Cleaning equipment control method and cleaning equipment

Abstract

The invention discloses a cleaning equipment control method and cleaning equipment. According to the specific implementation scheme, in the process that the mechanical arm executes a taking action or a withdrawing action, induction data of a first induction element are obtained; and in response to the situation that the sensing data of the at least one first sensing element meets the preset mechanical arm blocking condition, it is judged that the mechanical arm is in the foreign matter blocking state, the mechanical arm is controlled to execute the preset getting-off action, and the getting-off action comprises the step that a joint of the mechanical arm is controlled to rotate by a preset angle in the direction opposite to the current rotating direction. Based on the scheme, the foreign matter blocking condition in the working process of the mechanical arm can be accurately detected, the getting-off action is executed in time when the foreign matter blocks the mechanical arm, and therefore the foreign matter blocking is effectively treated, and normal operation of the mechanical arm is guaranteed.

Description

[0001] This application is a divisional application of case number 2025114154111, application date September 29, 2025, and invention name "cleaning equipment control method and cleaning equipment". TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning equipment, in particular to a cleaning equipment control method and cleaning equipment. BACKGROUND

[0003] With the development of artificial intelligence technology, intelligent cleaning equipment has gradually entered people's daily life. At present, some cleaning equipment will be equipped with a mechanical arm for performing tasks such as picking up, carrying and placing objects.

[0004] Due to the complexity of the working environment, the cleaning equipment may be disturbed by foreign matter during the use of the mechanical arm, affecting the normal work of the mechanical arm. Therefore, how to accurately judge the abnormality in the working process of the mechanical arm and how to effectively handle these abnormalities have become important technical problems. SUMMARY

[0005] The present application provides a cleaning equipment control method and cleaning equipment.

[0006] The present application provides the following solutions: According to a first aspect, a cleaning equipment control method is provided, the cleaning equipment comprising a mechanical arm, the cleaning equipment being provided with at least one type of first sensing element, the method comprising: acquiring sensing data of the first sensing element during the execution of a picking action or a retracting action by the mechanical arm; in response to the sensing data of the at least one first sensing element satisfying a preset mechanical arm blocking condition, determining that a foreign matter blocking state exists, and controlling the mechanical arm to execute a preset escape action, the escape action comprising controlling the joints of the mechanical arm to rotate in the opposite direction of the current rotation direction by a preset angle.

[0007] As an optional way, the escape action further has at least one of the following characteristics: controlling the mechanical arm to pause for a first preset time before executing the escape action; executing the escape action at a target rotation speed, the target rotation speed being less than a specified rotation speed in a working state of the mechanical arm.

[0008] As an optional way, after controlling the mechanical arm to execute the preset escape action, the above method further comprises: in response to the sensing data of the at least one first sensing element still satisfying the mechanical arm blocking condition, controlling the mechanical arm to stop moving, and outputting a first prompt information, the first prompt information being used at least to prompt the user that the mechanical arm has failed to escape the foreign matter.

[0009] As an optional mode, the first sensing element comprises at least one of: a contact sensor arranged at a designated region of the robot arm; a first steering gear at a joint position of the robot arm; a first vision sensor arranged at a main body of the cleaning device; a second vision sensor arranged at the robot arm; The robot arm blocking condition corresponding to the contact sensor comprises that the contact sensor is triggered. The robot arm blocking condition corresponding to the first steering gear comprises that a current of the first steering gear meets a preset first stall condition. The robot arm blocking condition corresponding to the first vision sensor comprises that the first vision sensor senses that the robot arm is blocked by foreign matter. The robot arm blocking condition corresponding to the second vision sensor comprises that the second vision sensor senses that the robot arm is blocked by foreign matter.

[0010] As an optional mode, the control of the robot arm to perform the preset escape action comprises: determining the foreign matter position based on at least one first sensing element meeting the robot arm blocking condition; controlling a part of the robot arm corresponding to the foreign matter position to perform the escape action.

[0011] As an optional mode, the cleaning device further comprises an arm compartment for accommodating the robot arm, and the cleaning device is provided with at least one type of second sensing element, and the method further comprises: acquiring sensing data of the second sensing element during the retracting action of the robot arm; in response to the sensing data of at least one second sensing element meeting a preset arm compartment blocking condition, it is determined that the robot arm is in a foreign matter blocking state, and the cleaning device is controlled to perform a preset first arm compartment escape action.

[0012] As an optional mode, the second sensing element comprises at least one of: a first steering gear at a joint position of the robot arm; a position detector of a compartment door of the arm compartment; The arm compartment blocking condition corresponding to the first steering gear comprises that the first steering gear cannot be turned to a preset retracting angle during the retracting action, and a current of the first steering gear meets a preset second stall condition. The arm compartment blocking condition corresponding to the position detector comprises that the position detector of the compartment door is not triggered after the compartment door performs a closing action.

[0013] As an optional mode, the first arm compartment escape action comprises at least one of: The door of the arm compartment is in an open state, and the mechanical arm is unfolded; The door of the arm compartment is in an open state, and the mechanical arm is unfolded; The second prompt information is output, and the second prompt information is at least used to prompt the user to take out the foreign matter from the arm compartment.

[0014] As an optional mode, the cleaning device further comprises an arm compartment for accommodating the mechanical arm, a collision sensor arranged at a compartment opening position of the arm compartment, and at least one type of article drop sensing device for sensing a state of the mechanical arm taking the article. The method further comprises: In the process of the mechanical arm performing the taking action, in response to the collision sensor being triggered and the at least one article drop sensing device sensing that the mechanical arm takes the drop of the article, it is judged that the foreign matter blocking state is in, and the mechanical arm is controlled to perform the action of taking out the foreign matter from the arm compartment.

[0015] As an optional mode, the article drop sensing device comprises at least one of the following: A first visual sensor arranged on the main body of the cleaning device; A second visual sensor arranged on the mechanical arm; A gripper motor of the mechanical arm; The first visual sensor and / or the second visual sensor are used to sense the state of the mechanical arm taking the article; The gripper motor senses that the mechanical arm takes the drop of the article, which includes that the current change of the gripper motor meets the preset article drop condition.

[0016] As an optional mode, after the mechanical arm is controlled to perform the action of taking out the foreign matter from the arm compartment, the method further comprises: In response to the article drop sensing device sensing that the mechanical arm does not take out the foreign matter from the arm compartment, the mechanical arm is controlled to stop the action, and third prompt information is output, which is at least used to prompt the user that the mechanical arm fails to take out the foreign matter from the arm compartment.

[0017] As an optional mode, the cleaning device further comprises an arm compartment for accommodating the mechanical arm, a collision sensor arranged at a compartment opening position of the arm compartment, and a first visual sensor arranged on the main body of the cleaning device. The method further comprises: In the process of the mechanical arm performing the taking action, in response to the collision sensor being triggered and the first visual sensor detecting that the foreign matter drops in the arm compartment, it is judged that the foreign matter blocking state is in, and the cleaning device is controlled to perform a preset second arm compartment escape action.

[0018] As an optional mode, the cleaning device is controlled to perform the preset second arm compartment escape action, which comprises: Living matter detection is performed on the foreign matter; In response to the foreign matter being a living thing, the cleaning device is controlled not to move, and / or the mechanical arm is controlled to return to a motion state before the foreign matter blocking state is triggered; In response to the foreign matter being a non-living thing, the cleaning device is controlled to perform a preset movement action, the movement action at least including rotating a preset number of times, or the mechanical arm is controlled to put down the taken object and perform an action of taking out the foreign matter from the arm compartment.

[0019] As an optional way, after the second arm compartment escape action is performed, the above method further includes: In response to the foreign matter not being taken out from the arm compartment, the mechanical arm is controlled to stop moving, and fourth prompt information is output, the fourth prompt information at least being used to prompt that the foreign matter is not taken out from the arm compartment.

[0020] As an optional way, the cleaning device further includes an arm compartment for accommodating the mechanical arm and a collision sensor arranged at a compartment opening position of the arm compartment, and the above method further includes: During the retracting action of the mechanical arm and when the compartment door of the arm compartment is in an open state, in response to the collision sensor being triggered, it is judged that the foreign matter blocking state is reached, the mechanical arm is controlled to adjust to an unfolded state, and maintained for a second preset time length.

[0021] As an optional way, the cleaning device further includes an arm compartment for accommodating the mechanical arm and a collision sensor arranged at a compartment opening position of the arm compartment, and the above method further includes: After the retracting action of the mechanical arm is performed and the mechanical arm is retracted into the arm compartment, and before or during the closing action of the compartment door, in response to a preset compartment door blocking condition being met, it is judged that the foreign matter blocking state is reached, and the compartment door is controlled to perform the closing action after waiting for a third preset time length, wherein the compartment door blocking condition includes the collision sensor being triggered.

[0022] As an optional way, the cleaning device further includes a position detector arranged at the compartment door of the arm compartment, and / or a second steering engine for driving the compartment door, and the compartment door blocking condition further includes at least one of the following: During the closing action of the compartment door, the current of the second steering engine meets a preset third stall condition; The position detector is not triggered within a first specified time length.

[0023] As an optional way, after the compartment door is controlled to wait for a third preset time length and then perform the closing action again, the above method further includes: In response to the position detector of the compartment door not being triggered within a second specified time length, the compartment door is controlled to stop moving, and fifth prompt information is output, the fifth prompt information at least being used to prompt the user that the compartment door cannot be closed.

[0024] As an optional mode, in response to being in the foreign matter blocking state, the method further comprises at least one of the following: outputting at least one preset form of alarm information; after the foreign matter is removed, performing state detection on a rudder of the cleaning device; after the foreign matter is removed, performing calibration operation on at least one type of sensor of the cleaning device; sending relevant information of the foreign matter to the mobile terminal; performing living matter detection on the foreign matter, and in response to the foreign matter being a living matter, executing a living matter foreign matter processing strategy, the living matter processing strategy comprising at least one of the following: controlling the cleaning device to stop running, controlling the cleaning device to enter a locked state, controlling the mechanical arm to restore to a motion state before triggering the foreign matter blocking state, and outputting living matter alarm information.

[0025] According to a second aspect, a cleaning device is provided, which is configured to execute the cleaning device control method described above.

[0026] According to the specific embodiments provided in the present application, the following technical effects are disclosed: In the present application, the sensing data of the first sensing element is obtained during the process of the mechanical arm performing the picking action or the retracting action, and when it is detected that the sensing data of any first sensing element meets the preset mechanical arm blocking condition, it is judged that the foreign matter blocking state is in, and the preset removal action is controlled to be executed on the mechanical arm, that is, the joint of the mechanical arm is controlled to rotate by a preset angle in the opposite direction of the current rotation direction. Based on the present scheme, the foreign matter blocking condition in the working process of the mechanical arm can be accurately detected, and the removal action can be executed in time when the mechanical arm is blocked by the foreign matter, so as to realize effective processing of the foreign matter blocking and ensure the normal operation of the mechanical arm.

[0027] In the present scheme, the arm compartment blocking condition caused by the foreign matter is accurately detected based on the sensing data of the second sensing element, and the arm compartment escape action is executed in time when the arm compartment is blocked by the foreign matter, so as to realize effective processing of the foreign matter blocking and ensure that the mechanical arm can be retracted normally.

[0028] In the present scheme, the arm compartment blocking caused by the falling of the object picked up by the mechanical arm is accurately detected, and the action of taking out the foreign matter from the arm compartment is executed in time, which helps to remove the arm compartment blocking caused by the falling of the object picked up by the mechanical arm, so as to realize effective processing of the foreign matter blocking and ensure the normal operation of the cleaning device.

[0029] In the present scheme, the arm compartment blocking caused by the falling of other foreign matter when the object is picked up by the mechanical arm is accurately detected, and the corresponding second arm compartment escape action is executed in time, which helps to remove the arm compartment blocking, so as to realize effective processing of the foreign matter blocking and ensure the normal operation of the cleaning device.

[0030] In this scheme, by providing differentiated escape strategies for living or non-living foreign objects, the escape effect is improved, which helps to ensure the normal operation of the cleaning device.

[0031] In this scheme, by accurately detecting the foreign object blockage at the arm compartment opening position before the mechanical arm performs the retracting action and the arm compartment door is not completely closed, and timely controlling the mechanical arm to adjust to the unfolded state and continue for a second preset time, it helps to realize the escape of the foreign object at the arm compartment opening position, thereby realizing effective processing of the foreign object blockage and ensuring the normal operation of the cleaning device.

[0032] In this scheme, by accurately detecting the foreign object blockage at the arm compartment opening position before the mechanical arm performs the retracting action and the arm compartment door is not completely closed, and timely controlling the mechanical arm to adjust to the unfolded state and continue for a second preset time, it helps to realize the escape of the foreign object at the arm compartment opening position, thereby realizing effective processing of the foreign object blockage and ensuring the normal operation of the cleaning device.

[0033] In this scheme, by setting multiple types of sensing elements on the mechanical arm and the main body of the cleaning device, and configuring corresponding blockage judgment conditions, accurate judgment of multiple foreign object blockage scenarios such as foreign object blockage of the mechanical arm, foreign object blockage of the arm compartment, and foreign object blockage of the door is realized, and foreign object processing strategies are provided for different foreign object blockage scenarios, which helps to improve the escape probability and improve the effect of foreign object processing.

[0034] Of course, implementing any product of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0036] Figure 1 A structural schematic diagram of a cleaning device provided by an embodiment of the present application.

[0037] Figure 2 A structural schematic diagram of a mechanical arm provided by an embodiment of the present application.

[0038] Figure 3 A structural schematic diagram of a main body of a cleaning device provided by an embodiment of the present application.

[0039] Figure 4 A structural schematic diagram of a door stop plate provided by an embodiment of the present application.

[0040] Figure 5 A flowchart of a cleaning device control method according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0042] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0043] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0044] Depending on the context, the word "if" as used herein can be interpreted as meaning "when" or "upon" or "in response to a determination" or "in response to a detection". Similarly, depending on the context, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted as meaning "when determined" or "in response to a determination" or "when detecting (a stated condition or event)" or "in response to a detection (a stated condition or event)".

[0045] The cleaning device 100 in the embodiments of the present application can be a cleaning robot, specifically a self-walking robot, which can autonomously move and complete cleaning tasks in a working area without external human information input and control. The working area can include multiple indoor areas, such as rooms, offices, shopping malls, factory workshops, etc. on multiple floors. The cleaning device 100 described above can include but is not limited to a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The cleaning device 100 described above includes a mechanical arm 110 for performing gripping, carrying and placing operations on objects.

[0046] An exemplary, Figure 1 A structural diagram of a cleaning device 100 according to an embodiment of the present application is provided.

[0047] As Figure 1 As shown in the figure, the cleaning device 100 can include a mechanical arm 110 and a main body 120.

[0048] The cleaning equipment 100 implemented in this application can be equipped with a variety of sensing elements on the robotic arm 110 and the main body 120 respectively, for effectively sensing the interference of foreign objects.

[0049] For example, the sensing elements provided on the robotic arm 110 may include: a contact sensor 111, a first servo motor 112, and a second vision sensor 113.

[0050] The robotic arm 110 may be equipped with a contact sensor 111 to detect the contact between the robotic arm 110 and the foreign object. For example, the contact sensor 111 may be a thin-film sensor that detects the contact between the robotic arm 110 and the foreign object based on the principles of pressure sensitivity or capacitance sensing.

[0051] For example, Figure 2 This is a schematic diagram of the structure of a robotic arm 110 provided in an embodiment of this application. Figure 2 As shown, the contact sensor 111 is positioned between the shoulder and elbow joints of the robotic arm 110. It is understood that the contact sensor 111 can also be positioned at other locations on the robotic arm 110 as needed; this embodiment does not impose specific limitations.

[0052] For example, the first servo motor 112 may specifically include servo motors installed at each joint of the robotic arm 110. The robotic arm 110 can also sense interference from foreign objects through the first servo motor 112. For example, by detecting whether the first servo motor 112 is stalled, it can be determined whether there are foreign objects blocking the rotation of the first servo motor 112.

[0053] Reference Figure 2 As shown in the example, the first servo motor 112 may specifically include a sixth multi-stage 117 located at the waist joint of the robotic arm 110, a third servo motor 114 located at the shoulder joint, a fourth servo motor 115 located at the elbow joint, and a fifth servo motor 116 located at the wrist joint.

[0054] For example, the robotic arm 110 may also be equipped with a second vision sensor 113, through which the cleaning equipment 100 can collect visual information to detect foreign objects.

[0055] Reference Figure 2 As shown in the example, the second vision sensor 113 can be positioned at the front end of the robotic arm 110.

[0056] For example, the sensing elements provided on the host body 120 may include: a collision sensor 121, a second servo motor 122, a first vision sensor 123, and a position detector 124.

[0057] The host body 120 is provided with an arm compartment 125 for accommodating the mechanical arm 110. The arm compartment 125 is provided with a compartment door 126. When the mechanical arm 110 is not needed, the mechanical arm 110 can be retracted into the arm compartment 125, and the compartment door 126 is closed. When the mechanical arm 110 is needed, the compartment door 126 is opened, and the mechanical arm 110 can be extended from the arm compartment 125.

[0058] Exemplarily, a collision sensor 121 is arranged at the opening position of the arm compartment 125, for detecting the collision of foreign matter at the opening position of the arm compartment 125 when the compartment door 126 is opened.

[0059] Exemplarily, Figure 3 A structural schematic diagram of the host body 120 of the cleaning device 100 is provided in the embodiment. Figure 3 The compartment door 126 of the arm compartment 125 of the cleaning device 100 is in an opened state, and the opening position of the arm compartment 125 is provided with a compartment door stop plate 127. When the compartment door 126 is in a closed state, the compartment door 126 is close to the compartment door stop plate 127. Figure 4 A structural schematic diagram of the compartment door stop plate 127 is provided in the embodiment.

[0060] As Figure 3 , 4 shown in the embodiment, the collision sensor 121 can be arranged on the inner side of the compartment door stop plate 127, and the number thereof can be one or more, so that the collision sensor 121 can be triggered when the compartment door stop plate 127 is collided or pressed by foreign matter.

[0061] Exemplarily, the collision sensor 121 can include but is not limited to mechanical switches, capacitive sensors, pressure sensors and other types of sensors.

[0062] Exemplarily, the second steering engine 122 can be a steering engine for driving the opening and closing of the compartment door 126. The interference of foreign matter to the compartment door 126 can be sensed by the second steering engine 122. For example, by detecting the stall condition of the second steering engine 122, it can be judged whether there is foreign matter blocking the closing of the compartment door 126.

[0063] Exemplarily, the host body 120 can also be provided with a first visual sensor 123. The cleaning device 100 can collect visual information through the first visual sensor 123 for detection of foreign matter. In the example, the arrangement position of the first visual sensor 123 can be as shown in the embodiment. Figure 3

[0064] It can be understood that the number and position of the first visual sensor 123 and the second visual sensor 113 can be arranged according to actual needs, and the embodiment is not limited.

[0065] ​Exemplarily, the specific types of the first visual sensor 123 and the second visual sensor 113 can include, but are not limited to, a Red-Green-Blue-Depth (RGBD) sensor, a binocular visual sensor, a solid-state laser radar, etc.

[0066] Exemplarily, the main body 120 can be further provided with a to-position detector 124 for detecting the to-position of the bin door 126 when the bin door 126 is closed.

[0067] As shown in FIG. 1, the to-position detector 124 can be arranged inside the bin door baffle 127, and the number thereof can be one or more. When the bin door 126 is completely closed, the to-position detector 124 is triggered. When the bin door 126 cannot be completely closed due to the existence of foreign matter blocking, etc., the to-position detector 124 will not be triggered. Figure 4

[0068] In this scheme, by providing multiple sensing elements, multi-modal sensing of foreign matter can be achieved, thereby ensuring the accuracy of foreign matter detection. By configuring corresponding sensing elements for the mechanical arm 110 and the main body 120 respectively, foreign matter detection for the mechanical arm 110 and the arm bin 125 is achieved, which helps to achieve fine detection of foreign matter and improve the accuracy of foreign matter detection.

[0069] Figure 5 A flowchart of a cleaning equipment control method provided by the embodiment of the present application is provided. The method can be executed by the cleaning equipment 100 shown in FIG. 1, which is provided with at least one type of first sensing element. As shown in FIG. 1, the cleaning equipment 100 can include the following components: Figure 1 Figure 2 The method can include the following steps: Step S510: In the process of the mechanical arm 110 performing a picking action or a retracting action, sensing data of the first sensing element is acquired. Step S520: In response to the sensing data of the at least one first sensing element satisfying a preset mechanical arm blocking condition, it is determined that a foreign matter blocking state exists, and a preset escape action of the mechanical arm 110 is controlled to be performed. The escape action includes controlling the joints of the mechanical arm 110 to rotate in the opposite direction of the current rotation direction by a preset angle.

[0070] ​​It can be seen from the above process that, by acquiring the sensing data of the first sensing element in the process that the mechanical arm 110 performs the picking action or the retraction action, and judging that the foreign matter blocking state exists when it is detected that the sensing data of any first sensing element meets the preset mechanical arm blocking condition, and controlling the mechanical arm 110 to perform the preset escape action, i.e., controlling the joint of the mechanical arm 110 to rotate in the reverse direction of the current rotation direction by a preset angle, the foreign matter blocking condition in the working process of the mechanical arm 110 can be accurately detected, and the escape action can be performed in time when the mechanical arm 110 is blocked by foreign matter, so as to realize effective processing of the foreign matter blocking and ensure the normal operation of the mechanical arm 110.

[0071] The steps in the above process and the effects that can be further produced will be described in detail below with respect to embodiments. It should be noted that the "first", "second", and the like involved in the present disclosure do not have the limitations of size, order, and quantity, and are only used to distinguish in name, for example, "first steering engine" and "second steering engine" are used to distinguish between two steering engines.

[0072] First, the step S510, i.e., "acquiring the sensing data of the first sensing element in the process that the mechanical arm 110 performs the picking action or the retraction action", will be described in detail with respect to embodiments.

[0073] The picking action is a process in which the mechanical arm 110 cooperates through the movement of multiple joints to actively pick the target object, which includes clamping and carrying the object, etc.

[0074] The retraction action is a process in which the mechanical arm 110 folds the joints and retracts the arm bin 125 after completing the task. The retraction action in the present example specifically includes the complete process of retracting or folding the mechanical arm 110 outside the arm bin 125 and continuing to fold inside the arm bin 125 to the final folded state.

[0075] The first sensing element can include at least part of the sensing elements provided by the cleaning device 100, can include the sensing elements provided on the mechanical arm 110, and / or the sensing elements provided on the main body 120 of the host.

[0076] In the process that the mechanical arm 110 performs the picking action or the retraction action, the mechanical arm 110 can be blocked by foreign matter, which affects the normal operation of the mechanical arm 110. The sensing data of the first sensing element can be used to detect the foreign matter blocking of the mechanical arm 110.

[0077] The above step S520, i.e., "in response to the sensing data of the at least one first sensing element satisfying the preset mechanical arm blocking condition, it is determined that the foreign matter blocking state exists, and the preset action for getting rid of the foreign matter is performed on the mechanical arm 110, the action for getting rid of the foreign matter includes rotating the joints of the mechanical arm 110 by a preset angle in the reverse direction of the current rotating direction", will be described in detail in combination with an embodiment.

[0078] In the embodiment, the sensing data of the at least one first sensing element satisfying the preset mechanical arm blocking condition can determine that the foreign matter blocking state exists, i.e., the cleaning device 100 is blocked by the foreign matter, and thus cannot normally operate.

[0079] When it is determined that the cleaning device 100 is in the foreign matter blocking state, the preset action for getting rid of the foreign matter can be performed on the mechanical arm 110 to try to get rid of the foreign matter, so as to remove the blocking of the foreign matter to the mechanical arm 110.

[0080] In the embodiment, the action for getting rid of the foreign matter can specifically include rotating the joints of the mechanical arm 110 by a preset angle in the reverse direction of the current rotating direction. The specific value of the preset angle can be set according to actual conditions, for example, 30°.

[0081] For example, in the process of performing the picking or collecting action by the mechanical arm 110, when it is detected that the sensing data of the first sensing element satisfies the preset mechanical arm blocking condition, all or part of the joints of the mechanical arm 110 can be controlled to rotate by a preset angle in the reverse direction of the current rotating direction to try to get rid of the foreign matter.

[0082] For example, for the foreign matter in the form of winding (such as a cable), rotating by a preset angle in the reverse direction can loosen the winding tension, so as to facilitate getting rid of the foreign matter. For the hard foreign matter (such as a hard building block, a stone, etc.), rotating by a preset angle in the reverse direction can expand the space of the position of the foreign matter, so as to facilitate getting rid of the foreign matter.

[0083] In an optional mode of the present application, the action for getting rid of the foreign matter further has at least one of the following features: Before performing the action for getting rid of the foreign matter, the mechanical arm 110 is controlled to pause for a first preset time length; The action for getting rid of the foreign matter is performed at a target rotating speed, and the target rotating speed is less than a specified rotating speed in a working state of the mechanical arm 110.

[0084] In the embodiment, before performing the action for getting rid of the foreign matter, the mechanical arm 110 can be controlled to pause for a first preset time length, and then the action for getting rid of the foreign matter is performed. For example, the first preset time length can be configured according to actual needs, for example, 1 s.

[0085] In this solution, the first preset time length is controlled to suspend the movement of the mechanical arm 110, so as to provide the living object with evacuation time when the foreign matter is a living object (for example, a pet), and avoid affecting the safety of the living object due to the continuous movement of the mechanical arm 110. In addition, the short pause can also eliminate transient interference (for example, the short contact between the mechanical arm 110 and the obstacle), and reduce the probability of false triggering.

[0086] The steering wheel of the mechanical arm 110 is controlled to rotate at a speed less than the specified speed in the working state of the mechanical arm 110, that is, the steering wheel of the mechanical arm 110 is controlled to rotate at a relatively slow speed.

[0087] For example, the mechanical arm 110 can start from a static state, start at a small acceleration, and accelerate to the target speed through a long acceleration time, for example, 2 seconds.

[0088] In this solution, the steering wheel of the mechanical arm 110 is controlled to rotate at a speed less than the specified speed in the working state of the mechanical arm 110, so as to reduce the transient torque impact on the steering wheel and prolong the service life of the component.

[0089] In an optional mode of the present application, after the mechanical arm 110 performs the preset action to get rid of the foreign matter, the above method further comprises: In response to the sensing data of the at least one first sensing element still meeting the mechanical arm blocking condition, the mechanical arm 110 is controlled to stop moving, and first prompt information is output, which is used to at least prompt the user that the mechanical arm 110 fails to get rid of the foreign matter.

[0090] In this solution, after the mechanical arm 110 performs the action to get rid of the foreign matter, if the sensing data of the at least one first sensing element still meets the mechanical arm blocking condition, that is, the foreign matter blocking state still exists, it can be considered that the action to get rid of the foreign matter cannot remove the foreign matter blocking, and the mechanical arm 110 can be controlled to stop moving, so as to avoid damaging the mechanical structure of the cleaning device 100 or affecting the safety of the living object. At the same time, the cleaning device can output the first prompt information to prompt the user that the mechanical arm 110 fails to get rid of the foreign matter.

[0091] For example, the form of the first prompt information can include but is not limited to voice broadcast, visual prompt such as light, and information pushed to the user end.

[0092] In this solution, in the case that the action to get rid of the foreign matter is performed but the foreign matter blocking state is still not removed, that is, the action to get rid of the foreign matter fails, subsequent processing strategies (stopping moving and prompting) are provided, so as to realize multi-level response in the foreign matter processing process, and help to improve the processing effect of the cleaning device 100 on the foreign matter.

[0093] In an optional mode of the present application, the first sensing element comprises at least one of the following: The contact sensor 111 arranged at a designated area of the mechanical arm 110; The first steering wheel 112 of the joint position of the mechanical arm 110; The first visual sensor 123 arranged at the main body 120 of the cleaning device 100; The second visual sensor 113 arranged at the mechanical arm 110; The mechanical arm blocking condition corresponding to the contact sensor includes that the contact sensor 111 is triggered. The mechanical arm blocking condition corresponding to the first steering wheel 112 includes that the current of the first steering wheel 112 meets the preset first stall condition. The mechanical arm blocking condition corresponding to the first visual sensor 123 includes that the first visual sensor 123 senses that the mechanical arm 110 is blocked by foreign matter. The mechanical arm blocking condition corresponding to the second visual sensor 113 includes that the second visual sensor 113 senses that the mechanical arm 110 is blocked by foreign matter.

[0094] The first sensing element can include the contact sensor 111, and the corresponding mechanical arm blocking condition is that the contact sensor 111 is triggered. That is, when the contact sensor 111 is triggered, it indicates that the foreign matter contacts the mechanical arm 110, and at this time, it can be judged that the mechanical arm blocking condition is met.

[0095] The contact sensor 111 can be arranged at a designated area of the mechanical arm 110 to sense the foreign matter contact condition of the designated area.

[0096] The first sensing element can also include the first steering wheel 112 of the joint position of the mechanical arm 110, and the corresponding mechanical arm blocking condition is that the current of the first steering wheel 112 meets the preset first stall condition. That is, when the current of the first steering wheel 112 meets the preset first stall condition, it indicates that the first steering wheel 112 is stalled due to foreign matter blockage, and at this time, it can be judged that the mechanical arm blocking condition is met.

[0097] When the foreign matter blockage affects the operation of the mechanical arm 110, it can cause the first steering wheel 112 to stall, and at this time, the current of the first steering wheel 112 will abnormally increase. The first stall condition can be set according to the current change when the stall occurs. For example, the first stall condition can be that the current of the first steering wheel 112 is higher than the preset first stall current.

[0098] The first sensing element can also include the first visual sensor 123 arranged at the main body 120, and the corresponding mechanical arm blocking condition is that the first visual sensor 123 senses that the mechanical arm 110 is blocked by foreign matter. That is, when the first visual sensor 123 senses that the mechanical arm 110 is blocked by foreign matter, it can be judged that the mechanical arm blocking condition is met.

[0099] The first sensing element can also include a second visual sensor 113 arranged on the robotic arm 110, and the corresponding robotic arm blocking condition is that the second visual sensor 113 senses that the robotic arm 110 is blocked by foreign matter. That is, when the second visual sensor 113 senses that the robotic arm 110 is blocked by foreign matter, it can be determined that the robotic arm blocking condition is met.

[0100] In this scheme, the first sensing element can include one or more of the above, and when the first sensing element includes multiple, the detection results of the foreign matter by the multiple first sensing elements can complement each other, avoiding missed detection by a single sensing element, thereby improving the accuracy of foreign matter detection.

[0101] For example, when the contact sensor 111 senses that the robotic arm 110 is in contact with foreign matter, and the first visual sensor 123 or the second visual sensor 113 senses that the robotic arm 110 is blocked by foreign matter, at this time, the contact sensor 111 and the visual sensor are triggered at the same time, and the detection result of the contact sensor 111 and the detection result of the visual sensor can complement each other, thereby effectively improving the accuracy of foreign matter detection.

[0102] In an optional manner of the present application, the control of the robotic arm 110 to perform the preset escape action includes: determining the foreign matter position based on at least one first sensing element that meets the robotic arm blocking condition; controlling the part of the robotic arm 110 corresponding to the foreign matter position to perform the escape action.

[0103] Among them, when there is foreign matter blocking, the first sensing element triggered by the foreign matter can reflect the position of the foreign matter.

[0104] For example, when the contact sensor 111 arranged in a specified area of the robotic arm 110 is triggered, it indicates that the foreign matter is located near the specified area.

[0105] After determining the position of the foreign matter, the part of the robotic arm 110 corresponding to the position of the foreign matter can be controlled to perform the escape action, for example, the joint corresponding to the position of the foreign matter is controlled to rotate in the opposite direction of the current rotation direction by a preset angle.

[0106] Exemplarily, the foreign matter position can be determined based on a triggered first sensing element. When there are multiple triggered first sensing elements, the foreign matter position can be determined based on the multiple triggered first sensing elements together, so as to improve the accuracy of the foreign matter position. For example, the contact sensor 111 arranged at a specified region of the mechanical arm 110 senses that the mechanical arm 110 is in contact with the foreign matter, and meanwhile, the first steering engine 112 at the elbow joint of the mechanical arm 110 is blocked by the foreign matter and is stalled. At this time, based on the contact sensor 111 being triggered, it can be determined that the foreign matter is located at a position close to the specified region, and based on the first steering engine 112 at the elbow joint of the mechanical arm 110 being stalled, it can be determined that the foreign matter is located at a position close to the elbow joint of the mechanical arm 110 in the specified region. Then, the first steering engine 112 at the elbow joint of the mechanical arm 110 can be controlled to perform a break-away action, such as rotating by a preset angle in the opposite direction of the current rotation direction.

[0107] In this scheme, the position of the foreign matter can be accurately determined based on the triggered first sensing element, and then the part of the mechanical arm 110 corresponding to the position of the foreign matter (such as one or more joints of the mechanical arm 110) is controlled to perform a break-away action, so as to effectively break away from the local foreign matter blockage, improve the break-away success rate, and avoid the additional action of the mechanical arm 110 affecting the break-away of the foreign matter.

[0108] In an optional manner of the present application, the cleaning device 100 further comprises an arm bin 125 for accommodating the mechanical arm 110, and the cleaning device 100 is provided with at least one type of second sensing element, and the above method further comprises: acquiring sensing data of the second sensing element during the retraction action of the mechanical arm 110; in response to the sensing data of the at least one second sensing element satisfying a preset arm bin blockage condition, determining that the cleaning device 100 is in a foreign matter blockage state, and controlling the cleaning device 100 to perform a preset first arm bin break-away action.

[0109] In the process of performing the retraction action, the mechanical arm 110 can be blocked by the foreign matter in the arm bin 125, so that the mechanical arm 110 cannot be normally retracted into the arm bin 125.

[0110] The arm bin blockage condition can be set according to the actual state of the second sensing element when the foreign matter blocks the arm bin 125.

[0111] By acquiring the sensing data of the second sensing element and determining whether the sensing data satisfies the preset arm bin blockage condition, the effective detection of whether the foreign matter blocks the arm bin 125 can be realized.

[0112] In the scheme, the foreign matter blocking the arm cabin 125 is accurately detected based on the sensing data of the second sensing element, and the arm cabin 125 escape action is timely performed when the foreign matter blocks the arm cabin 125, so as to realize effective processing of the foreign matter blocking and ensure that the mechanical arm 110 can be normally retracted.

[0113] In an optional mode of the present application, the second sensing element includes at least one of the following: The first steering wheel 112 of the joint position of the mechanical arm 110; The in-place detector 124 of the cabin door 126 of the arm cabin 125; The arm cabin blocking condition corresponding to the first steering wheel includes that the first steering wheel 112 cannot be turned to a preset retraction angle during the retraction action, and the current of the first steering wheel 112 meets a preset second locked-rotor condition. The arm cabin blocking condition corresponding to the in-place detector 124 includes that the in-place detector 124 of the cabin door 126 is not triggered after the cabin door 126 performs the closing action.

[0114] The second sensing element can include the first steering wheel 112 of the joint position of the mechanical arm 110, and the corresponding arm cabin blocking condition includes that the first steering wheel 112 cannot be turned to a preset retraction angle during the retraction action, and the current of the first steering wheel 112 meets a preset second locked-rotor condition. That is, during the retraction action of the mechanical arm 110, the first steering wheel 112 cannot be turned to a preset retraction angle, and the current of the first steering wheel 112 meets a preset second locked-rotor condition, indicating that the mechanical arm 110 cannot continue to be retracted due to foreign matter blocking, and the first steering wheel 112 is locked, at which time it can be judged that the arm cabin blocking condition is met.

[0115] The second sensing element can also include the in-place detector 124 of the cabin door 126 of the arm cabin 125, and the corresponding arm cabin blocking condition includes that the in-place detector 124 of the cabin door 126 is not triggered after the cabin door 126 performs the closing action. That is, after the cabin door 126 performs the closing action, the in-place detector 124 of the cabin door 126 is not detected to be triggered within a specified time, indicating that the cabin door 126 cannot be normally closed due to foreign matter blocking the arm cabin 125, at which time it can be judged that the arm cabin blocking condition is met.

[0116] During the retraction action of the mechanical arm 110, after the mechanical arm 110 is completely retracted into the arm cabin 125, the cabin door 126 can perform the closing action. The in-place detector 124 of the cabin door 126 is used to detect the in-place state of the cabin door 126, and when the cabin door 126 is normally closed, the in-place detector 124 will be triggered, and when the cabin door 126 cannot be closed, the in-place detector 124 will not be triggered. Therefore, foreign matter detection can be performed based on the triggering condition of the in-place detector 124 of the cabin door 126.

[0117] In an optional mode of the present application, the first arm compartment escape action comprises at least one of the following: controlling the arm compartment door 126 of the arm compartment 125 to be in an open state, and unfolding the mechanical arm 110; controlling the arm compartment door 126 of the arm compartment 125 to be in an open state, and controlling the mechanical arm 110 to take out the foreign matter from the arm compartment 125; outputting second prompt information, the second prompt information being used at least for prompting the user to take out the foreign matter from the arm compartment 125.

[0118] In the case where it is judged that the foreign matter is blocking the arm compartment 125, the cleaning device 100 can perform the first arm compartment escape action to attempt to get rid of the foreign matter, so as to remove the blocking of the arm compartment 125 by the foreign matter.

[0119] Exemplarily, the first arm compartment escape action can comprise: controlling the arm compartment door 126 of the arm compartment 125 to be in an open state, and unfolding the mechanical arm 110. By controlling the arm compartment door 126 to be in an open state, the extrusion of the foreign matter by the arm compartment door 126 can be removed, and by unfolding the mechanical arm 110, the angle and space of the joints of the mechanical arm 110 can be changed, so as to facilitate the foreign matter to fall off.

[0120] Exemplarily, the first arm compartment escape action can comprise: controlling the arm compartment door 126 of the arm compartment 125 to be in an open state, and controlling the mechanical arm 110 to take out the foreign matter from the arm compartment 125.

[0121] In the present example, in the case where the arm compartment door 126 of the arm compartment 125 is controlled to be in an open state, the mechanical arm 110 can be controlled to take out the foreign matter from the arm compartment 125, so as to remove the constraint of the arm compartment 125 by the foreign matter.

[0122] In the present solution, by setting the first arm compartment escape action, and performing the first arm compartment escape action in the case where it is judged that the foreign matter is blocking the arm compartment 125, the effective treatment of the foreign matter blocking at the arm compartment 125 can be realized calmly, which is helpful to ensure the normal operation of the mechanical arm 110.

[0123] In an optional mode of the present application, the cleaning device 100 further comprises an arm compartment 125 for accommodating the mechanical arm 110, a collision sensor 121 arranged at the compartment opening position of the arm compartment 125, and at least one type of article drop sensing device, the article drop sensing device being used for sensing the state of the mechanical arm 110 taking the article, and the above method further comprises: In the process of the mechanical arm 110 performing the taking action, in response to the collision sensor 121 being triggered and the at least one article drop sensing device sensing the drop of the article taken by the mechanical arm 110, it is judged that the foreign matter is in a blocking state, and the mechanical arm 110 is controlled to perform the action of taking out the foreign matter from the arm compartment 125.

[0124] The collision sensor 121 is configured to sense foreign matter collision at the opening position of the arm bin 125. The article drop sensing device is configured to detect whether the article held by the robot arm 110 falls.

[0125] In the embodiment of the present application, during the process of the robot arm 110 performing the picking action, when it is detected that the collision sensor 121 is triggered and at least one article drop sensing device senses that the article held by the robot arm 110 falls, that is, the article held by the robot arm 110 falls and there is foreign matter collision at the opening position of the arm bin 125, it can be determined that the article held by the robot arm 110 falls to the opening position of the arm bin 125, causing the arm bin 125 to be blocked. At this time, the cleaning device 100 is in a foreign matter blocking state.

[0126] After it is determined that the article held by the robot arm 110 falls to the opening position of the arm bin 125, causing the arm bin 125 to be blocked by foreign matter, the robot arm 110 can be controlled to perform an action of taking out the foreign matter from the arm bin 125, thereby solving the blockage of the arm bin 125 by the foreign matter.

[0127] In the present scheme, by accurately detecting the blockage of the arm bin 125 caused by the article held by the robot arm 110 falling, and timely controlling the robot arm 110 to perform an action of taking out the foreign matter from the arm bin 125, the blockage of the arm bin 125 caused by the article held by the robot arm 110 falling can be removed, thereby realizing effective processing of the foreign matter blockage and ensuring the normal operation of the cleaning device 100.

[0128] In an optional mode of the present application, the article drop sensing device includes at least one of the following: a first vision sensor 123 arranged on the main body 120 of the cleaning device 100; a second vision sensor 113 arranged on the robot arm 110; a gripper motor of the robot arm 110; The first vision sensor 123 and / or the second vision sensor 113 are configured to sense the state of the article held by the robot arm. The gripper motor senses the drop of the article held by the robot arm 110, including that the current change of the gripper motor meets a preset article drop condition.

[0129] Exemplarily, the article drop sensing device can include the first vision sensor 123 of the main body 120 of the cleaning device 100, which is configured to visually perceive the state of the article held by the robot arm 110, thereby timely perceiving the drop of the article held by the robot arm 110.

[0130] Exemplarily, the article drop sensing device can further include a second vision sensor 113 of the robotic arm 110, and the state of the robotic arm 110 picking up the article is sensed visually by the second vision sensor 113, so as to timely sense the drop of the article picked up by the robotic arm 110.

[0131] Exemplarily, the article drop sensing device can further include a gripper motor of the robotic arm 110. The gripper motor is used to drive the gripper of the robotic arm 110 to pick up the article. When the article picked up by the robotic arm 110 drops, the current of the gripper motor will change in a specific manner. The article drop condition can be set according to the current change of the gripper motor, and when the current change of the gripper motor meets the preset article drop condition, it is determined that the article picked up by the robotic arm 110 drops. For example, the article drop condition is that the current of the gripper motor drops sharply within a certain time length, such as within 200 ms, and the current of the gripper motor decreases by more than 30%.

[0132] Exemplarily, the drop of the article picked up by the robotic arm 110 can be detected by one or more article drop sensing devices. When there are multiple article drop sensing devices, the multiple article drop sensing devices can complement each other, so as to improve the detection accuracy of the drop of the article picked up by the robotic arm 110. For example, when the gripper motor and the first vision sensor 123 simultaneously sense that the article picked up by the robotic arm 110 drops, it indicates that the detection accuracy of the drop of the article picked up by the robotic arm 110 is relatively high at this time.

[0133] In an optional mode of the present application, after the robotic arm 110 is controlled to perform the action of taking out the foreign matter from the arm bin 125, the above method further includes: In response to the article drop sensing device sensing that the robotic arm 110 does not take out the foreign matter from the arm bin 125, the robotic arm 110 is controlled to stop the action, and third prompt information is output, the third prompt information at least being used to prompt the user that the robotic arm 110 fails to take out the foreign matter from the arm bin 125.

[0134] In the above method, after the robotic arm 110 performs the action of taking out the foreign matter from the arm bin 125, the robotic arm 110 can successfully pick up the foreign matter, or can fail to pick up the foreign matter. At this time, whether the robotic arm 110 successfully takes out the foreign matter from the arm bin 125 can be sensed by the article drop sensing device. When it is detected that the robotic arm 110 does not take out the foreign matter from the arm bin 125, the robotic arm 110 can be controlled to stop the action, so as to avoid damaging the mechanical structure of the cleaning device 100, or to avoid affecting the safety of the living things. At the same time, the cleaning device can output the third prompt information to prompt the user that the robotic arm 110 fails to take out the foreign matter from the arm bin 125.

[0135] Exemplarily, the form of the third prompt information can include, but is not limited to, voice broadcast, visual cues such as light, and information pushed to the user terminal.

[0136] In this scheme, after the control of the mechanical arm 110 to perform the action of taking out the foreign matter from the arm compartment 125, when the foreign matter is not successfully taken out, that is, the foreign matter still blocks the arm compartment 125, subsequent processing strategies (stop action and prompt) are provided, which realizes multi-level response in the foreign matter processing process, and helps to improve the processing effect of the cleaning equipment 100 on the foreign matter.

[0137] In an optional mode of the present application, the cleaning equipment 100 further comprises an arm compartment 125 for accommodating the mechanical arm 110, a collision sensor 121 arranged at the compartment opening position of the arm compartment 125, and a first visual sensor 123 arranged at the main body 120 of the cleaning equipment 100, and the above method further comprises: In the process of the mechanical arm 110 performing the taking action, in response to the collision sensor 121 being triggered and the first visual sensor 123 detecting that the foreign matter falls into the arm compartment 125, it is judged that it is in the foreign matter blocking state, and the cleaning equipment 100 is controlled to perform a preset second arm compartment escape action.

[0138] In the process of the mechanical arm 110 performing the taking action, in response to the collision sensor 121 being triggered and the first visual sensor 123 detecting that the foreign matter falls into the arm compartment 125, it is judged that it is in the foreign matter blocking state, and the cleaning equipment 100 is controlled to perform a preset second arm compartment escape action.

[0139] In the process of the mechanical arm 110 performing the taking action, in response to the collision sensor 121 being triggered and the first visual sensor 123 detecting that the foreign matter falls into the arm compartment 125, it is judged that it is in the foreign matter blocking state, and the cleaning equipment 100 is controlled to perform a preset second arm compartment escape action.

[0140] In the process of the mechanical arm 110 performing the taking action, in response to the collision sensor 121 being triggered and the first visual sensor 123 detecting that the foreign matter falls into the arm compartment 125, it is judged that it is in the foreign matter blocking state, and the cleaning equipment 100 is controlled to perform a preset second arm compartment escape action.

[0141] In an optional mode of the present application, the control of the cleaning equipment 100 to perform the preset second arm compartment escape action comprises: detecting the foreign matter as a living thing; In response to the foreign matter being a living thing, the cleaning device 100 is controlled to stop moving, and / or the mechanical arm 110 is controlled to return to the action state before the foreign matter blocking state is triggered. In response to the foreign matter being a non-living thing, the cleaning device 100 is controlled to perform a preset moving action, and the moving action at least includes rotating a preset number of times, or the mechanical arm 110 is controlled to put down the taken object and perform an action of taking out the foreign matter from the arm bin 125.

[0142] In the process of the mechanical arm 110 taking the object, the collision of the arm bin 125 can be caused by a living thing or a non-living thing. In this case, different escape strategies can be used for living things and non-living things to improve the success rate of escape.

[0143] In the embodiment of the application, when it is judged that the bin opening position of the arm bin 125 is collided by other foreign matter in the process of the mechanical arm 110 taking the object, the foreign matter can be detected first to determine whether the foreign matter is a living thing or a non-living thing.

[0144] For example, the living thing detection can be realized based on the living thing features (such as human skin color, pet hair texture, etc.) in the visual information collected by the visual sensor.

[0145] For example, the cleaning device 100 can also be provided with an infrared detection sensor to collect infrared thermal radiation information of the foreign matter, and the living thing detection is performed based on the infrared thermal radiation information.

[0146] In the case of the foreign matter being a living thing, the cleaning device 100 can be controlled to stop moving, and / or the mechanical arm 110 can be controlled to return to the action state before the foreign matter blocking state is triggered. By controlling the cleaning device 100 to stop moving, the safety of the living thing can be avoided. By controlling the mechanical arm 110 to return to the action state before the foreign matter blocking state is triggered, the risk of the living thing being pressed can be reduced.

[0147] In the case of the foreign matter being a non-living thing, the cleaning device 100 can be controlled to perform a preset moving action, such as rotating a preset number of times. Through the movement of the cleaning device 100, some foreign matters can fall from the arm bin 125, thereby realizing the escape of the non-living thing.

[0148] In the case of the foreign matter being a non-living thing, the mechanical arm 110 can also be controlled to put down the taken object, and then perform an action of taking out the foreign matter from the arm bin 125. In the scenario in this example, the cleaning device 100 is in the process of taking the object. At this time, if the mechanical arm 110 needs to be controlled to take the foreign matter, the mechanical arm 110 needs to be controlled to put down the taken object first, and then perform an action of taking out the foreign matter from the arm bin 125.

[0149] In the scheme, by providing differentiated escape strategies for living or non-living foreign objects, the escape effect is improved, which helps to ensure the normal operation of the cleaning device 100.

[0150] In an optional mode of the present application, after the second arm compartment escape action is performed, the method further includes: In response to the foreign object not being escaped from the arm compartment 125, the mechanical arm 110 is controlled to stop moving, and fourth prompt information is output, which is at least used to prompt that the foreign object has not been escaped from the arm compartment 125.

[0151] After the second arm compartment escape action is performed, if it is detected that the foreign object has not been escaped from the arm compartment 125, the mechanical arm 110 can be controlled to stop moving to avoid damaging the mechanical result of the cleaning device 100 or affecting the safety of the living object. Meanwhile, fourth prompt information can be output to prompt the user that the foreign object has not been escaped from the arm compartment 125.

[0152] For example, that the foreign object has not been escaped from the arm compartment 125 can be detected by the collision sensor 121 and the first vision sensor 123. For example, after the second arm compartment escape action is performed, if the collision sensor 121 is triggered and the first vision sensor 123 detects that the foreign object has fallen into the arm compartment 125, it indicates that the foreign object has not been escaped from the arm compartment 125.

[0153] For example, the form of the fourth prompt information can include but is not limited to voice broadcast, visual prompt such as light, and information pushed to the user end.

[0154] In the scheme, after the second arm compartment escape action is performed, when the foreign object has not been escaped from the arm compartment 125, that is, the foreign object still blocks the arm compartment 125, subsequent processing strategies (stopping moving and prompting) are provided, which realizes multi-level response in the foreign object processing process, and helps to improve the processing effect of the cleaning device 100 on the foreign object.

[0155] In an optional mode of the present application, the cleaning device 100 further includes an arm compartment 125 for accommodating the mechanical arm 110 and a collision sensor 121 arranged at the compartment opening position of the arm compartment 125. The method further includes: During the retracting action of the mechanical arm 110, and when the door 126 of the arm compartment 125 is in an open state, in response to the collision sensor 121 being triggered, it is judged that the foreign object is in a blocking state, the mechanical arm 110 is controlled to adjust to an unfolded state and maintained for a second predetermined time length.

[0156] The collision sensor 121 is used to sense the collision of the foreign object at the compartment opening position of the arm compartment 125.

[0157] In the embodiment of the present application, during the process of the mechanical arm 110 performing the retraction action, the door 126 of the arm compartment 125 is in an open state (i.e., before the door 126 is completely closed), at this time, if the collision sensor 121 is triggered, it indicates that there is foreign matter collision at the position of the opening of the arm compartment 125, resulting in the existence of the blockage of the arm compartment 125, and the cleaning device 100 is in the foreign matter blockage state at this time.

[0158] Before the mechanical arm 110 performs the retraction action and the door 126 of the arm compartment 125 is not completely closed, it is detected that there is foreign matter at the position of the opening of the arm compartment 125, at this time, the mechanical arm 110 can be controlled to adjust to the unfolded state, so that the space at the joint of the mechanical arm 110 is increased, the extrusion state of the foreign matter is released, and the unfolded state of the mechanical arm 110 is maintained for a second preset time, thereby reserving a time window for the foreign matter to escape, which helps to improve the success rate of the foreign matter to escape.

[0159] Exemplarily, the adjustment of the mechanical arm 110 to the unfolded state means that each steering engine of the mechanical arm 110 is adjusted to a certain angle, so that the mechanical arm 110 as a whole assumes an unfolded posture.

[0160] In the present scheme, by accurately detecting the existence of foreign matter blockage at the position of the opening of the arm compartment 125 before the mechanical arm 110 performs the retraction action and the door 126 of the arm compartment 125 is not completely closed, and timely controlling the mechanical arm 110 to adjust to the unfolded state and maintain for a second preset time, the escape of the foreign matter at the position of the opening of the arm compartment 125 is facilitated, thereby realizing effective handling of the foreign matter blockage and ensuring the normal operation of the cleaning device 100.

[0161] In an optional mode of the present application, the cleaning device 100 further comprises an arm compartment 125 for accommodating the mechanical arm 110 and a collision sensor 121 arranged at the opening of the arm compartment 125, and the above method further comprises: After the mechanical arm 110 performs the retraction action and is retracted into the arm compartment 125, and before the door 126 performs the closing action or during the process of the door 126 performing the closing action, in response to the satisfaction of a preset door blockage condition, it is judged that it is in the foreign matter blockage state, and the door 126 is controlled to perform the closing action after waiting for a third preset time, wherein the door blockage condition comprises that the collision sensor 121 is triggered.

[0162] In the process of the mechanical arm 110 performing the retraction action, after the mechanical arm 110 is completely retracted into the arm compartment 125, the door 126 will perform the closing action, and after the door 126 is successfully closed, the complete retraction action of the mechanical arm 110 is completed.

[0163] After the mechanical arm 110 is completely withdrawn into the arm compartment 125, before the compartment door 126 performs the closing action or during the process of the compartment door 126 performing the closing action, it can be judged whether the preset compartment door blocking condition is met, and when it is detected that the compartment door blocking condition is met, it can be judged that the compartment door is blocked by foreign matter.

[0164] Exemplarily, the compartment door blocking condition includes that the collision sensor 121 is triggered.

[0165] The collision sensor 121 is used to detect the case that the compartment opening position of the compartment door 126 is collided by foreign matter, and when the collision sensor 121 is triggered, it indicates that the compartment opening position of the compartment door 126 is blocked by foreign matter.

[0166] By controlling the compartment door 126 to wait for a third preset time length before performing the closing action again, the compartment door 126 can be kept stationary during the waiting period, thereby releasing the continuous extrusion on the foreign matter, facilitating the natural falling of part of the foreign matter, and avoiding affecting the safety of living things. After waiting for the third preset time length, the foreign matter may have escaped, and the closing action is performed again at this time, and the compartment door 126 can be successfully closed. By delaying and retrying, the safety and reliability of the cleaning device 100 can be improved, which is helpful to maintain the normal operation of the cleaning device 100.

[0167] In the scheme, by accurately detecting the foreign matter blocking the compartment door 126 after the mechanical arm 110 is completely withdrawn into the arm compartment 125, before the compartment door 126 performs the closing action, or during the process of the compartment door 126 performing the closing action, and controlling the compartment door 126 to wait for a third preset time length before performing the closing action again, the blocking of the compartment door 126 by the foreign matter can be released, thereby realizing effective processing of the foreign matter blocking and ensuring the normal closing of the compartment door 126.

[0168] In an optional mode of the present application, the cleaning device 100 further comprises a position detector 124 arranged at the compartment door 126 of the arm compartment 125, and / or a second steering engine 122 for driving the compartment door 126, and the compartment door blocking condition further comprises at least one of the following: During the process of the compartment door 126 performing the closing action, the current of the second steering engine 122 meets a preset third stall condition; The position detector 124 is not triggered within a first specified time length.

[0169] The second steering engine 122 is a steering engine for driving the compartment door 126 to open or close. When the compartment door 126 is blocked by foreign matter, it may cause the second steering engine 122 to stall, and at this time the current of the second steering engine 122 will abnormally increase. The third stall condition can be set according to the change of the current when the stall occurs. For example, the third stall condition can be that the current of the second steering engine 122 is higher than a preset third stall current.

[0170] When the closing action is performed on the hatch 126, the hatch 126 is flipped towards the hatch opening of the arm cabin 125 under the driving of the second steering engine 122 until the hatch 126 is normally closed, at which time the in-place detector 124 is triggered, and when the hatch 126 cannot be closed, the in-place detector 124 is not triggered.

[0171] Therefore, foreign matter detection can be performed based on the triggering condition of the in-place detector 124 of the hatch 126 when the closing action is performed on the hatch 126. During the process of performing the closing action on the hatch 126, if the in-place detector 124 of the hatch 126 is not triggered, for example, the in-place detector 124 of the hatch 126 is not triggered within a first specified time period (e.g., 2s) after the closing action of the hatch 126 is performed, it is determined that the foreign matter is blocked, and the hatch 126 is controlled to wait for a third predetermined time period before performing the closing action again.

[0172] When the foreign matter detection of the hatch 126 is performed during the process of performing the closing action on the hatch 126, in addition to the triggering condition of the collision sensor 121, the triggering condition of the in-place detector 124 and whether the second steering engine 122 is blocked can also be referred to. Specifically, when the collision sensor 121 is triggered and the in-place detector 124 of the hatch 126 is not triggered, and / or the second steering engine 122 is blocked during the process of performing the closing action on the hatch 126, it is determined that the foreign matter is blocked at the hatch 126.

[0173] In this scheme, the foreign matter blocking detection of the hatch 126 is performed by combining multiple sensing elements, which can significantly improve the detection accuracy of the foreign matter blocking.

[0174] In an optional manner of the present application, after the hatch 126 is controlled to wait for a third predetermined time period before performing the closing action again, the above method further comprises: In response to the in-place detector 124 of the hatch 126 not being triggered within a second specified time period, the hatch 126 is controlled to stop the action, and a fifth prompt information is outputted, the fifth prompt information at least being used to prompt the user that the hatch 126 cannot be closed.

[0175] In this scheme, the foreign matter blocking detection of the hatch 126 is performed by combining multiple sensing elements, which can significantly improve the detection accuracy of the foreign matter blocking.

[0176] Exemplarily, the form of the fifth prompt information can include, but is not limited to, voice broadcast, visual prompt such as light, and information pushed to the user terminal.

[0177] In the scheme, after detecting that the foreign matter affects the normal closing action of the bin door 126, and after the delay retry still cannot remove the blockage of the bin door 126 by the foreign matter, the subsequent processing strategy (stopping the action of the bin door 126 and prompting) is provided, so that multi-level response in the foreign matter processing process is realized, which helps to improve the processing effect of the cleaning equipment 100 on the foreign matter.

[0178] In the scheme, by providing multiple types of sensing elements on the mechanical arm 110 and the main body 120 of the host and configuring corresponding blockage judgment conditions, accurate judgment of multiple foreign matter blockage scenarios such as foreign matter blockage of the mechanical arm 110, foreign matter blockage of the arm bin 125, and foreign matter blockage of the bin door 126 is realized, and foreign matter processing strategies are provided for different foreign matter blockage scenarios, which helps to improve the escape probability and improve the effect of foreign matter processing.

[0179] In an optional mode of the present application, in response to being in a foreign matter blockage state, the above method further includes at least one of the following: outputting at least one preset form of alarm information; detecting the state of the steering wheel of the cleaning equipment 100 after the foreign matter is removed; calibrating at least one type of sensor of the cleaning equipment 100 after the foreign matter is removed; sending the related information of the foreign matter to the mobile terminal; detecting the living matter of the foreign matter, and in response to the foreign matter being a living matter, executing a living matter foreign matter processing strategy, the living matter processing strategy including at least one of the following: controlling the cleaning equipment 100 to stop running, controlling the cleaning equipment 100 to enter a locked state, controlling the mechanical arm 110 to return to the action state before triggering the foreign matter blockage state, and outputting a living matter alarm information.

[0180] The embodiments of the present application also provide the following foreign matter processing strategies common to multiple different foreign matter blockage scenarios, and by providing multiple foreign matter processing strategies, the processing effect of the cleaning equipment 100 on the foreign matter blockage can be effectively improved.

[0181] Exemplarily, when the cleaning equipment 100 is in a foreign matter blockage state, the cleaning equipment 100 can be controlled to output at least one preset form of alarm information to prompt the user that the cleaning equipment 100 is in an abnormal blockage state.

[0182] Exemplarily, the alarm information can be in the form of voice broadcast, such as broadcast with high frequency (1000-2000 Hz) and high loudness (80-90 decibels). The broadcast content can include the specific type of foreign matter blockage, such as: abnormal retraction of the mechanical arm 110, please clean the foreign matter in time. The alarm information can also be visual prompt information in the form of light, for example, through the flashing of the lights on the key panel of the cleaning device 100 body or the lights on the mechanical arm 110.

[0183] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, after the foreign matter is removed, the rudders (such as the first rudder 112 and the second rudder 122 mentioned above) of the cleaning device 100 can also be detected to ensure that the rudders are in a normal state to support subsequent normal use.

[0184] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, after the foreign matter is removed, at least one type of sensor of the cleaning device 100 can also be calibrated to ensure that the subsequent sensor can provide accurate detection data, which is convenient for subsequent accurate detection of foreign matter.

[0185] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, the cleaning device 100 can also be controlled to send the related information of the foreign matter to the user's mobile terminal, including but not limited to the image of the foreign matter, the position of the foreign matter, the removal of the foreign matter, etc., so that the user can fully understand the situation of the foreign matter.

[0186] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, the foreign matter can also be live matter detection, and when it is judged that the foreign matter is live matter, a live matter processing strategy is executed, which includes at least one of the following: controlling the cleaning device 100 to stop running, controlling the cleaning device 100 to enter a locked state, controlling the mechanical arm 110 to restore to the action state before triggering the foreign matter blockage state, outputting live matter alarm information.

[0187] Among them, controlling the cleaning device 100 to stop running, that is, terminating all actions of the mechanical arm 110 and the main body 120 of the cleaning device 100, to avoid affecting the safety of the live matter.

[0188] Controlling the cleaning device 100 to enter a locked state, that is, locking the cleaning device 100, so that the cleaning device 100 will not automatically resume running, thereby avoiding affecting the safety of the live matter. In this example, after the cleaning device 100 enters the locked state, the user needs to perform a specific operation to manually unlock, for example, through the mobile device installation user terminal application to unlock, or simultaneously long press the emergency stop key + power key for 3 seconds to unlock.

[0189] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, the mechanical arm 110 can also be controlled to return to the action state before triggering the foreign matter blockage state, thereby providing a larger activity space for the foreign matter to get rid of, reducing the pressure of the mechanical arm 110 on the foreign matter, and avoiding affecting the safety of the living thing.

[0190] Exemplarily, when the cleaning device 100 is in the foreign matter blockage state, the cleaning device 100 can also output living thing alarm information. The living thing alarm information is used to prompt the user that the cleaning device 100 is blocked by the living thing. The form of the living thing alarm information can include but is not limited to voice broadcast, visual prompt such as light, and information pushed to the user end, etc.

[0191] The above describes the technical solutions provided by the present application in detail, and the principles and implementation modes of the present application are described by applying specific examples. The above example is only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A cleaning device control method characterized by, The cleaning device comprises a mechanical arm, an arm bin for accommodating the mechanical arm, a collision sensor arranged at a bin opening position of the arm bin, and at least one type of article drop sensing device for sensing the state of the mechanical arm taking an article, and the method comprises: During the process of the mechanical arm performing the taking action, in response to the collision sensor being triggered and at least one of the article drop sensing devices sensing the drop of the article taken by the mechanical arm, it is determined that the foreign matter blocking state is present, and the mechanical arm is controlled to perform the action of taking out the foreign matter from the arm bin.

2. The method of claim 1, wherein, The article drop sensing device comprises at least one of the following: A first visual sensor arranged on the main body of the cleaning device; A second visual sensor arranged on the mechanical arm; A gripper motor of the mechanical arm; The first visual sensor and / or the second visual sensor are used to sense the state of the mechanical arm taking an article; The drop of the article taken by the mechanical arm sensed by the gripper motor comprises that the current change of the gripper motor meets the preset article drop condition.

3. The method of claim 1, wherein, After the control of the mechanical arm to perform the action of taking out the foreign matter from the arm bin, the method further comprises: In response to the article drop sensing device sensing that the mechanical arm does not take out the foreign matter from the arm bin, the mechanical arm is controlled to stop the action, and third prompt information is outputted, which is at least used to prompt the user that the mechanical arm fails to take out the foreign matter from the arm bin.

4. The method of claim 1, wherein, The cleaning device is provided with at least one type of second sensing element, and the method further comprises: During the process of the mechanical arm performing the retraction action, sensing data of the second sensing element is acquired; In response to the sensing data of at least one of the second sensing elements meeting the preset arm bin blocking condition, it is determined that the foreign matter blocking state is present, and the cleaning device is controlled to perform a preset first arm bin escape action.

5. The method of claim 4, wherein, The second sensing element comprises at least one of the following: A first steering wheel of the joint position of the mechanical arm; A door position detector of the bin door of the arm bin; The arm bin blocking condition corresponding to the first steering wheel comprises that the first steering wheel cannot be turned to a preset retraction angle during the retraction action, and the current of the first steering wheel meets a preset second stall condition; The arm bin blocking condition corresponding to the door position detector comprises that the door position detector of the bin door is not triggered after the bin door performs the closing action.

6. The method of claim 4, wherein, The first arm bin escape action comprises at least one of the following: Control the bin door of the arm bin to be in an open state, and deploy the mechanical arm; Control the bin door of the arm bin to be in an open state, and control the mechanical arm to take out the foreign matter from the arm bin; Output second prompt information, which is at least used to prompt the user to take out the foreign matter from the arm bin.

7. The method of claim 1, wherein, The method further comprises: During the process of the mechanical arm performing the retraction action, and when the bin door of the arm bin is in an open state, in response to the collision sensor being triggered, it is determined that the foreign matter blocking state is present, the mechanical arm is controlled to be adjusted to a deployed state, and maintained for a second preset time period.

8. The method of claim 1, wherein, The method further comprises: After the mechanical arm performs the retraction action and is retracted into the arm compartment, and before or during the execution of the closing action of the compartment door, in response to the satisfaction of a preset compartment door blockage condition, it is determined that the foreign matter blockage state is present, and the closing action of the compartment door is controlled to be executed after waiting for a third preset time length, wherein the compartment door blockage condition includes the collision sensor being triggered.

9. The method of claim 8, wherein, The cleaning device further comprises a position detector provided on the compartment door of the arm compartment, and / or a second steering engine for driving the compartment door, and the compartment door blockage condition further comprises at least one of the following: During the execution of the closing action of the compartment door, the current of the second steering engine satisfies a preset third stall condition. The position detector is not triggered within a first specified time length.

10. The method according to claim 8 or 9, characterized in that, After the control of the compartment door waiting for a third preset time length before executing the closing action again, the method further comprises: In response to the position detector of the compartment door not being triggered within a second specified time length, the compartment door is controlled to stop moving, and fifth prompt information is output, wherein the fifth prompt information is at least used to prompt the user that the compartment door cannot be closed.

11. The method according to any one of claims 1-10, characterized in that, In response to being in the foreign matter blockage state, the method further comprises at least one of the following: Outputting at least one preset form of alarm information; After the foreign matter is removed, performing state detection on the steering engine of the cleaning device; After the foreign matter is removed, performing calibration operation on at least one type of sensor of the cleaning device; Sending the related information of the foreign matter to a mobile terminal; Performing living object detection on the foreign matter, and in response to the foreign matter being a living object, executing a living object foreign matter processing strategy, wherein the living object processing strategy comprises at least one of the following: controlling the cleaning device to stop running, controlling the cleaning device to enter a locked state, controlling the mechanical arm to restore to a motion state before triggering the foreign matter blockage state, and outputting living object alarm information.

12. A cleaning apparatus, characterized by The cleaning device is configured to execute the method of any one of claims 1-11.

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