Method for taking accessories from accessory bin by sweeper, sweeper and control system

Abstract

The embodiment of the invention provides a method for a sweeper to take accessories from an accessory bin, the sweeper and a control system, and belongs to the technical field of sweepers. The method comprises the following steps: judging whether accessories need to be acquired currently; determining a target accessory bin of the target accessory under the condition of judging that the accessory is needed at present; and the robot goes to the target accessory bin, and the target accessories are grabbed and installed. According to the method, the sweeper and the control system, by controlling the sweeper to directly go to the target accessory bin to grab and install the accessories when the accessories need to be replaced, the mode of manually replacing the accessories in the prior art is replaced, the accessory replacement efficiency of the sweeper is improved, and therefore the working efficiency of the sweeper is further improved.

Description

Technical Field

[0001] This invention relates to the field of sweeping machine technology, and more specifically to a method for a sweeping machine to retrieve parts from a parts compartment, the sweeping machine itself, and a control system. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, robotic vacuum cleaners have evolved from simple vacuuming tools into intelligent cleaning robots capable of handling multiple scenarios and tasks. To cope with complex floor environments (such as hard floors, carpets, and crevices) and diverse cleaning tasks (such as sweeping, mopping, disinfecting, and polishing), modern high-end robotic vacuum cleaners have begun to integrate robotic arms and are equipped with various replaceable end effectors, such as roller brushes, mop discs, crevice cleaning heads, and polishing pads. This design philosophy aims to enhance the overall utility of the equipment through "one machine, multiple functions," reducing the cost for users to purchase and manage multiple single-function devices.

[0003] However, a significant bottleneck in existing technological solutions restricts further improvements in work efficiency and automation: the robotic arm cannot autonomously replace parts, still requiring human intervention. This limits the automation efficiency of the sweeping robot. Summary of the Invention

[0004] The purpose of this invention is to provide a method for a sweeper to retrieve parts from a parts compartment, the sweeper itself, and a control system, which can improve the working efficiency of the sweeper.

[0005] To achieve the above objectives, embodiments of the present invention provide a method for a sweeping robot to retrieve accessories from an accessory compartment, comprising: Determine if it is currently necessary to acquire the accessory; Based on the current need for spare parts, determine the target spare parts warehouse in advance; Proceed to the target accessory compartment, grab and install the target accessory.

[0006] As an optional implementation, the method further includes proceeding to the target parts warehouse: Determine if any accessories have been installed. If a component is already installed, search for the current component's current component inventory. Proceed to the current parts warehouse and store the current parts in the current parts warehouse.

[0007] As an optional implementation, storing the current accessory in the current accessory compartment includes: Adjust the real-time posture of the current accessory based on the current accessory storage posture in the accessory compartment; Place the adjusted current accessory into the current accessory compartment.

[0008] As an optional implementation, storing the current accessory in the current accessory storage compartment includes: If the current accessory is placed in the current accessory compartment, determine whether an unlock command for the current accessory compartment has been received; Upon receiving the unlock command, the current accessory is unlocked and exited from the current accessory compartment.

[0009] As an optional implementation, a QR code is provided on the bottom of the accessory, and the QR code is set to be exposed in a position that the robotic arm can detect when the accessory is placed in the current accessory compartment; The determination of whether the unlocking command for the current parts compartment has been received includes: Determine whether the QR code can be detected at present; If it is determined that the QR code can be detected, then it is determined whether the unlocking command has been received.

[0010] As an optional implementation, the grasping and installation of the target accessory includes: Adjust the posture of the robotic arm that grasps the target part to enter the target part compartment; Determine whether the robotic arm and the target component have successfully engaged; Once it is confirmed that the robotic arm has successfully engaged with the target accessory, the robotic arm is controlled to exit the target accessory compartment.

[0011] As an optional implementation, determining whether the robotic arm and the target accessory have successfully engaged includes: The robotic arm determines whether it receives the detection current from the target component. Upon receiving the detected current, it is determined that the target accessory has been successfully engaged.

[0012] As an optional implementation, before controlling the robotic arm to exit the target parts compartment, the method further includes: Send a release command to the target accessory compartment to release the target accessory.

[0013] On the other hand, the present invention also provides a sweeping machine, including a sweeping machine body and a robotic arm, wherein the sweeping machine body is used to control the robotic arm to perform any of the methods described above.

[0014] Furthermore, the present invention also provides a control system, comprising: Parts storage compartment, used to store parts; A sweeping machine, used to perform any of the methods described above.

[0015] Through the above technical solution, the embodiments of the present invention provide a method for a sweeping machine to retrieve parts from a parts compartment, a sweeping machine, and a control system. The method, sweeping machine, and control system control the sweeping machine to directly go to the target parts compartment to grab and install parts when parts need to be replaced, replacing the existing technology that relies on manual replacement of parts, thereby improving the parts replacement efficiency of the sweeping machine and further improving the working efficiency of the sweeping machine.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is one of the flowcharts of a method for a sweeping machine to retrieve accessories from an accessory compartment according to an embodiment of the present invention; Figure 2 This is a second flowchart of a method for a sweeping machine to retrieve accessories from an accessories compartment according to an embodiment of the present invention; Figure 3 This is a flowchart of a method for a sweeping machine to retrieve accessories from an accessory compartment according to an embodiment of the present invention; Figure 4 This is a flowchart of a method for storing a current accessory in a current accessory warehouse according to an embodiment of the present invention; Figure 5 This is a flowchart of a method for placing a current accessory into a current accessory compartment according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the QR code setting position according to an embodiment of the present invention; Figure 7 This is a flowchart of a method for grasping and installing a target accessory according to an embodiment of the present invention; and Figure 8 This is a structural block diagram of a control system according to one embodiment of the present invention. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0019] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0020] With the rapid development of artificial intelligence and robotics, robotic vacuum cleaners have evolved from simple vacuuming tools into intelligent cleaning robots capable of handling multiple scenarios and tasks. To cope with complex floor environments (such as hard floors, carpets, and crevices) and diverse cleaning tasks (such as sweeping, mopping, disinfecting, and polishing), modern high-end robotic vacuum cleaners have begun to integrate robotic arms and are equipped with various replaceable end effectors, such as roller brushes, mop discs, crevice cleaning heads, and polishing pads. This design philosophy aims to enhance the overall utility of the equipment through "one machine, multiple functions," reducing the cost for users to purchase and manage multiple single-function devices.

[0021] However, a significant bottleneck in existing technological solutions restricts further improvements in work efficiency and automation: the robotic arm cannot autonomously replace parts, still requiring human intervention. This limits the automation efficiency of the sweeping robot.

[0022] To overcome this technical problem, the inventors discovered that by controlling the sweeper to directly go to the target parts compartment to grab and install parts when replacement is needed, instead of relying on manual replacement of parts in the existing technology, the parts replacement efficiency of the sweeper is improved, thereby further improving the working efficiency of the sweeper.

[0023] like Figure 1 The diagram shown is one of the flowcharts illustrating a method for a sweeping robot to retrieve accessories from an accessory compartment according to an embodiment of the present invention. Figure 2 The diagram shown is a second flowchart illustrating a method for a sweeping robot to retrieve accessories from an accessory compartment according to an embodiment of the present invention. Figure 1 and Figure 2 In this method, the steps may include: In step S10, it is determined whether it is necessary to obtain the parts. In step S11, if it is determined that a part is needed, the target part warehouse for the desired part is determined. Conversely, if it is determined that a part is not needed, the process can return to step S10.

[0024] In step S12, proceed to the target parts warehouse, grab and install the target parts.

[0025] In such Figure 1 and Figure 2In the method shown, step S10 can be used to determine whether an accessory needs to be retrieved. This accessory can be, but is not limited to, a vacuum cleaner, a roller brush, a mop pad, a crevice cleaning head, a polishing pad, etc. The specific method for determining whether an accessory needs to be retrieved can be of various forms known to those skilled in the art. In one example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, determining that the currently installed accessory does not meet the requirements of the cleaning task to be performed, and therefore the accessory needs to be replaced; in another example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, determining that the currently installed accessory is malfunctioning, and therefore the accessory needs to be replaced; in yet another example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, receiving an instruction to replace the accessory.

[0026] Step S11 can be used to determine the target accessory compartment when it is determined that an accessory is currently needed. The specific method for determining the target accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, the method for determining the target accessory compartment can be to directly search a preset database for accessory models and accessory compartments matching those models, and determine the target accessory compartment based on the location information associated with the accessory compartments. In another example of the present invention, the method for determining the target accessory compartment can be to determine the relative position of the target accessory compartment to the current robot vacuum cleaner using a robot vision algorithm, and directly travel to the target accessory compartment based on a preset robot automatic pathfinding algorithm.

[0027] Step S11, which determines the location of the desired part when a replacement part is needed, allows the robot vacuum to autonomously search for and retrieve the part when needed. Compared to existing technologies, this method automates the replacement process by replacing parts manually, thereby improving the robot vacuum's efficiency and automation level.

[0028] like Figure 3 The diagram shown is a flowchart of a method for a multi-pair interface accessory storage according to an embodiment of the present invention. Figure 1 and Figure 2 The difference in the method shown is that, Figure 3 The method shown includes the following steps before proceeding to the target parts warehouse: In step S20, it is determined whether the accessory has been installed. In step S21, if it is determined that an accessory is currently installed, the current accessory's current accessory storage is searched. Conversely, if it is determined that no accessory is currently installed, step S12 can be executed directly, that is: go to the target accessory storage, grab and install the target accessory.

[0029] In step S22, go to the current parts warehouse and store the current parts in the current parts warehouse.

[0030] In such Figure 3 In the method shown, step S20 can be used to determine whether an accessory has been installed. The method for determining whether an accessory has been installed can be of various forms known to those skilled in the art. In one example of the invention, the method for determining whether an accessory has been installed can be, for example, by determining whether a detection current for the accessory can be detected on the robotic arm of the sweeper. In this way, it is possible to accurately determine whether an accessory has been installed on the robotic arm. In another example of the invention, the method for determining whether an accessory has been installed can be, for example, by directly using an image acquisition device (such as a camera mounted on the sweeper, an external camera, etc.) based on an image discrimination algorithm to determine whether an accessory has been installed on the robotic arm. In this way, it is possible to determine whether an accessory has been installed on the robotic arm directly from the outside without considering the electrical connection structure of the robotic arm itself. Compared with the current detection method, this example has wider applicability. In yet another example of the invention, the method for determining whether an accessory has been installed can be, for example, by directly reading the task log of the sweeper and determining whether the task to be executed is the first task executed after the sweeper starts this time. If the currently executing task is the first task in this execution, then it can be assumed that no accessories are currently installed; conversely, if the currently executing task is not the first task in this execution, then it can be assumed that accessories are currently installed. In this way, no additional detection process is needed. The current status of accessories can be determined directly by reading the task log of the robot vacuum itself. Compared with the example of detecting current and image acquisition, this example can determine whether accessories are currently installed with a lower design cost.

[0031] Step S21 can be used to search for the current accessory compartment when it is determined that an accessory is currently installed. The specific method for searching the current accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, the method for searching the current accessory compartment can be to directly search for the accessory model and the accessory compartment matching the accessory model in a preset database, and determine the current accessory compartment based on the location information associated with the accessory compartment; in another example of the present invention, the method for searching the current accessory compartment can be to determine the relative position of the current accessory compartment and the current robot vacuum cleaner using a robot vision algorithm, and directly travel to the current accessory compartment based on a preset robot automatic pathfinding algorithm.

[0032] Through step S21, which involves searching for the current accessory's storage compartment when an accessory is already installed, the robot vacuum can autonomously locate the compartment and retrieve the accessory when it needs to remove it. Compared to existing technologies, this method replaces the conventional method of manually disassembling or categorizing accessories, automating accessory disassembly and storage, thereby improving the robot vacuum's efficiency and automation level.

[0033] Step S22 can be used to navigate to the current parts compartment and store the current parts therein. The method for navigating to the current parts compartment can be of various forms known to those skilled in the art. In one example of the invention, the method can be, for example, directly using a robot pathfinding algorithm to search for a path for the robot vacuum based on the current positions of the robot vacuum and the current parts compartment, and then using that path to navigate to the current parts compartment. This example enables the robot vacuum to autonomously navigate to the current parts compartment, achieving autonomous pathfinding and obstacle avoidance. In another example of the invention, the method can be, for example, searching a pre-defined database storing parts compartment locations, and guiding the robot vacuum forward based on the stored parts compartment locations and the associated paths. This example allows the robot vacuum to avoid using highly complex pathfinding algorithms and instead use reliable rule-based paths.

[0034] As an optional implementation, when proceeding to the current parts warehouse, the current parts also need to be stored there. The method for storing the current parts in the current parts warehouse can be of various forms known to those skilled in the art. For example, the method for storing the current parts in the current parts warehouse can include, but is not limited to, docking with a robotic arm or direct release by a robotic arm. In a preferred embodiment of the invention, the method for storing the current parts in the current parts warehouse may further include... Figure 4 The method shown. Specifically, in this Figure 4 In this context, storing the current part in the current part warehouse can include the following steps: In step S30, the real-time attitude of the current part is adjusted according to the current storage attitude of the parts in the parts warehouse; In step S31, the adjusted current part is placed into the current part compartment.

[0035] Through this Figure 4 The method shown enables the current accessory to be accurately placed into the current accessory compartment after the real-time attitude is adjusted in step S30, regardless of how the current robotic arm installs the current accessory.

[0036] In such Figure 4 In the illustrated method, step S30 is used to adjust the real-time posture of the current part based on the current storage posture of the parts in the parts compartment. The specific method for adjusting this real-time posture can be of various forms known to those skilled in the art. In one example of the invention, the method for adjusting the real-time posture can be to directly adjust it according to a preset parts storage posture, thus achieving high efficiency in posture adjustment. In another example of the invention, the method for adjusting the real-time posture can be to identify the entrance shape of the current parts compartment using, for example, an image recognition method to determine the parts storage posture, and then adjust the real-time posture based on that posture. Compared to the former, this example has broader applicability.

[0037] Step S31 can be used to place the adjusted current accessory into the current accessory compartment. The method for placing the current accessory into the current accessory compartment can be of various forms known to those skilled in the art, including but not limited to robotic arm docking and direct robotic arm release. In one example of the present invention, to ensure the accuracy of placement and the redundancy of the sweeper placement, the method for placing the current accessory into the current accessory compartment can further include, for example... Figure 5 The method shown in the diagram. Figure 5 In this context, the method of placing the current accessory into the current accessory slot can further include the following steps: In step S40, if the current accessory is placed in the current accessory compartment, it is determined whether an unlocking command for the current accessory compartment has been received. In step S41, if an unlock command is received, the current accessory is unlocked and exited from the current accessory compartment. Conversely, if no unlock command is received, it indicates that the current accessory's real-time position has not yet been reached, so the process can return to step S40.

[0038] Through this Figure 5The method shown enables the robotic arm and both ends of the current part compartment to respond simultaneously when the current part is placed, avoiding collisions caused by one-way detection errors. Specifically, in this... Figure 5 In the method shown, step S40 can be used to determine whether an unlocking command has been received from the current part compartment when the current part is placed in it. The determination of whether the current part is placed in the current part compartment can be made directly by fixing the posture of the robotic arm holding the current part in place. Further, the determination can be made, for example, by detecting the magnitude of the contact force between the robotic arm and the current part compartment. Even further, the determination can be made by setting a threshold for the contact force; when the contact force is greater than the threshold, it can be determined that the current part has been placed in the current part compartment (but not necessarily to its fixed position within the compartment). As for determining whether an unlocking command has been received in step S40, it can be done, for example, by the current part compartment sending an unlocking signal to the robotic arm when it detects that the current part is in place, thereby avoiding damage to the current part or the current part compartment due to one-way detection by the robotic arm. The specific method by which the current part compartment detects that the current part is in place can be of various forms known to those skilled in the art. In one example of the present invention, the method for detecting that the current accessory has been placed in place may be to preset multiple sensors in the current accessory compartment to determine whether the current accessory is in place. When the arrival detection signals of multiple sensors are received at the same time, it can be determined that the current accessory has been placed in place.

[0039] Step S41 can be used to unlock the current accessory and remove it from the current accessory compartment upon receiving an unlock command, thereby achieving accurate and secure accessory storage. Furthermore, considering the potential adhesion problem between the current accessory and the robotic arm, in one example of the invention, a fixing gripper can also be provided inside the current accessory compartment. Thus, when the current accessory detects that it has been placed in place, the fixing gripper can be activated to secure the current accessory, while simultaneously sending an unlock command to the robotic arm. At this point, the robotic arm releases the current accessory, and the fixing gripper secures it, thereby preventing the current accessory from being pulled back out of the current accessory compartment due to adhesion to the robotic arm.

[0040] The specific form of the unlocking command can be various forms known to those skilled in the art. In one example of the present invention, the unlocking command can be a signal sent directly from the current parts compartment to the robotic arm via a wireless wide area network. This method enables accurate signal connection. In another example of the present invention, the unlocking command can be, for example, in the form of a QR code. Specifically, in this example, a QR code can be provided on the bottom of the accessory, and the QR code is set to be exposed in a position that the robotic arm can detect when the accessory is placed in the current parts compartment, for example... Figure 6 The location is shown. With the accessory in place, the change in the robotic arm's shape allows the QR code on the bottom of the accessory to be detected by the robotic arm (or by the image acquisition module on the robotic arm). That is, in this example, the method for determining whether an unlocking command can be received is to determine whether the QR code can be detected; if the QR code can be detected, then it is determined whether the unlocking command has been received. Compared to the previous example, this example avoids the need to install an additional wireless communication module in the accessory compartment, reducing the design cost of the accessory compartment while still achieving unlocking command transmission.

[0041] Step S12 can be used to navigate to the target accessory compartment, grab and install the target accessory. The specific method for navigating to the target accessory compartment can be of various forms known to those skilled in the art. In one example of the invention, the method for navigating to the target accessory compartment can be, for example, directly using a robot pathfinding algorithm to search for a path for the robot vacuum based on its current position relative to the target accessory compartment, and then using that path to reach the target accessory compartment. This example enables the robot vacuum to autonomously navigate to the target accessory compartment, achieving autonomous pathfinding and obstacle avoidance. In another example of the invention, the method for navigating to the target accessory compartment can be, for example, searching a pre-defined database storing accessory compartment locations, and guiding the robot vacuum forward based on the accessory compartment locations stored in the database and the associated paths. This example enables the robot vacuum to avoid using highly complex pathfinding algorithms and instead use reliable rule-based paths.

[0042] The method for grasping and installing the target accessory in step S12 can also take many forms known to those skilled in the art. In one example of the present invention, it can be done by a robotic arm directly grasping the accessory. In another example of the present invention, the method for grasping and installing the target accessory may further include, for example... Figure 7 The steps shown are described. Figure 7 In this context, the method for grabbing and installing the target accessory may include the following steps: In step S50, the posture of the robotic arm that grasps the target part is adjusted so that it can enter the target part compartment; In step S51, it is determined whether the robotic arm and the target accessory have successfully engaged; In step S52, if it is determined that the robotic arm has successfully engaged with the target part, the robotic arm is controlled to exit the target part compartment. Conversely, if it is determined that the robotic arm has not successfully engaged with the target part, the process can directly return to step S50, that is, continue to adjust the posture of the robotic arm, and continue to perform the action of entering the target part compartment.

[0043] Through this Figure 7 The method shown allows the robotic arm to adjust its posture in step S50 before entering the target part compartment, facilitating accurate engagement with the target part. Only after successful engagement does the robotic arm exit the target part compartment, ensuring the safety of part removal.

[0044] Specifically, step S50 can be used to adjust the posture of the robotic arm that grasps the target part so that it can enter the target part compartment. The specific method for adjusting the posture of the robotic arm can be of various forms known to those skilled in the art. In one example of the present invention, the method for adjusting the posture of the robotic arm can be to directly adjust it according to a preset part storage posture, thus achieving high efficiency in posture adjustment. In another example of the present invention, the method for adjusting the posture of the robotic arm can be to identify the current entrance shape of the part compartment using, for example, an image recognition method to determine the part storage posture, and then adjust the real-time posture according to the part storage posture. Compared to the former, this example has wider adaptability.

[0045] Step S51 can be used to determine whether the robotic arm and the target accessory have successfully engaged. The method for determining whether the robotic arm and the target accessory have successfully engaged can be of various forms known to those skilled in the art. In one example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can be, for example, by determining whether a detection current of the accessory can be detected on the robotic arm of the sweeper. In this way, it is possible to accurately determine whether the current robotic arm has successfully engaged with the target accessory. In another example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can be, for example, by directly determining whether the current robotic arm and the target accessory have successfully engaged based on an image discrimination algorithm using an image acquisition device (e.g., a camera mounted on the sweeper, an external camera, etc.). In this way, it is possible to directly determine whether the current robotic arm and the target accessory have successfully engaged from the outside without considering the electrical connection structure of the robotic arm itself. Compared with the current detection method, this example has wider applicability. In yet another example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can also be to first determine the position of the accessory compartment using an image acquisition module installed on the robotic arm, and then control the robotic arm to move towards the accessory compartment until it engages with the target accessory. In the case of a snap-fit, the robotic arm can also determine whether the snap-fit ​​is successful with the target accessory compartment via an electrical signal / Hall effect detection / grating detection. Furthermore, to avoid equipment damage caused by the target accessory compartment, the target accessory, and / or the robotic arm failing to respond promptly to release or snap-fit ​​actions due to single-end detection during target accessory installation, in one example of the invention, a release command can be sent to the target accessory compartment before the robotic arm exits the compartment to release the target accessory in a timely manner, thereby facilitating the robotic arm's exit from the compartment.

[0046] On the other hand, the present invention also provides a sweeping machine, including a sweeping machine body and a robotic arm, wherein the sweeping machine body can be used to control the robotic arm to perform actions such as... Figures 1 to 7 The method described. Specifically, in this Figure 1 and Figure 2 In this method, the steps may include: In step S10, it is determined whether it is necessary to obtain the parts. In step S11, if it is determined that a part is needed, the target part warehouse for the desired part is determined. Conversely, if it is determined that a part is not needed, the process can return to step S10.

[0047] In step S12, proceed to the target parts warehouse, grab and install the target parts.

[0048] In such Figure 1 and Figure 2In the method shown, step S10 can be used to determine whether an accessory needs to be retrieved. This accessory can be, but is not limited to, a vacuum cleaner, a roller brush, a mop pad, a crevice cleaning head, a polishing pad, etc. The specific method for determining whether an accessory needs to be retrieved can be of various forms known to those skilled in the art. In one example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, determining that the currently installed accessory does not meet the requirements of the cleaning task to be performed, and therefore the accessory needs to be replaced; in another example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, determining that the currently installed accessory is malfunctioning, and therefore the accessory needs to be replaced; in yet another example of the invention, the method for determining whether an accessory needs to be retrieved could be, for example, receiving an instruction to replace the accessory.

[0049] Step S11 can be used to determine the target accessory compartment when it is determined that an accessory is currently needed. The specific method for determining the target accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, the method for determining the target accessory compartment can be to directly search a preset database for accessory models and accessory compartments matching those models, and determine the target accessory compartment based on the location information associated with the accessory compartments. In another example of the present invention, the method for determining the target accessory compartment can be to determine the relative position of the target accessory compartment to the current robot vacuum cleaner using a robot vision algorithm, and directly travel to the target accessory compartment based on a preset robot automatic pathfinding algorithm.

[0050] Step S11, which determines the location of the desired part when a replacement part is needed, allows the robot vacuum to autonomously search for and retrieve the part when needed. Compared to existing technologies, this method automates the replacement process by replacing parts manually, thereby improving the robot vacuum's efficiency and automation level.

[0051] like Figure 3 The diagram shown is a flowchart of a method for a multi-pair interface accessory storage according to an embodiment of the present invention. Figure 1 and Figure 2 The difference in the method shown is that, Figure 3 The method shown includes the following steps before proceeding to the target parts warehouse: In step S20, it is determined whether the accessory has been installed. In step S21, if it is determined that an accessory is currently installed, the current accessory's current accessory storage is searched. Conversely, if it is determined that no accessory is currently installed, step S12 can be executed directly, that is: go to the target accessory storage, grab and install the target accessory.

[0052] In step S22, go to the current parts warehouse and store the current parts in the current parts warehouse.

[0053] In such Figure 3 In the method shown, step S20 can be used to determine whether an accessory has been installed. The method for determining whether an accessory has been installed can be of various forms known to those skilled in the art. In one example of the invention, the method for determining whether an accessory has been installed can be, for example, by determining whether a detection current for the accessory can be detected on the robotic arm of the sweeper. In this way, it is possible to accurately determine whether an accessory has been installed on the robotic arm. In another example of the invention, the method for determining whether an accessory has been installed can be, for example, by directly using an image acquisition device (such as a camera mounted on the sweeper, an external camera, etc.) based on an image discrimination algorithm to determine whether an accessory has been installed on the robotic arm. In this way, it is possible to determine whether an accessory has been installed on the robotic arm directly from the outside without considering the electrical connection structure of the robotic arm itself. Compared with the current detection method, this example has wider applicability. In yet another example of the invention, the method for determining whether an accessory has been installed can be, for example, by directly reading the task log of the sweeper and determining whether the task to be executed is the first task executed after the sweeper starts this time. If the currently executing task is the first task in this execution, then it can be assumed that no accessories are currently installed; conversely, if the currently executing task is not the first task in this execution, then it can be assumed that accessories are currently installed. In this way, no additional detection process is needed. The current status of accessories can be determined directly by reading the task log of the robot vacuum itself. Compared with the example of detecting current and image acquisition, this example can determine whether accessories are currently installed with a lower design cost.

[0054] Step S21 can be used to search for the current accessory compartment when it is determined that an accessory is currently installed. The specific method for searching the current accessory compartment can be of various forms known to those skilled in the art. In one example of the present invention, the method for searching the current accessory compartment can be to directly search for the accessory model and the accessory compartment matching the accessory model in a preset database, and determine the current accessory compartment based on the location information associated with the accessory compartment; in another example of the present invention, the method for searching the current accessory compartment can be to determine the relative position of the current accessory compartment and the current robot vacuum cleaner using a robot vision algorithm, and directly travel to the current accessory compartment based on a preset robot automatic pathfinding algorithm.

[0055] Through step S21, which involves searching for the current accessory's storage compartment when an accessory is already installed, the robot vacuum can autonomously locate the compartment and retrieve the accessory when it needs to remove it. Compared to existing technologies, this method replaces the conventional method of manually disassembling or categorizing accessories, automating accessory disassembly and storage, thereby improving the robot vacuum's efficiency and automation level.

[0056] Step S22 can be used to navigate to the current parts compartment and store the current parts therein. The method for navigating to the current parts compartment can be of various forms known to those skilled in the art. In one example of the invention, the method can be, for example, directly using a robot pathfinding algorithm to search for a path for the robot vacuum based on the current positions of the robot vacuum and the current parts compartment, and then using that path to navigate to the current parts compartment. This example enables the robot vacuum to autonomously navigate to the current parts compartment, achieving autonomous pathfinding and obstacle avoidance. In another example of the invention, the method can be, for example, searching a pre-defined database storing parts compartment locations, and guiding the robot vacuum forward based on the stored parts compartment locations and the associated paths. This example allows the robot vacuum to avoid using highly complex pathfinding algorithms and instead use reliable rule-based paths.

[0057] As an optional implementation, when proceeding to the current parts warehouse, the current parts also need to be stored there. The method for storing the current parts in the current parts warehouse can be of various forms known to those skilled in the art. For example, the method for storing the current parts in the current parts warehouse can include, but is not limited to, docking with a robotic arm or direct release by a robotic arm. In a preferred embodiment of the invention, the method for storing the current parts in the current parts warehouse may further include... Figure 4 The method shown. Specifically, in this Figure 4 In this context, storing the current part in the current part warehouse can include the following steps: In step S30, the real-time attitude of the current part is adjusted according to the current storage attitude of the parts in the parts warehouse; In step S31, the adjusted current part is placed into the current part compartment.

[0058] Through this Figure 4 The method shown enables the current accessory to be accurately placed into the current accessory compartment after the real-time attitude is adjusted in step S30, regardless of how the current robotic arm installs the current accessory.

[0059] In such Figure 4 In the illustrated method, step S30 is used to adjust the real-time posture of the current part based on the current storage posture of the parts in the parts compartment. The specific method for adjusting this real-time posture can be of various forms known to those skilled in the art. In one example of the invention, the method for adjusting the real-time posture can be to directly adjust it according to a preset parts storage posture, thus achieving high efficiency in posture adjustment. In another example of the invention, the method for adjusting the real-time posture can be to identify the entrance shape of the current parts compartment using, for example, an image recognition method to determine the parts storage posture, and then adjust the real-time posture based on that posture. Compared to the former, this example has broader applicability.

[0060] Step S31 can be used to place the adjusted current accessory into the current accessory compartment. The method for placing the current accessory into the current accessory compartment can be of various forms known to those skilled in the art, including but not limited to robotic arm docking and direct robotic arm release. In one example of the present invention, to ensure the accuracy of placement and the redundancy of the sweeper placement, the method for placing the current accessory into the current accessory compartment can further include, for example... Figure 5 The method shown in the diagram. Figure 5 In this context, the method of placing the current accessory into the current accessory slot can further include the following steps: In step S40, if the current accessory is placed in the current accessory compartment, it is determined whether an unlocking command for the current accessory compartment has been received. In step S41, if an unlock command is received, the current accessory is unlocked and exited from the current accessory compartment. Conversely, if no unlock command is received, it indicates that the current accessory's real-time position has not yet been reached, so the process can return to step S40.

[0061] Through this Figure 5The method shown enables the robotic arm and both ends of the current part compartment to respond simultaneously when the current part is placed, avoiding collisions caused by one-way detection errors. Specifically, in this... Figure 5 In the method shown, step S40 can be used to determine whether an unlocking command has been received from the current part compartment when the current part is placed in it. The determination of whether the current part is placed in the current part compartment can be made directly by fixing the posture of the robotic arm holding the current part in place. Further, the determination can be made, for example, by detecting the magnitude of the contact force between the robotic arm and the current part compartment. Even further, the determination can be made by setting a threshold for the contact force; when the contact force is greater than the threshold, it can be determined that the current part has been placed in the current part compartment (but not necessarily to its fixed position within the compartment). As for determining whether an unlocking command has been received in step S40, it can be done, for example, by the current part compartment sending an unlocking signal to the robotic arm when it detects that the current part is in place, thereby avoiding damage to the current part or the current part compartment due to one-way detection by the robotic arm. The specific method by which the current part compartment detects that the current part is in place can be of various forms known to those skilled in the art. In one example of the present invention, the method for detecting that the current accessory has been placed in place may be to preset multiple sensors in the current accessory compartment to determine whether the current accessory is in place. When the arrival detection signals of multiple sensors are received at the same time, it can be determined that the current accessory has been placed in place.

[0062] Step S41 can be used to unlock the current accessory and remove it from the current accessory compartment upon receiving an unlock command, thereby achieving accurate and secure accessory storage. Furthermore, considering the potential adhesion problem between the current accessory and the robotic arm, in one example of the invention, a fixing gripper can also be provided inside the current accessory compartment. Thus, when the current accessory detects that it has been placed in place, the fixing gripper can be activated to secure the current accessory, while simultaneously sending an unlock command to the robotic arm. At this point, the robotic arm releases the current accessory, and the fixing gripper secures it, thereby preventing the current accessory from being pulled back out of the current accessory compartment due to adhesion to the robotic arm.

[0063] The specific form of the unlocking command can be various forms known to those skilled in the art. In one example of the present invention, the unlocking command can be a signal sent directly from the current parts compartment to the robotic arm via a wireless wide area network. This method enables accurate signal connection. In another example of the present invention, the unlocking command can be, for example, in the form of a QR code. Specifically, in this example, a QR code can be provided on the bottom of the accessory, and the QR code is set to be exposed in a position that the robotic arm can detect when the accessory is placed in the current parts compartment, for example... Figure 6 The location is shown. With the accessory in place, the change in the robotic arm's shape allows the QR code on the bottom of the accessory to be detected by the robotic arm (or by the image acquisition module on the robotic arm). That is, in this example, the method for determining whether an unlocking command can be received is to determine whether the QR code can be detected; if the QR code can be detected, then it is determined whether the unlocking command has been received. Compared to the previous example, this example avoids the need to install an additional wireless communication module in the accessory compartment, reducing the design cost of the accessory compartment while still achieving unlocking command transmission.

[0064] Step S12 can be used to navigate to the target accessory compartment, grab and install the target accessory. The specific method for navigating to the target accessory compartment can be of various forms known to those skilled in the art. In one example of the invention, the method for navigating to the target accessory compartment can be, for example, directly using a robot pathfinding algorithm to search for a path for the robot vacuum based on its current position relative to the target accessory compartment, and then using that path to reach the target accessory compartment. This example enables the robot vacuum to autonomously navigate to the target accessory compartment, achieving autonomous pathfinding and obstacle avoidance. In another example of the invention, the method for navigating to the target accessory compartment can be, for example, searching a pre-defined database storing accessory compartment locations, and guiding the robot vacuum forward based on the accessory compartment locations stored in the database and the associated paths. This example enables the robot vacuum to avoid using highly complex pathfinding algorithms and instead use reliable rule-based paths.

[0065] The method for grasping and installing the target accessory in step S12 can also take many forms known to those skilled in the art. In one example of the present invention, it can be done by a robotic arm directly grasping the accessory. In another example of the present invention, the method for grasping and installing the target accessory may further include, for example... Figure 7 The steps shown are described. Figure 7 In this context, the method for grabbing and installing the target accessory may include the following steps: In step S50, the posture of the robotic arm that grasps the target part is adjusted so that it can enter the target part compartment; In step S51, it is determined whether the robotic arm and the target accessory have successfully engaged; In step S52, if it is determined that the robotic arm has successfully engaged with the target part, the robotic arm is controlled to exit the target part compartment. Conversely, if it is determined that the robotic arm has not successfully engaged with the target part, the process can directly return to step S50, that is, continue to adjust the posture of the robotic arm, and continue to perform the action of entering the target part compartment.

[0066] Through this Figure 7 The method shown allows the robotic arm to adjust its posture in step S50 before entering the target part compartment, facilitating accurate engagement with the target part. Only after successful engagement does the robotic arm exit the target part compartment, ensuring the safety of part removal.

[0067] Specifically, step S50 can be used to adjust the posture of the robotic arm that grasps the target part so that it can enter the target part compartment. The specific method for adjusting the posture of the robotic arm can be of various forms known to those skilled in the art. In one example of the present invention, the method for adjusting the posture of the robotic arm can be to directly adjust it according to a preset part storage posture, thus achieving high efficiency in posture adjustment. In another example of the present invention, the method for adjusting the posture of the robotic arm can be to identify the current entrance shape of the part compartment using, for example, an image recognition method to determine the part storage posture, and then adjust the real-time posture according to the part storage posture. Compared to the former, this example has wider adaptability.

[0068] Step S51 can be used to determine whether the robotic arm and the target accessory have successfully engaged. The method for determining whether the robotic arm and the target accessory have successfully engaged can be of various forms known to those skilled in the art. In one example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can be, for example, by determining whether a detection current of the accessory can be detected on the robotic arm of the sweeper. In this way, it is possible to accurately determine whether the current robotic arm has successfully engaged with the target accessory. In another example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can be, for example, by directly determining whether the current robotic arm and the target accessory have successfully engaged based on an image discrimination algorithm using an image acquisition device (e.g., a camera mounted on the sweeper, an external camera, etc.). In this way, it is possible to directly determine whether the current robotic arm and the target accessory have successfully engaged from the outside without considering the electrical connection structure of the robotic arm itself. Compared with the current detection method, this example has wider applicability. In yet another example of the present invention, the method for determining whether the robotic arm and the target accessory have successfully engaged can also be to first determine the position of the accessory compartment using an image acquisition module installed on the robotic arm, and then control the robotic arm to move towards the accessory compartment until it engages with the target accessory. In the case of a snap-fit, the robotic arm can also determine whether the snap-fit ​​is successful with the target accessory compartment via an electrical signal / Hall effect detection / grating detection. Furthermore, to avoid equipment damage caused by the target accessory compartment, the target accessory, and / or the robotic arm failing to respond promptly to release or snap-fit ​​actions due to single-end detection during target accessory installation, in one example of the invention, a release command can be sent to the target accessory compartment before the robotic arm exits the compartment to release the target accessory in a timely manner, thereby facilitating the robotic arm's exit from the compartment.

[0069] Furthermore, the present invention also provides a control system, such as Figure 8 As shown, the control system may include a parts compartment 01 and a sweeper 02. The parts compartment 01 can be used to store parts. The sweeper 02 can be used to perform functions such as... Figures 1 to 7 The method described.

[0070] Through the above technical solution, the embodiments of the present invention provide a method for a sweeping machine to retrieve parts from a parts compartment, a sweeping machine, and a control system. The method, system, sweeping machine, and control system control the sweeping machine to directly go to the target parts compartment to grab and install parts when parts need to be replaced, replacing the existing technology that relies on manual replacement of parts, thereby improving the parts replacement efficiency of the sweeping machine and further improving the working efficiency of the sweeping machine.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0079] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of a robotic vacuum cleaner to access an accessory from an accessory compartment, characterized in that, The method comprises: determining whether a current accessory is needed; in a case where it is determined that a current accessory is needed, determining a target accessory bin of a target accessory; going to the target accessory bin, grabbing and installing the target accessory.

2. The method of claim 1, wherein, Before going to the target accessory bin, the method further comprises: determining whether a current accessory has been installed; in a case where it is determined that a current accessory has been installed, searching for a current accessory bin of the current accessory; going to the current accessory bin and storing the current accessory in the current accessory bin.

3. The method of claim 2, wherein, The storing of the current accessory in the current accessory bin comprises: adjusting a real-time posture of the current accessory according to an accessory storage posture of the current accessory bin; putting the adjusted current accessory into the current accessory bin.

4. The method of claim 3, wherein, The storing of the current accessory in the current accessory bin comprises: in a case where the current accessory is put into the current accessory bin, determining whether an unlocking instruction of the current accessory bin is received; in a case where the unlocking instruction is received, unlocking the current accessory and exiting the current accessory bin.

5. The method of claim 4, wherein, A bottom of the accessory is provided with a two-dimensional code, and the two-dimensional code is arranged to be exposed at a position that can be detected by a mechanical arm in a case where the accessory is put into the current accessory bin. The determining whether the unlocking instruction of the current accessory bin is received comprises: determining whether the two-dimensional code can be detected at present; in a case where it is determined that the two-dimensional code can be detected at present, determining whether the unlocking instruction is received.

6. The method of claim 1, wherein, The grabbing and installing of the target accessory comprises: adjusting a posture of a mechanical arm grabbing the target accessory to enter the target accessory bin; determining whether the mechanical arm and the target accessory are successfully clamped; in a case where it is determined that the mechanical arm and the target accessory are successfully clamped, controlling the mechanical arm to exit the target accessory bin.

7. The method of claim 6, wherein, The determining whether the mechanical arm and the target accessory are successfully clamped comprises: determining, by the mechanical arm, whether a detection current of the target accessory is received; in a case where the detection current is received, determining that the target accessory is successfully clamped.

8. The method of claim 6, wherein, Before controlling the mechanical arm to exit the target accessory bin, the method further comprises: sending a release instruction to the target accessory bin to release the target accessory.

9. A robot vacuum cleaner, characterized in that The method comprises:

10. A control system characterized by, a robot body and a mechanical arm, the robot body being configured to control the mechanical arm to perform the method according to any one of claims 1 to 8. The method comprises: an accessory bin configured to store an accessory; a robot configured to perform the method according to any one of claims 1 to 8.

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