the cleaning equipment includes: a first control unit 410 and a second control unit 420. The main functions of each component are as follows: The first control unit 410 is configured to, in response to the presence of a target area in the work area that the cleaning equipment cannot access, control the robotic arm of the cleaning equipment to pick up an auxiliary cleaning component, and control the robotic arm to move the auxiliary cleaning component to the target area.

[0102] The second control unit 420 is configured to control the movement of cleaning equipment and / or robotic arm to drive auxiliary cleaning components to clean the target area.

[0103] As one possible implementation, the width of the target area is less than the width of the cleaning equipment body, or there is an obstacle above the target area and the distance between the target area and the obstacle above is less than the height of the cleaning equipment body; the second control unit 420 is specifically configured to control the cleaning equipment to move away from the target area when controlling the movement of the cleaning equipment and / or the robotic arm, and then control the movement of the cleaning equipment and / or the robotic arm.

[0104] As one possible implementation, when the second control unit 420 controls the cleaning device to move away from the target area, it is specifically configured to: control the cleaning device to move a preset distance away from the target area, and / or control the cleaning device to move to a preset area away from the target area; the preset distance is determined based on the length of the area in the area where the cleaning device is located that cannot be reached by the robotic arm; the preset area is the edge of the target area and the preset area is determined based on the optimal cleaning distance of the robotic arm.

[0105] Furthermore, the control device 400 of the cleaning equipment also includes a selection unit (not shown in the figure) configured to select an auxiliary cleaning component from candidate cleaning components, the candidate cleaning components including cleaning accessories stored in a preset accessory compartment, and / or cleaning tools present in the work area.

[0106] As one possible approach, candidate cleaning components include cleaning accessories; when selecting an auxiliary cleaning component from the candidate cleaning components, the selection unit is specifically configured to: determine an auxiliary cleaning component suitable for the target area from the cleaning accessories based on the attribute information of the target area and the cleaning parameters of the cleaning accessories.

[0107] As one possible implementation, the candidate cleaning parts include cleaning tools; when the selection unit selects an auxiliary cleaning part from the candidate cleaning parts, it is further configured to: in response to the failure to determine an auxiliary cleaning part from the cleaning parts, determine an auxiliary cleaning part adapted to the target area from the cleaning tools based on at least one feature data of the cleaning tools.

[0108] As one possible approach, the feature data includes at least one of the following: the clampability of the cleaning tool; whether the cleaning tool is stored in a designated passageway; the weight of the cleaning tool; the size of the cleaning tool; and the shape of the cleaning tool.

[0109] Furthermore, the control device 400 of the cleaning equipment also includes a third control unit (not shown in the figure), configured to control the cleaning equipment to perform environmental perception of the work area, to perceive the cleaning tools present in the work area, and to mark the cleaning tools in an electronic map of the work area.

[0110] Furthermore, the control device 400 of the cleaning equipment also includes a marking unit (not shown) configured to mark the target area in an electronic map of the work area.

[0111] As one possible implementation method, when the first control unit 410 controls the robotic arm of the cleaning equipment to grip the auxiliary cleaning part, it is specifically configured to: plan a gripping path based on the position of the auxiliary cleaning part and the obstacle information in the area where the auxiliary cleaning part is located; and control the robotic arm to grip the auxiliary cleaning part according to the gripping path.

[0112] Furthermore, the third control unit is also configured to, after controlling the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the surface to be cleaned, control the robotic arm to return the auxiliary cleaning component to the designated area in response to the absence of an uncleaned target area within the working area.

[0113] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0114] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0115] In addition, this application embodiment also provides a cleaning device, including: a robotic arm, the cleaning device being configured to perform the aforementioned control method for the cleaning device.

[0116] Furthermore, embodiments of this application also provide a cleaning device, including: one or more processors; and a memory associated with the one or more processors, the memory being used to store program instructions, which, when read and executed by the one or more processors, perform the steps of the control method of the cleaning device of any of the foregoing method embodiments.

[0117] in, Figure 5 A schematic block diagram of a cleaning device provided in an embodiment of this application. Figure 5 The cleaning device 500 shown includes a memory 501, a processor 502, a communication interface 503, and a bus 504. The memory 501, processor 502, and communication interface 503 are interconnected via the bus 504.

[0118] The memory 501 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 501 may store a program, and when the program stored in the memory 501 is executed by the processor 502, the processor 502 and the communication interface 503 are used to execute the various steps of the control method of the cleaning device according to the embodiments of this application.

[0119] The processor 502 may be a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, used to execute relevant programs to achieve the functions required by the units in the cleaning equipment or the control device of the cleaning equipment according to the embodiments of this application.

[0120] The processor 502 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the control method for the cleaning equipment of this application can be completed by the integrated logic circuits in the hardware of the processor 502 or by instructions in software form. The aforementioned processor 502 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 501. The processor 502 reads the information in the memory 501 and, in conjunction with its hardware, performs the functions required by the units included in the control device of the cleaning equipment in the embodiments of this application, or executes the control method of the cleaning equipment in the method embodiments of this application.

[0121] The communication interface 503 uses a transceiver device, such as, but not limited to, a transceiver, to enable communication between the cleaning equipment 500 and other devices or communication networks. For example, rotation data collected by a ranging module installed on a mobile robot can be obtained through the communication interface 503.

[0122] Bus 504 may include a pathway for transmitting information between various components of cleaning device 500 (e.g., memory 501, processor 502, communication interface 503).

[0123] It should be noted that, although Figure 5The cleaning device 500 shown only illustrates the memory, processor, and communication interface. However, those skilled in the art should understand that in specific implementations, the cleaning device 500 may also include other devices necessary for normal operation. Furthermore, depending on specific needs, those skilled in the art should understand that the cleaning device 500 may also include hardware devices for implementing other additional functions. Moreover, those skilled in the art should understand that the cleaning device 500 may only include the devices necessary for implementing the embodiments of this application, and may not necessarily include... Figure 5 All the devices shown.

[0124] This application also provides a computer program product, including a computer program that, when executed, implements the steps of the control method for the cleaning equipment of any of the foregoing method embodiments.

[0125] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0126] This application also provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed, implement the various steps of the control method for the cleaning equipment provided in the various embodiments of this application.

[0127] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0129] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] In addition, the functional units in the various embodiments of this application can be integrated into a similar region segmentation unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0133] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0134] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment is equipped with a robotic arm; the control method includes: In response to the existence of a target area within the work area that the cleaning equipment cannot enter, the robotic arm of the cleaning equipment is controlled to grasp an auxiliary cleaning component, and the robotic arm is controlled to move the auxiliary cleaning component to the target area. Control the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the target area.

2. The control method according to claim 1, characterized in that, The width of the target area is less than the width of the cleaning equipment body, or there is an obstacle above the target area and the distance between the target area and the obstacle above is less than the height of the cleaning equipment body; The control of the cleaning equipment and / or the robotic arm movement includes: Control the cleaning equipment to move away from the target area, and then control the movement of the cleaning equipment and / or the robotic arm.

3. The control method according to claim 2, characterized in that, The control of moving the cleaning equipment away from the target area includes: Control the cleaning equipment to move a preset distance away from the target area, and / or control the cleaning equipment to move to a preset area away from the target area; The preset distance is determined based on the length of the area in the region where the cleaning equipment is located that the robotic arm cannot reach; the preset area is the edge of the target area and the preset area is determined based on the optimal cleaning distance of the robotic arm.

4. The control method according to claim 1, characterized in that, Also includes: Select auxiliary cleaning parts from the candidate cleaning parts, which include cleaning accessories stored in a preset accessory compartment and / or cleaning tools present in the work area.

5. The control method according to claim 4, characterized in that, The candidate cleaning components include the cleaning accessories; The selection of auxiliary cleaning components from candidate cleaning components includes: Based on the attribute information of the target area and the cleaning parameters of the cleaning accessories, an auxiliary cleaning accessory suitable for the target area is determined from the cleaning accessories.

6. The control method according to claim 5, characterized in that, The candidate cleaning components include the cleaning tools; the step of selecting auxiliary cleaning components from the candidate cleaning components further includes: In response to the failure to identify the auxiliary cleaning component from the cleaning accessories, an auxiliary cleaning component adapted to the target area is identified from the cleaning tool based on at least one feature data of the cleaning tool.

7. The control method according to claim 6, characterized in that, The feature data includes at least one of the following: The clamping capability of the cleaning tool; Whether the cleaning tools are stored in the designated access area; The weight of the cleaning tool; The dimensions of the cleaning tool; The shape of the cleaning tool.

8. The control method according to claim 4, characterized in that, Also includes: The cleaning equipment is controlled to perform environmental sensing in the work area to detect the cleaning tools present in the work area and mark the cleaning tools on an electronic map of the work area.

9. The control method according to any one of claims 1 to 8, characterized in that, Also includes: The target area is marked on the electronic map of the work area.

10. The control method according to any one of claims 1 to 8, characterized in that, The robotic arm controlling the cleaning equipment to grip the auxiliary cleaning component includes: Based on the location of the auxiliary cleaning component and the obstacle information in the area where the auxiliary cleaning component is located, a clamping path is planned; The robotic arm is controlled to grip the auxiliary cleaning component according to the gripping path.

11. The control method according to any one of claims 1 to 8, characterized in that, After controlling the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the target area, the control method further includes: In response to the absence of an uncleaned target area within the work area, the robotic arm is controlled to return the auxiliary cleaning component to the designated area.

12. A control device for a cleaning equipment, characterized in that, The cleaning equipment is equipped with a robotic arm; the control device includes: A first control unit is configured to, in response to the existence of a target area within the work area that the cleaning equipment cannot access, control the robotic arm of the cleaning equipment to grasp an auxiliary cleaning component, and control the robotic arm to move the auxiliary cleaning component to the target area. The second control unit is configured to control the movement of the cleaning equipment and / or the robotic arm to drive the auxiliary cleaning component to clean the target area.

13. A cleaning device, comprising: A robotic arm, the cleaning device being configured to perform the method of any one of claims 1 to 11.

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