Cleaning control method, automatic cleaning equipment, base station and product

Abstract

The embodiment of the invention discloses a cleaning control method, automatic cleaning equipment, a base station and a product, when applied to the automatic cleaning equipment, the main technical scheme comprises the steps that in response to a task ending signal, the task ending signal represents that the automatic cleaning equipment clamps a cleaning accessory through a mechanical arm to complete a current cleaning task; the automatic cleaning equipment is controlled to keep the clamping state of the cleaning accessory and return to the corresponding base station; when the automatic cleaning equipment reaches a cleaning position in front of the base station, the mechanical arm is controlled to clamp the cleaning accessory to an accessory cleaning assembly of the base station so as to execute an accessory cleaning action; after the accessory cleaning action is executed, the mechanical arm is controlled to clamp the cleaning accessory into an accessory storage bin of the base station so as to execute the accessory storage action, or the mechanical arm is controlled to clamp the cleaning accessory to execute the next cleaning task; according to the method and the device, the cleaning accessories can be automatically cleaned, so that the cleaning efficiency and the user experience are improved.

Description

Technical Field

[0001] This application relates to the field of automatic cleaning equipment technology, and in particular to a cleaning control method, automatic cleaning equipment, base station, and product. Background Technology

[0002] In existing technologies, after automatic cleaning equipment such as sweeping robots completes its cleaning task, the cleaning accessories (such as rags, brushes, etc.) used by it often need to be manually disassembled and cleaned by the user. After cleaning, the user also needs to manually reinstall or store the accessories. In this process, the user needs to invest extra time and effort to deal with the stains on the accessories, which affects the cleaning efficiency and the user experience. Summary of the Invention

[0003] This application provides a cleaning control method, automatic cleaning equipment, base station, and product for automatically cleaning cleaning accessories to improve cleaning efficiency and user experience.

[0004] In a first aspect, this application provides a cleaning control method applied to an automatic cleaning device, the automatic cleaning device being equipped with a robotic arm, the method comprising: In response to a task completion signal, which indicates that the automatic cleaning device has completed the current cleaning task by gripping the cleaning accessory with the robotic arm, the automatic cleaning device is controlled to return to the corresponding base station while maintaining the gripping state of the cleaning accessory. When the automatic cleaning equipment reaches the cleaning position before the base station, the robotic arm is controlled to clamp the cleaning accessory onto the accessory cleaning assembly of the base station to perform the accessory cleaning action; After the accessory cleaning action is completed, the robotic arm is controlled to clamp the cleaned accessory into the accessory storage compartment of the base station to perform the accessory storage action, or the robotic arm is controlled to clamp the cleaned accessory to perform the next cleaning task.

[0005] In some embodiments, controlling the robotic arm to clamp the cleaning accessory onto the accessory cleaning assembly of the base station includes: Obtain the pose information of the automatic cleaning device; The automatic cleaning device is controlled to adjust the extension direction of the robotic arm according to the pose information, so that the extension direction is toward the accessory cleaning assembly; The robotic arm is controlled to extend so that it grips the cleaning accessory and touches the accessory cleaning assembly of the base station.

[0006] In some embodiments, the accessory cleaning assembly includes an assembly body, a squeezing plate disposed on the surface of the assembly body, and a water spray nozzle; the end of the robotic arm is provided with a vision sensor; and the execution of the accessory cleaning action includes: The visual sensor determines whether the cleaning accessory has reached the extrusion plate; after the cleaning accessory reaches the extrusion plate, an arrival command is sent to the base station via wireless communication, so that the base station responds to the arrival command and, after a preset delay time, controls the water nozzle to spray water onto the cleaning accessory and controls the robotic arm to clamp the cleaning accessory and press it against the extrusion plate. During the water spraying process at the spray nozzle, the rotatable part of the cleaning accessory is driven by the robotic arm to rotate on the surface of the extrusion plate until the rotation duration reaches a first preset duration, thereby completing the cleaning action of the accessory.

[0007] In some embodiments, the method further includes: When the water spray nozzle stops spraying water onto the cleaning accessory, the rotatable part of the cleaning accessory continues to rotate on the surface of the extrusion plate by the robotic arm until the duration of the rotation reaches the second preset duration. Alternatively, when the water spray nozzle stops spraying water onto the cleaning accessory, the robotic arm is controlled to clamp the cleaning accessory and increase the pressure on the extrusion plate until the duration of the increased pressure reaches a third preset duration.

[0008] In some embodiments, controlling the robotic arm to clamp the cleaning accessory into the accessory storage compartment of the base station includes: Control the robotic arm to retract and control the automatic cleaning device to move to the accessory storage position in front of the base station while maintaining the clamping state of the cleaning accessory; The automatic cleaning device is controlled to adjust the extension direction of the robotic arm at the accessory storage location so that the extension direction is toward the accessory storage compartment; Control the robotic arm to extend so that it grips the cleaning accessory and places it into the accessory storage compartment of the base station.

[0009] In some embodiments, the base station is provided with a quick-release component, and the accessory storage action includes: The robotic arm is controlled to grip the cleaning accessory and move it to the recognition area of ​​the quick-release assembly, thereby triggering the quick-release assembly to perform a quick-release action on the cleaning accessory. After the duration of triggering the quick-release action reaches the fourth preset duration, the robotic arm is controlled to be pulled out of the accessory storage compartment.

[0010] In some embodiments, the method further includes: Visual sensing information is acquired through a visual sensing device installed on the automatic cleaning equipment, and the system determines whether the automatic cleaning equipment has reached the cleaning position in front of the base station based on the visual sensing information; or... Distance identification information is obtained by an infrared identification device installed on the automatic cleaning device, and the automatic cleaning device is used to determine whether it has reached the cleaning position in front of the base station based on the distance identification information.

[0011] Secondly, this application provides a cleaning control method applied to a base station, wherein the base station is communicatively connected to an automatic cleaning device, the automatic cleaning device is equipped with a robotic arm, and the base station is equipped with an accessory cleaning component and an accessory storage compartment. The method includes: At the cleaning position before the automatic cleaning equipment reaches the base station, and when the automatic cleaning equipment clamps the cleaning accessory onto the accessory cleaning assembly via the robotic arm, the accessory cleaning action is performed by the accessory cleaning assembly. After the cleaning action of the accessories is completed, and the automatic cleaning equipment clamps the cleaned accessories into the accessory storage compartment through the robotic arm, the accessory storage action is performed through the accessory storage compartment.

[0012] In some embodiments, the method further includes: A first sensing signal, representing the area where the cleaning accessory has reached the cleaning action of the accessory, is acquired through a first sensing device; In response to the first sensor signal, the accessory cleaning assembly is controlled to perform the accessory cleaning action on the cleaning accessory.

[0013] In some embodiments, the method further includes: A second sensing signal, representing the execution area of ​​the cleaning accessory's arrival at the accessory storage action, is acquired through a second sensing device; In response to the second sensor signal, the quick-release assembly in the accessory storage compartment is controlled to perform a quick-release action on the cleaning accessory.

[0014] In some embodiments, the method further includes: A third sensing signal indicating that the cleaning accessory and the robotic arm have been separated is acquired through a third sensing device; In response to the third sensor signal, the drying component in the accessory storage compartment is controlled to perform a drying action on the cleaning accessory.

[0015] Thirdly, this application provides an automatic cleaning device, which is equipped with a robotic arm and further includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the first aspects.

[0016] Fourthly, this application provides a base station, which is communicatively connected to an automatic cleaning device. The automatic cleaning device is equipped with a robotic arm, and the base station is equipped with an accessory cleaning component and an accessory storage compartment. The base station also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the second aspects.

[0017] Fifthly, this application provides a computer program product, including a computer program, characterized in that, when executed by a processor, the computer program implements the steps of the method described in any one of the first aspects, or implements the steps of the method described in any one of the second aspects.

[0018] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application provides a cleaning control method, an automatic cleaning device, a base station, and a product. The automatic cleaning device is equipped with a robotic arm, and the base station is communicatively connected to the automatic cleaning device. After the automatic cleaning device has completed the current cleaning task by clamping the cleaning accessories with the robotic arm, it is controlled to return to the corresponding base station while maintaining the clamped state of the cleaning accessories. Then, when the automatic cleaning device reaches the cleaning position before the base station, the robotic arm is controlled to clamp the cleaning accessories onto the accessory cleaning component of the base station to perform the accessory cleaning action. After the accessory cleaning action is completed, the robotic arm is controlled to clamp the cleaning accessories into the accessory storage compartment of the base station to perform the accessory storage action, or the robotic arm is controlled to clamp the cleaning accessories to perform the next cleaning task. It can be understood that this application realizes the automatic processing of cleaning accessories by automatically controlling the robotic arm to perform accessory cleaning and storage actions at the base station. This avoids the hygiene hazards and operational inconvenience caused by users manually disassembling and cleaning cleaning accessories, and improves the automation and efficiency of the cleaning process, enabling the equipment to achieve unattended continuous use, thereby improving the user experience.

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

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

[0021] Figure 1 This is a schematic diagram of a base station in the cleaning control method provided in the embodiments of this application.

[0022] Figure 2 A flowchart of a cleaning control method provided in an embodiment of this application.

[0023] Figure 3 The flowchart illustrates the cleaning control method provided in this application, which involves clamping cleaning accessories onto the accessory cleaning assembly of a base station.

[0024] Figure 4 The flowchart illustrates the cleaning control method provided in this application, which involves clamping cleaning accessories into the accessory storage compartment of a base station.

[0025] Figure 5 Another flowchart of the cleaning control method provided in the embodiments of this application.

[0026] Figure 6 A schematic diagram of the modules of the cleaning control system provided in the embodiments of this application.

[0027] Figure 7 A schematic block diagram of an automatic cleaning device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0029] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0030] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0031] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0032] In existing technologies, after automatic cleaning equipment such as sweeping robots completes its cleaning task, the cleaning accessories (such as rags, brushes, etc.) used by it often need to be manually disassembled and cleaned by the user. After cleaning, the user also needs to manually reinstall or store the accessories. In this process, the user needs to invest extra time and effort to deal with the stains on the accessories, which affects the cleaning efficiency and the user experience.

[0033] To address the aforementioned issues, this application provides a cleaning control method, an automatic cleaning device, a base station, and a product for automatically cleaning cleaning accessories, thereby improving cleaning efficiency and user experience.

[0034] The present application will be further described below with reference to the accompanying drawings.

[0035] refer to Figure 1 , Figure 1 This is a schematic diagram of a base station in the cleaning control method provided in the embodiments of this application. In some embodiments, this application provides a cleaning control method, an automatic cleaning device, a base station, and a product. The automatic cleaning device is equipped with a robotic arm, and the base station is communicatively connected to the automatic cleaning device. The base station includes a main structure 100, and is also equipped with an accessory cleaning component 110 and an accessory storage compartment (not fully shown in the figure). The accessory cleaning component 110 is used to cooperate with the cleaning accessories held by the robotic arm of the automatic cleaning device to perform cleaning actions. The accessory storage compartment is used to store the cleaning accessories. The base station can communicate with the automatic cleaning device to achieve automated cleaning and storage of cleaning accessories.

[0036] In some embodiments, the accessory cleaning component 110 can be positioned on the side of the base station closest to the automatic cleaning equipment (such as the center or lower front), facilitating the rapid delivery of cleaned accessories by the robotic arm when the equipment reaches the cleaning position. The accessory storage compartment can be positioned on the side, back, or adjacent above / below the accessory cleaning component 110 of the base station, maintaining a certain spatial distance from it to prevent water stains during cleaning from affecting storage. Both components can be structurally fixed to the base station body and connected to the main control module via control lines within the base station. After completing cleaning, the accessory cleaning component 110 can send a signal to the main control module, triggering the storage compartment to enter a storage-ready state, thus forming a collaborative working connection.

[0037] refer to Figure 2 , Figure 2 A flowchart illustrating a cleaning control method provided in an embodiment of this application; in some embodiments, this application provides a cleaning control method applied to an automatic cleaning device, the automatic cleaning device being equipped with a robotic arm, the method including at least the following steps: Step 201: In response to the task end signal, which indicates that the automatic cleaning equipment has completed the current cleaning task by gripping the cleaning accessories with the robotic arm, control the automatic cleaning equipment to return to the corresponding base station while maintaining the gripping state of the cleaning accessories. Step 202: When the automatic cleaning equipment reaches the cleaning position before the base station, control the robotic arm to clamp the cleaning accessories onto the accessory cleaning assembly of the base station to perform the accessory cleaning action. Step 203: After the accessory cleaning action is completed, control the robotic arm to clamp the cleaned accessory into the accessory storage compartment of the base station to perform the accessory storage action, or control the robotic arm to clamp the cleaned accessory to perform the next cleaning task.

[0038] Based on steps 201 to 203 above, this application achieves automatic processing of cleaning accessories by automatically controlling a robotic arm to perform accessory cleaning and storage actions at the base station. This avoids the hygiene hazards and operational inconvenience caused by users manually disassembling and cleaning accessories, and improves the automation and efficiency of the cleaning process. This enables the equipment to be used continuously without human intervention, thereby enhancing the user experience.

[0039] The task completion signal can be understood as a trigger signal indicating that the current cleaning task has been completed. It can be generated by detecting the working status of cleaning accessories or the coverage of the cleaning area. For example, this signal can be generated when the movement trajectory of the cleaning accessories reaches a preset range, or when the stain detection value of the cleaning area is lower than a set threshold. Its main purpose is to ensure that the automatic cleaning equipment can start the subsequent operation process in a timely manner after the task is completed.

[0040] Furthermore, the process of the robotic arm clamping the cleaning accessories onto the accessory cleaning assembly can be achieved in several ways. For example, the robotic arm can move to the vicinity of the cleaning assembly based on a preset path planning algorithm and place the cleaning accessories onto the cleaning assembly by adjusting the clamping angle and force. Alternatively, visual recognition technology can be used to locate the position of the cleaning assembly, thereby guiding the robotic arm to complete precise placement. All these methods enable the docking of the cleaning accessories with the cleaning assembly to initiate subsequent cleaning actions.

[0041] Understandably, the cleaning of accessories can be achieved through different cleaning mechanisms. For example, ultrasonic cleaning technology can be used to treat the accessories, or a rotating brush head combined with water flow can be used to remove stains. The choice of these cleaning mechanisms depends on the material of the accessories and the type of stains, and the main purpose is to ensure that the accessories can be effectively cleaned to meet subsequent use requirements.

[0042] Furthermore, the methods for storing cleaning accessories can be diversified. For example, a robotic arm can clamp the cleaning accessories onto a fixed bracket inside the storage compartment, or a magnetic device can be used to secure the cleaning accessories in the storage compartment. These methods can all ensure the safe storage of cleaning accessories, preventing them from being contaminated or damaged when not in use.

[0043] It is worth noting that this application triggers the fully automated operation of the automatic cleaning equipment through a task completion signal, including the cleaning and storage of cleaning accessories, thereby reducing user intervention. Compared with the prior art, which requires users to manually disassemble, clean, and reinstall cleaning accessories, this embodiment achieves fully automated processing from task completion to accessory cleaning and storage, significantly improving cleaning efficiency and enhancing the user experience.

[0044] In some embodiments, after the accessory cleaning action is completed, the robotic arm clamps the cleaned accessory into the accessory storage compartment of the base station to perform the accessory storage action, or clamps the cleaned accessory to perform the next cleaning task. This achieves automatic storage of the cleaned accessory for the next use based on the cleaning completion status, and supports direct entry into a new task, improving the efficiency of continuous operation.

[0045] In some embodiments, the cleaning accessory may include a small rag assembly that can be used to wipe the floor to perform cleaning operations. It can be stably held by the robotic arm of an automated cleaning device. After the cleaning task is completed, it can be automatically cleaned, stored, or reused for the next cleaning task through the cleaning control method of this application. This eliminates the need for users to manually disassemble, clean, and store the small rag assembly, effectively improving the automation level of cleaning and the user experience.

[0046] refer to Figure 3 , Figure 3The cleaning control method provided in this application includes a flowchart of clamping cleaning accessories onto the accessory cleaning assembly of a base station; in some embodiments, controlling a robotic arm to clamp cleaning accessories onto the accessory cleaning assembly of the base station may include at least the following steps: Step 301: Obtain the pose information of the automatic cleaning equipment; Step 302: Control the automatic cleaning equipment to adjust the extension direction of the robotic arm according to the pose information so that the extension direction is towards the accessory cleaning component; Step 303: Control the robotic arm to extend so that the robotic arm holding the cleaning accessory touches the accessory cleaning component of the base station.

[0047] The pose information can be the position and attitude data of the automated cleaning equipment in space, which can be obtained using an inertial measurement unit, a vision sensor, or a laser rangefinder. The extension direction of the robotic arm can be the trajectory of its movement from its current position to the target position, which can be precisely adjusted using a servo motor in conjunction with an angle sensor or a stepper motor in conjunction with an encoder. Furthermore, the touch action can be the physical contact between the robotic arm's end effector and the accessory cleaning assembly, ensuring that the cleaning accessories accurately reach the cleaning station to initiate the subsequent cleaning process.

[0048] In some embodiments, based on steps 301 to 303 above, this application can obtain the pose information of the automatic cleaning device in real time, providing a precise environmental perception basis for the entire clamping process. Furthermore, based on the acquired pose data, the system can dynamically calculate and correct the extension path of the robotic arm, ensuring that the extension direction always accurately points to the accessory cleaning component. This overcomes directional errors caused by environmental interference such as uneven ground or slight equipment misalignment, and avoids component collisions or clamping failures that may occur due to the robotic arm blindly extending. Furthermore, after the extension direction is correctly adjusted, the robotic arm performs a precise touch action, ensuring that the extension process is carried out in the correct direction, thereby reliably initiating the cleaning action.

[0049] In some embodiments, the accessory cleaning assembly includes an assembly body, a squeezing plate disposed on the surface of the assembly body, and a water spray nozzle. The accessory cleaning action includes: controlling a robotic arm to clamp the cleaning accessory and press the squeezing plate so that the water spray nozzle sprays water onto the cleaning accessory; during the water spraying process, the robotic arm drives the rotatable part of the cleaning accessory to rotate on the surface of the squeezing plate until the rotation duration reaches a first preset duration to complete the accessory cleaning action.

[0050] The robotic arm may also be equipped with a vision sensor at its end to perform the cleaning action of the accessory. The action may also include: determining whether the cleaning accessory has reached the extrusion plate through the vision sensor; after the cleaning accessory reaches the extrusion plate, sending an arrival command to the base station via wireless communication, so that the base station responds to the arrival command and, after a preset delay time, controls the water nozzle to spray water onto the cleaning accessory and controls the robotic arm to clamp the cleaning accessory and press it against the extrusion plate.

[0051] The accessory cleaning component can be located within the cleaning chamber of the base station and is used to clean the accessories in an automated cleaning device. The component body can be understood as the basic support structure of the entire accessory cleaning assembly, and it can be made of high-strength plastic or metal to ensure the stability and durability of the overall structure. The extrusion plate is a key component that directly contacts and applies pressure to the cleaning accessories. It can be made of elastic material or a hard material with micro-protrusions to enhance friction and trigger the water spray mechanism. The spray nozzle can be an embedded micro-nozzle structure, specifically employing a multi-hole distribution design to achieve uniform water spray and improve cleaning coverage.

[0052] In some embodiments, performing the accessory cleaning action may further include: identifying a QR code set inside the cleaning chamber of the base station using a visual sensor to determine the location of the cleaning accessory, and then determining whether the cleaning accessory has reached the extrusion plate based on the location of the cleaning accessory.

[0053] In some embodiments, when the cleaning accessory is a small cloth assembly, after the robotic arm grips the small cloth assembly, it can drive the rotatable mounting base of the small cloth assembly or the body of the small cloth assembly to rotate around a preset axis during the process of pressing the base station extrusion plate to trigger water spraying, so that the surface of the small cloth assembly rubs against the extrusion plate, and the stains are cleaned in conjunction with the water spraying.

[0054] Understandably, in practical applications, the first preset time can be a cleaning time parameter that is dynamically adjusted according to the degree of soiling of the cleaning accessories. It can be set as a fixed value based on experimental data or adjusted in real time by sensors, with the aim of balancing cleaning effect and resource consumption. The rotatable part can be a structure in the cleaning accessories that can move in a circular motion around the central axis. It can be driven by a motor or a robotic arm, with the aim of introducing dynamic friction to remove stubborn stains.

[0055] It is worth noting that this application's solution effectively solves the problem of stain residue during cleaning by integrating the collaborative design of the extrusion plate and the water spray nozzle, along with a dynamic rotation mechanism. The component body serves as the basic support structure, with the extrusion plate and water spray nozzle linked together. When the robotic arm grips the cleaning accessory and presses the extrusion plate, the pressure triggers the water spray nozzle to activate the water spray function. This design avoids water waste and improves cleaning targeting. During water spraying, the robotic arm drives the rotatable part of the cleaning accessory to rotate on the extrusion plate surface. The simultaneous action of water scouring and mechanical friction significantly enhances the stain removal capability. The rotation process is limited to the water spraying period, ensuring that the water flow and friction action work synchronously, avoiding dead zones that static water spraying cannot reach. Furthermore, by setting a first preset duration, the cleaning time can be dynamically adjusted according to the degree of staining, ensuring thorough stain removal while preventing resource consumption due to over-cleaning, thus achieving a balance between reliability and efficiency.

[0056] In some embodiments, the method further includes: when the water nozzle stops spraying water onto the cleaning accessory, continuing to drive the rotatable part of the cleaning accessory to rotate on the surface of the extrusion plate by a robotic arm until the duration of rotation reaches a second preset duration; or, when the water nozzle stops spraying water onto the cleaning accessory, controlling the robotic arm to clamp the cleaning accessory to increase the pressure on the extrusion plate until the duration of increased pressure reaches a third preset duration.

[0057] Understandably, the spray nozzle can be a device used to supply cleaning water to the cleaning accessories, and the water flow can be controlled by a solenoid valve or water pump. The second preset time can be a time parameter preset based on the material of the cleaning accessories and the type of stain. Its purpose is to ensure that the rotation process can fully cover all areas of the cleaning accessories and avoid local cleaning omissions due to insufficient time. The third preset time is to ensure the stability of the applied pressure and prevent residues from being completely removed due to insufficient pressure application time.

[0058] It is worth noting that the squeezing plate can be a rigid structure set on the surface of the accessory cleaning assembly, and its surface can be designed with protrusions or grooves to enhance the friction effect. The robotic arm can achieve precise control of the cleaning accessories through motor drive, including rotation and pressure application. The pressure can be increased by using pneumatic devices or spring mechanisms, the purpose of which is to promote the expulsion of water or dirt through physical squeezing.

[0059] In some embodiments, after the water spray stops, the robotic arm drives the rotatable portion of the cleaning accessory to continuously rotate on the surface of the extrusion plate, utilizing the gap after the water flow is interrupted to effectively scrape away stubborn residue through friction. The physical structure of the extrusion plate combined with the rotational action significantly improves the cleaning effect. Alternatively, after the water spray stops, the robotic arm applies controllable pressure to make the cleaning accessory fit more tightly against the extrusion plate, thereby achieving deep extrusion and promoting the removal of residual moisture or stains.

[0060] refer to Figure 4 , Figure 4 The cleaning control method provided in this application includes a flowchart of clamping cleaning accessories into the accessory storage compartment of a base station; in some embodiments, controlling a robotic arm to clamp cleaning accessories into the accessory storage compartment of the base station may include at least the following steps: Step 401: Control the robotic arm to retract and control the automatic cleaning equipment to move to the accessory storage position in front of the base station while maintaining the clamping state of the cleaning accessories. Step 402: Control the automatic cleaning equipment to adjust the extension direction of the robotic arm at the accessory storage position so that the extension direction is towards the accessory storage compartment; Step 403: Control the robotic arm to extend so that it grips the cleaning accessory and places it into the accessory storage compartment of the base station.

[0061] The accessory storage location can be a specific area in front of the base station where the automated cleaning equipment performs accessory storage operations. This location can be determined using preset positioning markers or navigation coordinates. Specifically, the automated cleaning equipment can be positioned at this location using methods such as visual sensors to identify ground markings, infrared range sensors to detect distances, or lidar to construct an environmental map. The main purpose of setting this location is to ensure that the robotic arm can accurately align with the entrance to the accessory storage compartment.

[0062] Understandably, when an automated cleaning device needs to store cleaning accessories in the accessory storage compartment, it first retracts its robotic arm to bring the entire device into a compact state and hold the cleaning accessories in place, effectively avoiding the risk of collisions during movement. Once the device reaches the accessory storage location, the extension direction of the robotic arm is adjusted to precisely align it with the compartment, utilizing the stability of the device after it has come to a stop and eliminating the accumulation of errors that might occur during directional adjustments. Finally, ensuring accurate orientation, the extension motion is executed to smoothly place the cleaning accessories into the compartment, improving the success rate and reliability of the storage operation.

[0063] In some embodiments, the base station is provided with a quick-release component, and the accessory storage action includes: controlling a robotic arm to grip a cleaning accessory to the recognition area of ​​the quick-release component to trigger the quick-release component to perform a quick-release action on the cleaning accessory; after the duration of triggering the quick-release action reaches a fourth preset duration, controlling the robotic arm to pull it out of the accessory storage compartment.

[0064] It can be understood that the quick-release component is a device capable of rapid separation through a specific triggering mechanism, such as an electromagnetic latch, spring ejection, or snap-lock unlocking. It's worth noting that the recognition area can be understood as a specific area on the quick-release component used to sense the position of the cleaning accessory, ensuring that the cleaning accessory is accurately positioned to trigger the quick-release action. The fourth preset duration can be a dynamically monitored parameter set based on the time required for the quick-release component to complete its physical release. Its purpose is to ensure the integrity of the quick-release action and prevent the cleaning accessory from not completely detaching or accidentally falling due to premature movement of the robotic arm.

[0065] It's worth noting that the quick-release component enables the base station to actively release cleaning accessories, thus avoiding the separation failure risk caused by the passive release of the cleaning accessory by the robotic arm in traditional methods. The process of controlling the robotic arm to grip the cleaning accessory and place it within the quick-release component's recognition area ensures accurate triggering timing and positional matching. The quick-release action only initiates when the cleaning accessory is fully in place, effectively preventing accidental triggering or incomplete separation. Furthermore, the robotic arm is only withdrawn from the accessory storage compartment after the quick-release action has been completed and the duration has reached the fourth preset time, ensuring the integrity of the entire storage process and system stability.

[0066] In some embodiments, the method further includes: acquiring visual sensing information through a visual sensing device installed on the automatic cleaning device, and determining whether the automatic cleaning device has reached the cleaning position in front of the base station based on the visual sensing information; or, acquiring distance identification information through an infrared identification device installed on the automatic cleaning device, and determining whether the automatic cleaning device has reached the cleaning position in front of the base station based on the distance identification information.

[0067] Visual sensing devices can be those capable of capturing environmental images and converting them into digital signals; these can be implemented using cameras, image sensors, etc. It's worth noting that automated cleaning equipment uses built-in algorithms to process captured images to extract key features for location determination. The purpose of introducing visual sensing devices is to enhance the equipment's adaptability in complex environments and avoid reliance on fixed paths or external markers. Infrared recognition devices can be understood as distance measurement devices based on the principle of infrared signal reflection; they can be implemented using infrared ranging sensors or laser ranging modules.

[0068] In some embodiments, the visual sensing device may include a ToF or AI camera in front of the automatic cleaning device, and the infrared recognition device may include an infrared recognition device at the rear of the automatic cleaning device for docking and charging.

[0069] refer to Figure 5 , Figure 5 Another flowchart of the cleaning control method provided in this application embodiment; in some embodiments, this application provides a cleaning control method applied to a base station, the base station being communicatively connected to an automatic cleaning device, the automatic cleaning device being equipped with a robotic arm, and the base station being equipped with an accessory cleaning component and an accessory storage bin, the method may include at least the following steps: Step 501: When the automatic cleaning equipment reaches the cleaning position before the base station, and the automatic cleaning equipment clamps the cleaning accessories onto the accessory cleaning assembly by the robotic arm, the accessory cleaning action is performed by the accessory cleaning assembly. Step 502: After the parts cleaning action is completed and the automatic cleaning equipment clamps the cleaned parts into the parts storage compartment through the robotic arm, the parts storage action is performed through the parts storage compartment.

[0070] The above method, through the collaborative work of the accessory cleaning component and accessory storage bin of the base station with the robotic arm of the automatic cleaning equipment, can realize the automated processing of cleaning accessories from cleaning to storage, without requiring manual intervention from the user in the cleaning and storage process, thereby saving the user's time and energy, while ensuring the continuity and standardization of the cleaning accessory processing flow, improving the cleaning effect of cleaning accessories, and enhancing the user experience.

[0071] In some embodiments, the method further includes: acquiring a first sensing signal, characterized by the cleaning accessory reaching the execution area of ​​the accessory cleaning action, via a first sensing device; and controlling the accessory cleaning assembly to perform an accessory cleaning action on the cleaning accessory in response to the first sensing signal.

[0072] Understandably, the first sensing device can be a sensor that detects whether the cleaning accessory has reached the designated position, and it can be implemented using an infrared sensor, ultrasonic sensor, or pressure sensor. The first sensing signal can be a signal generated by the first sensing device to indicate that the cleaning accessory has reached the area where the accessory cleaning action is performed, and its purpose is to provide a precise triggering mechanism independent of the positional information of the automatic cleaning equipment. The accessory cleaning component can be a device for cleaning the cleaning accessory, which can achieve the cleaning function through methods such as water spraying or rotating brushing.

[0073] In some embodiments, the method further includes: acquiring a second sensing signal, characterized by the execution area of ​​the cleaning accessory reaching the accessory storage action, via a second sensing device; and controlling a quick-release component in the accessory storage compartment to perform a quick-release action on the cleaning accessory in response to the second sensing signal.

[0074] Understandably, the second sensing device can be a sensor apparatus used to detect whether the cleaning accessory has reached the designated position, and it can be implemented using infrared sensors, ultrasonic sensors, or pressure sensors, etc. It is worth noting that the second sensing signal can be a signal generated by the second sensing device to indicate that the cleaning accessory has accurately entered the accessory storage action execution area. This signal can be transmitted through electrical signals, optical signals, or other forms of signals, thereby ensuring that the system can dynamically determine the position status of the cleaning accessory, thus providing a reliable basis for subsequent operations.

[0075] In some embodiments, the method further includes: acquiring a third sensing signal indicating that the cleaning accessory and the robotic arm have been separated via a third sensing device; and controlling a drying assembly in the accessory storage compartment to perform a drying action on the cleaning accessory in response to the third sensing signal.

[0076] Understandably, the third sensing device can be a device capable of monitoring and providing feedback on the physical connection status between the cleaning accessory and the robotic arm in real time. This can be achieved using pressure sensors, photoelectric sensors, or displacement sensors. It's worth noting that the third sensing signal can be an electrical signal or data information generated by the third sensing device. This signal can be generated by detecting pressure changes at the robotic arm's gripping point, the positional offset of the cleaning accessory, or the gap between the two, thereby preventing equipment malfunctions caused by misjudgments.

[0077] refer to Figure 6 , Figure 6 A schematic diagram of the module of the cleaning control system provided in the embodiments of this application; in some embodiments, this application also provides a cleaning control system 600, applied to an automatic cleaning device, the automatic cleaning device being equipped with a robotic arm, the system including: The equipment return module 601 is configured to respond to a task completion signal. The task completion signal indicates that the automatic cleaning equipment has completed the current cleaning task by gripping the cleaning accessories with the robotic arm. The automatic cleaning equipment is controlled to maintain the gripping state of the cleaning accessories and return to the corresponding base station. The accessory cleaning module 602 is configured to control the robotic arm to clamp the cleaning accessory onto the accessory cleaning component of the base station when the automatic cleaning equipment reaches the cleaning position before the base station, so as to perform the accessory cleaning action. The accessory storage module 603 is configured to, after the accessory cleaning action is completed, control the robotic arm to clamp the cleaned accessory into the accessory storage compartment of the base station to perform the accessory storage action, or control the robotic arm to clamp the cleaned accessory to perform the next cleaning task.

[0078] In some embodiments, this application provides an automatic cleaning device, which is equipped with a robotic arm and further includes: one or more processors; and a memory associated with the one or more processors, the memory being used to store program instructions, which, when read and executed by the one or more processors, perform the steps of the method in any of the above-described embodiments of the automatic cleaning device.

[0079] In some embodiments, this application provides a base station that is communicatively connected to an automatic cleaning device. The automatic cleaning device is equipped with a robotic arm, and the base station is equipped with an accessory cleaning component and an accessory storage compartment. The base station further includes: one or more processors; and a memory associated with one or more processors. The memory is used to store program instructions, which, when read and executed by one or more processors, perform the steps of the method in any of the above-described base station-related embodiments.

[0080] In some embodiments, this application provides a computer program product including a computer program, characterized in that the computer program, when executed by a processor, implements the steps of any of the methods described above.

[0081] in, Figure 7 The architecture of the automatic cleaning device provided in the embodiments of this application is illustrated by way of example. Figure 7 As shown, the automatic cleaning device 700 may include a processor 710, a video display adapter 711, a disk drive 712, an input / output interface 713, a network interface 714, and a memory 720. The processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720 can communicate with each other via a communication bus 730.

[0082] The processor 710 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs and implement the technical solution provided in this application.

[0083] The memory 720 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 720 can store the operating system 721 for controlling the operation of the terminal 700, and the basic input / output system (BIOS) 722 for controlling the low-level operations of the terminal 700. Additionally, it may include storage for a web browser 723, a data storage management system 724, and a cleaning control system 600, etc. The aforementioned control device can be the application program that specifically implements the aforementioned steps in the embodiments of this application. In summary, when the technical solution provided in this application is implemented through software or firmware, the relevant program code is stored in the memory 720 and is called and executed by the processor 710.

[0084] Input / output interface 713 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0085] Network interface 714 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0086] Bus 730 includes a pathway for transmitting information between various components of the device, such as processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720.

[0087] It should be noted that although the above-described device only shows the processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, memory 720, bus 730, etc., in specific implementations, the automatic cleaning device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the solution of this application, and does not necessarily include all the components shown in the figures.

[0088] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer program product. This computer program product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0089] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A cleaning control method, characterized in that, Applied to an automatic cleaning device equipped with a robotic arm, the method includes: In response to a task completion signal, which indicates that the automatic cleaning device has completed the current cleaning task by gripping the cleaning accessory with the robotic arm, the automatic cleaning device is controlled to return to the corresponding base station while maintaining the gripping state of the cleaning accessory. When the automatic cleaning equipment reaches the cleaning position before the base station, the robotic arm is controlled to clamp the cleaning accessory onto the accessory cleaning assembly of the base station to perform the accessory cleaning action; After the accessory cleaning action is completed, the robotic arm is controlled to clamp the cleaned accessory into the accessory storage compartment of the base station to perform the accessory storage action, or the robotic arm is controlled to clamp the cleaned accessory to perform the next cleaning task.

2. The cleaning control method according to claim 1, characterized in that, The control of the robotic arm to clamp the cleaning accessory onto the accessory cleaning assembly of the base station includes: Obtain the pose information of the automatic cleaning device; The automatic cleaning device is controlled to adjust the extension direction of the robotic arm according to the pose information, so that the extension direction is toward the accessory cleaning assembly; The robotic arm is controlled to extend so that it grips the cleaning accessory and touches the accessory cleaning assembly of the base station.

3. The cleaning control method according to claim 1 or 2, characterized in that, The accessory cleaning assembly includes an assembly body, a pressing plate disposed on the surface of the assembly body, and a water spray nozzle. A vision sensor is disposed at the end of the robotic arm. The execution of the accessory cleaning action includes: The visual sensor determines whether the cleaning accessory has reached the extrusion plate. After the cleaning accessory reaches the extrusion plate, it sends an arrival command to the base station via wireless communication. In response to the arrival command, the base station controls the water nozzle to spray water onto the cleaning accessory after a preset delay time, and controls the robotic arm to clamp the cleaning accessory and press it against the extrusion plate. During the water spraying process at the spray nozzle, the rotatable part of the cleaning accessory is driven by the robotic arm to rotate on the surface of the extrusion plate until the rotation duration reaches a first preset duration, thereby completing the cleaning action of the accessory.

4. The cleaning control method according to claim 3, characterized in that, The method further includes: When the water spray nozzle stops spraying water onto the cleaning accessory, the rotatable part of the cleaning accessory continues to rotate on the surface of the extrusion plate by the robotic arm until the duration of the rotation reaches the second preset duration. Alternatively, when the water spray nozzle stops spraying water onto the cleaning accessory, the robotic arm is controlled to clamp the cleaning accessory and increase the pressure on the extrusion plate until the duration of the increased pressure reaches a third preset duration.

5. The cleaning control method according to claim 1, characterized in that, The process of controlling the robotic arm to clamp the cleaning accessory into the accessory storage compartment of the base station includes: Control the robotic arm to retract and control the automatic cleaning device to move to the accessory storage position in front of the base station while maintaining the clamping state of the cleaning accessory; The automatic cleaning device is controlled to adjust the extension direction of the robotic arm at the accessory storage location so that the extension direction is toward the accessory storage compartment; Control the robotic arm to extend so that it grips the cleaning accessory and places it into the accessory storage compartment of the base station.

6. The cleaning control method according to claim 1 or 5, characterized in that, The base station is equipped with a quick-release component, and the accessory storage action includes: The robotic arm is controlled to grip the cleaning accessory and move it to the recognition area of ​​the quick-release assembly, thereby triggering the quick-release assembly to perform a quick-release action on the cleaning accessory. After the duration of triggering the quick-release action reaches the fourth preset duration, the robotic arm is controlled to be pulled out of the accessory storage compartment.

7. The cleaning control method according to claim 1, characterized in that, The method further includes: Visual sensing information is acquired through a visual sensing device installed on the automatic cleaning equipment, and the system determines whether the automatic cleaning equipment has reached the cleaning position in front of the base station based on the visual sensing information; or... Distance identification information is obtained by an infrared identification device installed on the automatic cleaning device, and the automatic cleaning device is used to determine whether it has reached the cleaning position in front of the base station based on the distance identification information.

8. A cleaning control method, characterized in that, Applied to a base station, the base station is communicatively connected to an automatic cleaning device, the automatic cleaning device is equipped with a robotic arm, and the base station is equipped with an accessory cleaning component and an accessory storage compartment. The method includes: At the cleaning position before the automatic cleaning equipment reaches the base station, and when the automatic cleaning equipment clamps the cleaning accessory onto the accessory cleaning assembly via the robotic arm, the accessory cleaning action is performed by the accessory cleaning assembly. After the cleaning action of the accessories is completed, and the automatic cleaning equipment clamps the cleaned accessories into the accessory storage compartment through the robotic arm, the accessory storage action is performed through the accessory storage compartment.

9. The cleaning control method according to claim 8, characterized in that, The method further includes: A first sensing signal, representing the area where the cleaning accessory has reached the cleaning action of the accessory, is acquired through a first sensing device. In response to the first sensor signal, the accessory cleaning assembly is controlled to perform the accessory cleaning action on the cleaning accessory.

10. The cleaning control method according to claim 8, characterized in that, The method further includes: A second sensor signal, representing the execution area of ​​the cleaning accessory's arrival at the accessory storage action, is acquired through a second sensor device; In response to the second sensor signal, the quick-release assembly in the accessory storage compartment is controlled to perform a quick-release action on the cleaning accessory.

11. The cleaning control method according to claim 10, characterized in that, The method further includes: A third sensing signal indicating that the cleaning accessory and the robotic arm have been separated is acquired through a third sensing device; In response to the third sensor signal, the drying component in the accessory storage compartment is controlled to perform a drying action on the cleaned accessory.

12. An automatic cleaning device, characterized in that, The automatic cleaning equipment is equipped with a robotic arm, and the automatic cleaning equipment also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1 to 7.

13. A base station, characterized in that, The base station is communicatively connected to the automatic cleaning equipment, which is equipped with a robotic arm. The base station is equipped with an accessory cleaning component and an accessory storage compartment. The base station also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 8 to 11.

14. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 7, or implements the steps of the method according to any one of claims 8 to 11.

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