Control method and control device of automatic cleaning equipment and related equipment

Abstract

The embodiment of the invention discloses a control method and device of automatic cleaning equipment and related equipment, the automatic cleaning equipment comprises an equipment body and a mechanical arm arranged on the equipment body, the equipment body is provided with a first sensor, and the mechanical arm is provided with a second sensor. The mechanical arm is controlled to extend out of the equipment body, the automatic cleaning equipment is controlled to move in the working environment, and visual information is collected through a first sensor and a second sensor in the moving process; in response to the high-altitude area identified according to the visual information collected by the second sensor, the automatic cleaning equipment is controlled to move to the position below the high-altitude area; the mechanical arm is controlled to enter a high-position scanning posture, and visual information of a high-altitude area is collected through a second sensor; and the visual information collected by the first sensor and the second sensor in the mapping mode is fused to establish a map of the working environment, so that the navigation capability and the obstacle avoidance capability of the automatic cleaning equipment are improved.

Description

Technical Field

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

[0002] The environmental perception and mapping of existing automated cleaning equipment relies on sensors fixedly installed on the equipment itself. The height and viewing angle of these sensors cannot be flexibly adjusted. Due to the limited detection range of the sensors, it is difficult to effectively cover high-altitude areas above the equipment (such as ceilings, under cabinets, chandeliers, upper walls, and suspended obstacles). As a result, the constructed environmental map lacks complete three-dimensional spatial information in the vertical dimension and cannot accurately reflect the position, outline, and height characteristics of high-altitude obstacles. This limits the ability of automated cleaning equipment to avoid suspended objects during navigation, affecting the safety of equipment operation and the accuracy of path planning. Summary of the Invention

[0003] This application provides a control method, control device, and related equipment for an automatic cleaning equipment, used to acquire visual information of high-altitude areas to construct a map of the working environment, thereby improving the navigation and obstacle avoidance capabilities of the automatic cleaning equipment.

[0004] In a first aspect, this application provides a control method for an automatic cleaning device, the automatic cleaning device including a device body and a robotic arm disposed on the device body, the device body being provided with a first sensor, and the robotic arm being provided with a second sensor, the method comprising: In mapping mode, the robotic arm is controlled to extend outside the device body, and the automatic cleaning device is controlled to move in the working environment. During the movement, visual information is collected through the first sensor and the second sensor. In response to identifying a high-altitude area based on visual information collected by the second sensor, the automatic cleaning equipment is controlled to move to a position below the high-altitude area; The robotic arm is controlled to enter a high-level scanning posture, and visual information of the high-altitude area is collected through the second sensor. The visual information collected by the first sensor and the second sensor in the mapping mode is fused to create a map of the working environment containing three-dimensional spatial information.

[0005] In some embodiments, identifying the high-altitude region using visual information acquired by the second sensor includes: Obstacle identification is performed based on the visual information collected by the second sensor; If an obstacle is identified that is located above the device body and is more than a preset threshold above the ground, the area where the obstacle is located is defined as the high-altitude area.

[0006] In some embodiments, the robotic arm includes a support rod and a movable joint, the second sensor is disposed on the robotic arm, and controlling the robotic arm to enter a high-position scanning posture includes: Based on the visual information collected by the second sensor, the outline information and ground clearance of obstacles in the high-altitude area are determined; Based on the contour information and the ground clearance, determine the extension height range of the support rod and the rotation angle of the movable joint; Control the support rod to extend to a determined extension height range; Control the movable joint to rotate upward to a determined rotation angle, so that the second sensor faces the high-altitude area.

[0007] In some embodiments, controlling the robotic arm to enter a high-position scanning posture further includes: During the process of acquiring visual information of the high-altitude area through the second sensor, the robotic arm is controlled to swing back and forth within a preset angle range; The oscillation includes periodic oscillation in the horizontal plane and / or pitch oscillation in the vertical plane.

[0008] In some embodiments, controlling the robotic arm to reciprocate within a preset angle range includes: The swing speed of the robotic arm is determined based on the moving speed of the device body; Based on the swing speed, the robotic arm is controlled to swing back and forth within a preset angle range to collect visual information about the high-altitude area.

[0009] In some embodiments, after controlling the automatic cleaning device to move to a position below the high-altitude area, the method further includes: The contour information of the high-altitude area is obtained based on the visual information collected by the second sensor; The movement path of the automatic cleaning equipment is planned based on the contour information; According to the movement path, the device body is controlled to move at a preset speed, and during the movement, visual information of the high-altitude area is continuously collected through the second sensor.

[0010] In some embodiments, the method further includes: In response to the identification of a low-lying area by visual information acquired through the first sensor and / or the second sensor, where the low-lying area cannot accommodate the device body, the robotic arm is controlled to extend into the low-lying area to acquire visual information.

[0011] In some embodiments, the method further includes: Upon initial entry into mapping mode, the automatic cleaning device is controlled to rotate, and during this rotation, visual information collected by the first and second sensors is acquired; and / or, In an open area, the automatic cleaning equipment is controlled to rotate, and visual information collected by the first and second sensors is acquired during the rotation.

[0012] In some embodiments, controlling the robotic arm to extend outside the device body in mapping mode includes: Upon initial entry into mapping mode and / or in an open area, the robotic arm is controlled to extend above the device body and within a first height range, with the field of view of the second sensor facing horizontally or downward at a preset angle to the horizontal, and the first height range being lower than the extension height range.

[0013] In some embodiments, fusing the visual information acquired by the first sensor and the second sensor in the mapping mode to establish a map of the working environment includes: First point cloud data is obtained based on visual information collected by the first sensor in mapping mode, and second point cloud data is obtained based on visual information collected by the second sensor in mapping mode. Align the overlapping areas of the first point cloud data and the second point cloud data in the same coordinate system; The aligned first and second point cloud data are merged to obtain merged point cloud data; A map of the working environment is created based on the fused point cloud data.

[0014] Secondly, this application provides a control device for an automatic cleaning device, the automatic cleaning device including a device body and a robotic arm disposed on the device body, the device body being provided with a first sensor, and the robotic arm being provided with a second sensor, the device comprising: The acquisition module is configured to acquire visual information through the first sensor and the second sensor as the robotic arm extends out of the device body and the automatic cleaning device moves in the working environment. The control module is configured to, in response to identifying a high-altitude area based on visual information acquired by the second sensor, control the automatic cleaning device to move to a position below the high-altitude area; and control the robotic arm to enter a high-level scanning posture to acquire visual information of the high-altitude area through the second sensor. The mapping module is configured to fuse visual information collected by the first sensor and the second sensor in the mapping mode to create a map of the working environment.

[0015] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0016] Fourthly, this application provides an automatic cleaning device, characterized in that the automatic cleaning device includes a device body and a robotic arm disposed on the device body, the device body is provided with a first sensor, the robotic arm is provided with a second sensor, and the automatic cleaning device 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.

[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.

[0018] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application achieves dual-sensor collaborative acquisition of visual information by controlling a robotic arm to extend beyond the equipment body in mapping mode, combined with the movement of the automatic cleaning equipment. After identifying a high-altitude area, the equipment is controlled to move below that area, and the robotic arm is driven into a high-level scanning posture to acquire visual information about the high-altitude area. The visual information acquired by the two sensors can then be fused and processed to effectively cover high-altitude areas that are difficult for existing fixed sensors to reach, filling blind spots in high-altitude detection. This enables the constructed working environment map to have complete vertical three-dimensional spatial information, accurately reflecting the position, outline, and height characteristics of high-altitude obstacles. This improves the automatic cleaning equipment's ability to identify and avoid high-altitude obstacles, ensures the safety of equipment operation, and enhances the accuracy of path planning, providing reliable spatial data support for efficient equipment operation.

[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 A schematic diagram of an automatic cleaning device provided in an embodiment of this application.

[0022] Figure 2 A flowchart illustrating the steps of a control method for an automatic cleaning device provided in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram illustrating the high-altitude area scanning process in the control method of the automatic cleaning equipment provided in this application embodiment.

[0024] Figure 4 This is a schematic diagram illustrating the scanning of an open area in the control method of the automatic cleaning equipment provided in this application embodiment.

[0025] Figure 5 This is a schematic diagram illustrating the low-profile area scanning process in the control method of the automatic cleaning equipment provided in this application embodiment.

[0026] Figure 6 A flowchart illustrating an example of a control method for an automatic cleaning device provided in this application.

[0027] Figure 7 A schematic block diagram of the control device for an automatic cleaning equipment provided in an embodiment of this application.

[0028] Figure 8 A schematic block diagram of an automatic cleaning device provided in an embodiment of this application.

[0029] Figure label: 100. Equipment body; 110. Robotic arm; 120. First sensor; 130. Second sensor; 140. Gripper; 150. Ground; 160. Ground obstacle; 170. High-altitude obstacle. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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)."

[0034] The environmental perception and mapping of existing automated cleaning equipment relies on sensors fixedly installed on the equipment itself. The height and viewing angle of these sensors cannot be flexibly adjusted. Due to the limited detection range of the sensors, it is difficult to effectively cover high-altitude areas above the equipment (such as ceilings, under cabinets, chandeliers, upper walls, and suspended obstacles). As a result, the constructed environmental map lacks complete three-dimensional spatial information in the vertical dimension and cannot accurately reflect the position, outline, and height characteristics of high-altitude obstacles. This limits the ability of automated cleaning equipment to avoid suspended objects during navigation, affecting the safety of equipment operation and the accuracy of path planning.

[0035] To address the aforementioned issues, this application provides a control method, control device, and related equipment for an automatic cleaning device, used to acquire visual information of high-altitude areas to construct a map of the working environment, thereby improving the navigation and obstacle avoidance capabilities of the automatic cleaning device.

[0036] The present application will be further described below with reference to the accompanying drawings.

[0037] refer to Figure 1 , Figure 1 This is a schematic diagram of an automatic cleaning device provided in an embodiment of this application. In some embodiments, the automatic cleaning device may include a circular device body 100, on which a robotic arm 110 may be provided, and at the end of the robotic arm 110 may be a gripper 140 for gripping and cleaning objects. A first sensor 120 is provided on the device body 100, and a second sensor 130 is provided on the robotic arm 110.

[0038] In some embodiments, the device body 100 is a mobile robot platform, and its bottom may be equipped with drive wheels to achieve autonomous movement. The robotic arm 110 may be a multi-joint robotic arm 110, with its base fixed to the top of the device body 100. The gripper 140 is installed at the end effector interface of the robotic arm 110 for performing cleaning operations such as grasping and wiping. The first sensor 120 and the second sensor 130 may be one of a lidar, a vision sensor, or an ultrasonic sensor, respectively. The first sensor 120 may be disposed on the device body 100 for global navigation and mapping, and the second sensor 130 may be disposed at the end of the robotic arm 110 or near the gripper 140 for local operation and obstacle detection.

[0039] refer to Figure 2 , Figure 2 This application provides a flowchart of the steps of a control method for an automatic cleaning device according to an embodiment of the present application; in some embodiments, the present application provides a control method for an automatic cleaning device, applied to, for example... Figure 1 The automatic cleaning device shown includes a device body 100 and a robotic arm 110 disposed on the device body 100. The device body 100 is provided with a first sensor 120, and the robotic arm 110 is provided with a second sensor 130. The method may include at least the following steps: Step 201: In mapping mode, control the robotic arm to extend outside the equipment body and control the automatic cleaning equipment to move in the working environment. During the movement, visual information is collected through the first sensor and the second sensor. Step 202: In response to identifying the high-altitude area based on the visual information collected by the second sensor, control the automatic cleaning equipment to move to a position below the high-altitude area; Step 203: Control the robotic arm to enter a high-level scanning posture and collect visual information of the high-altitude area through the second sensor; Step 204: The visual information collected by the first sensor and the second sensor in the mapping mode is fused to create a map of the working environment containing three-dimensional spatial information.

[0040] Based on steps 201 to 204 above, this application controls the robotic arm to extend out of the equipment body in mapping mode, and combines the movement of the automatic cleaning equipment to achieve dual-sensor collaborative acquisition of visual information. After identifying the high-altitude area, the device is controlled to move below the high-altitude area, and the robotic arm is driven into a high-position scanning posture to acquire visual information of the high-altitude area. Then, through the fusion processing of the visual information acquired by the dual sensors, it can effectively cover high-altitude areas that are difficult to reach by existing fixed sensors, fill the blind spots of high-altitude detection, and enable the constructed working environment map to have complete vertical three-dimensional spatial information, accurately reflect the position, outline and height characteristics of high-altitude obstacles, thereby improving the automatic cleaning equipment's ability to identify and avoid high-altitude obstacles, ensuring the safety of equipment operation, and improving the accuracy of path planning, providing reliable spatial data support for efficient equipment operation.

[0041] The robotic arm can include a retractable mechanical structure with multi-degree-of-freedom motion capabilities, which can be implemented using a combination of electric actuators and rotary joints, and its spatial pose adjustment can be achieved by servo motors or stepper motors. The first sensor can include a main environmental sensing device mounted on the top of the device body, which can be implemented using LiDAR or a depth camera, to acquire three-dimensional information about the environment surrounding the device body. The second sensor can include an auxiliary detection device mounted on the end effector of the robotic arm, which can be implemented using a wide-angle camera or an infrared sensor, and its installation position changes with the movement of the robotic arm. The mapping mode can include the operational state of the device performing environmental scanning and map building, which can be triggered by preset programs or user commands. In this mode, the device performs systematic spatial exploration. Visual information fusion can include coordinate alignment and data stitching of spatial data acquired by different sensors, which can be achieved using SLAM algorithms combined with feature point matching technology to ensure accurate integration of data collected from different perspectives in a unified coordinate system.

[0042] Understandably, the high-altitude area can be a spatial region located above the device body and at a certain height, which may contain target objects requiring special detection. For example, the high-altitude area could be the space beneath a ceiling, a hanging cabinet, or a suspended obstacle, and its height above the ground can be defined by a preset threshold. The high-altitude scanning posture can be understood as a specific working state of the robotic arm, the purpose of which is to enable the second sensor to focus on the target in the high-altitude area. For example, the high-altitude scanning posture can be achieved by adjusting the length of the robotic arm's support rod and the angle of its movable joints; for instance, fixing the support rod at a certain height and adjusting the angle of the movable joints to orient the sensor toward the target area.

[0043] It is worth noting that the automated cleaning equipment in this application can achieve comprehensive perception and 3D map construction of the working environment through the coordinated operation of the equipment body and the robotic arm, combined with the data acquisition capabilities of the first and second sensors. The first sensor on the equipment body is responsible for collecting visual information about the ground and low-lying areas, while the second sensor on the robotic arm extends the detection range, particularly for high-altitude areas, through dynamic adjustments of the robotic arm. In mapping mode, the robotic arm is controlled to extend beyond the equipment body, while the automated cleaning equipment moves within the working environment. During this process, the first and second sensors collect visual information from different heights and perspectives, providing multi-dimensional data support for subsequent map construction. Furthermore, when the visual information collected by the second sensor identifies a high-altitude area, the equipment body is controlled to move below that area to provide the operating conditions for the robotic arm's high-level scanning posture.

[0044] Furthermore, after the robotic arm enters a high-level scanning posture, by adjusting the extension height of its support rod and the rotation angle of its movable joints, the second sensor can accurately focus on the high-altitude area and collect relevant visual information. Specifically, this high-level scanning posture design fully utilizes the flexibility of the robotic arm, compensating for the deficiency of traditional fixed sensors in covering high-altitude areas. Thus, the second sensor can acquire key data such as the contour information and height above the ground of high-altitude obstacles.

[0045] Furthermore, by fusing the visual information acquired by the first and second sensors in mapping mode, a working environment map containing three-dimensional spatial information can be constructed. Specifically, the ground and low-altitude area data provided by the first sensor and the high-altitude area data acquired by the second sensor are aligned and integrated in a unified coordinate system, eliminating the information loss problem caused by the limitations of a single sensor's perspective, thus generating a complete three-dimensional environment map.

[0046] By implementing the above technical solutions, the automatic cleaning equipment in this application can not only effectively cover high-altitude areas, but also integrate multi-dimensional visual information into an accurate three-dimensional map, solving the problem of missing vertical dimension information caused by the fixed sensor height and viewing angle, and improving the comprehensiveness of environmental perception and the accuracy of map construction.

[0047] In some embodiments, this application further proposes identifying high-altitude areas using visual information collected by a second sensor, including: identifying obstacles based on the visual information collected by the second sensor; if an obstacle is identified that is located above the device body and has a height above the ground exceeding a preset threshold, then the area where the obstacle is located is determined as a high-altitude area.

[0048] The preset threshold refers to a height standard set according to the actual application scenario. Its purpose is to distinguish between high-altitude obstacles and low-altitude obstacles, thereby ensuring the accuracy of the recognition results. Ground clearance refers to the vertical distance from the bottom of the obstacle to the ground, which can be calculated by combining data collected by sensors with the positioning information of the device itself.

[0049] Understandably, the above solution uses visual information collected by a second sensor for obstacle identification, leveraging the robotic arm's flexibility to adjust the sensor's height and viewing angle, thereby effectively detecting obstacles in the working environment. During identification, the system determines whether the obstacle is located above the equipment body and filters it based on whether its ground clearance exceeds a preset threshold. Only obstacles meeting these conditions are identified as high-altitude areas. This mechanism avoids interference from non-high-altitude obstacles, significantly improving the accuracy and reliability of identification. Furthermore, this solution is closely integrated with the overall control flow in the mapping mode. By accurately identifying high-altitude areas, it provides accurate input for the subsequent movement and scanning of the automated cleaning equipment, thus solving the problem of incomplete map construction caused by the lack of specific identification standards.

[0050] refer to Figure 3 , Figure 3 The schematic diagram of high-altitude area scanning in the control method of the automatic cleaning equipment provided in the embodiments of this application is shown. The high-altitude area is provided with high-altitude obstacles 170, and the equipment body 100 is placed on the ground 150. In some embodiments, when the automatic cleaning equipment is controlled to move to a position below the high-altitude area, the robotic arm 110 can be controlled to enter a high-level scanning posture to collect visual information of the high-altitude area, and during the collection process, the robotic arm 110 can be controlled to swing and / or the equipment body 100 can move along the boundary of the high-altitude area.

[0051] The high-altitude area can include a three-dimensional space located above the device body and beyond the detection range of the fixed sensors on the device body, such as the top of a cabinet or below a wall cabinet, which can be determined by visual recognition or a preset height threshold. The high-level scanning posture can include the robotic arm adjusting to a specific height and angle to cover the high-altitude area, which can be achieved through the extension and retraction of the support rod and the rotation of the movable joints. Swinging can include the robotic arm periodically reciprocating in a horizontal or vertical plane, for example, by using a servo motor to drive the movable joints to rotate within a preset angle range, thereby expanding the scanning coverage of the second sensor.

[0052] For example, in this application, the automatic cleaning device can adjust the posture of the robotic arm to such a position. Figure 3As shown, the robotic arm is raised to a high-angle, upward-looking position (e.g., the height above the ground is adjustable from 30cm to 50cm, which is the range of its extension height, and can be adjusted according to the obstacles above it detected by the robotic arm's camera). Simultaneously, as the main body moves, the robotic arm's wrist joint swings back and forth in real time (e.g., from 0° to -45°) to scan for suspended obstacles such as ceilings, upper walls, chandeliers, electric fans, and table and chair beams, supplementing the vertical (height) mapping information and marking the suspended obstacles that the robotic arm needs to avoid.

[0053] Understandably, when the automated cleaning equipment detects a high-altitude area, the equipment itself moves directly below that area, the robotic arm's support rod extends upwards to its maximum height, and the movable joint tilts upwards at a preset angle to the horizontal, aligning the second sensor carried by the robotic arm with the high-altitude area. During data collection, the robotic arm changes the detection direction of the second sensor through swinging motions, or the equipment itself moves along the boundary of the high-altitude area, thereby acquiring visual information from multiple angles and positions. For example, when the high-altitude area is a suspended shelf, the robotic arm can capture information about the distribution of obstacles at the bottom and sides of the shelf during its swinging motion.

[0054] It is worth noting that traditional automated cleaning equipment, limited by the height and viewing angle of its fixedly installed sensors, cannot effectively detect high-altitude areas above the equipment itself, resulting in blind spots in map construction. This solution, through the posture adjustment and coordinated movement of a robotic arm, enables the second sensor to flexibly cover high-altitude areas, filling the gaps in the sensor's detection range.

[0055] Through the above technical solution, this application achieves the acquisition of three-dimensional environmental information in high-altitude areas, solving the problem of missing detection in high-altitude areas due to the fixed sensor perspective in existing technologies. By coordinating the high-position scanning posture of the robotic arm with the movement of the equipment body, the distribution of obstacles and boundary contours in high-altitude areas are fully recorded, providing data support for subsequent map construction and path planning, and improving the navigation accuracy of automated cleaning equipment in complex three-dimensional environments.

[0056] In some embodiments, in a high-position scanning posture, the movement trajectory of the robotic arm is located within a three-dimensional space with the center of the device body as the projection reference. This space covers the area from the top of the device body to the bottom of the high-altitude obstacle 170 in the vertical direction and forms a limited scanning coverage area in the horizontal direction.

[0057] In some embodiments, during the high-altitude area scanning process, the space below the high-altitude area is divided into multiple area nodes with different scanning characteristics; the robotic arm is controlled to adopt corresponding scanning strategies at different area nodes: a horizontal scanning method is used at nodes near the edge of the high-altitude area, a composite stereo scanning mode is used at nodes below the center of the high-altitude area, and an adaptive supplementary scanning method is used at nodes in transition areas; as the device moves along the boundary of the high-altitude area, the coordinated movement of the robotic arm systematically collects visual information from each area node, and the movement mode of the robotic arm is coordinated with the movement trajectory of the device.

[0058] In some embodiments, a robotic arm is further provided, including a support rod and a movable joint. A second sensor is disposed on the robotic arm. Controlling the robotic arm to enter a high-level scanning posture includes: performing preliminary identification based on visual information collected by the second sensor to obtain the initial contour information and initial ground clearance of obstacles in the high-altitude area; and determining the extension height range of the support rod and the rotation angle of the movable joint based on the initial contour information and the initial ground clearance. The control support rod extends to a determined extension height range, and the control joint rotates to a determined rotation angle, so that the second sensor faces the high-altitude area, and the second sensor accurately identifies the high-altitude area, obtaining the precise contour information and precise ground clearance of obstacles in the high-altitude area.

[0059] The support rod can include a rigid structure connecting the device body and the movable joint, which can be implemented using an electric telescopic rod or a hydraulic rod. Adjusting the telescopic length of the support rod changes the height of the robotic arm equipped with the second sensor. The movable joint can include a connecting component with rotational degrees of freedom, which can be implemented using a servo motor-driven hinge structure. Adjusting the angle of the movable joint changes the orientation of the robotic arm equipped with the second sensor. The extension height range can include the height interval of the support rod after it extends from the device body, which can be controlled by preset stroke parameters or sensor feedback to ensure that the robotic arm equipped with the second sensor can cover high-altitude areas. The robotic arm equipped with the second sensor refers to the terminal component equipped with the second sensor, which can use a gimbal structure or a universal joint design to achieve a balance between stability and flexibility.

[0060] Preliminary identification can be achieved by using visual information collected by the second sensor on the robotic arm to conduct preliminary detection of the high-altitude area. This is used to obtain basic positioning information of high-altitude obstacles (e.g., initial outline, initial ground clearance), clarify the approximate height range that the robotic arm needs to extend to, and the approximate rotation angle of the movable joints, avoiding situations where the sensor cannot be aligned with the high-altitude area due to posture deviation of the robotic arm. Precise identification can be achieved by controlling the support rod of the robotic arm to extend to the corresponding height range and the movable joints to rotate to the matching angle based on the preliminary identification results, so that the second sensor is facing the high-altitude area for further detection. This is used to obtain the precise three-dimensional features of high-altitude obstacles (such as precise outline, accurate ground clearance, surface structure details, etc.), which can then be used to construct a complete three-dimensional map of the working environment and distinguish the types of high-altitude obstacles.

[0061] It is understandable that after obtaining the precise contour information and precise ground clearance of obstacles in the high-altitude area, this application can further extract specific characteristic parameters of the obstacles based on this precise information. These parameters include, but are not limited to, the surface texture features, edge and corner distribution, proportion of openwork structures, suspension and fixing methods (such as ceiling mounting, wall extension, independent suspension, etc.), size ratios (length / width / height three-dimensional values), and spatial occupancy shape (regular geometric shapes / irregular irregular structures). Through the analysis of these characteristic parameters, the types of high-altitude obstacles can be accurately distinguished, for example, they can be classified into different types such as lighting equipment (chandeliers, spotlights), storage devices (hanging cabinets, hanging shelves), decorative components (ceiling designs, hanging ornaments), and functional structures (air conditioner outdoor units, pipes, beams). At the same time, combined with precise contour and height data, the spatial projection range of the obstacles can be further calculated, clarifying their coverage area in the horizontal direction and their obstruction height in the vertical direction, providing data support for subsequent path planning, obstacle avoidance strategy formulation, and cleaning operation priority ranking of automatic cleaning equipment.

[0062] In some embodiments, the end effector of the robotic arm equipped with the second sensor is the sensor end effector. The sensor end effector may include a movable component on which the second sensor is mounted, which may be implemented using a camera assembly with a gimbal structure, for adjusting the detection direction in a low-profile area. The second sensor may include a sensing device for acquiring visual information, which may be implemented using a depth camera or a LiDAR module, for acquiring three-dimensional spatial information in the low-profile area.

[0063] In some embodiments, the robotic arm can adopt a multi-segment telescopic and multi-joint linkage structure, which may include a first support rod, a first movable joint, a second support rod, a second movable joint, and a third support rod connected in sequence. One end of the first support rod is fixedly connected to the top base of the device body, and the other end is hinged to one end of the second support rod through the first movable joint. The other end of the second support rod is hinged to one end of the third support rod through the second movable joint. The other end of the third support rod serves as the sensor end, used to mount the sensor. Adjacent support rod segments are rotatably connected through corresponding movable joints. That is, the first movable joint is used to drive the second support rod to pitch or rotate horizontally relative to the first support rod, and the second movable joint is used to drive the third support rod to finely adjust its angle relative to the second support rod. Through the coordinated action of the two movable joints, the robotic arm can flexibly extend and precisely adjust its angle in three-dimensional space, thereby driving the sensor end to smoothly reach the detection position in a low area.

[0064] In some embodiments, the installation position of the second sensor can be selected according to the detection scenario. Besides being installed at the end of the sensor on the other end of the third support rod, it can also be fixed in the middle region of the robotic arm, such as the middle section of the second support rod, the junction of the first movable joint and the second support rod, or the front section of the third support rod. When the second sensor is installed in the middle of the robotic arm, the coordinated extension and retraction of the multiple support rods and the angle adjustment of the movable joint can ensure that the sensor's detection direction accurately covers the target area: for low-lying areas, the first movable joint drives the second support rod to tilt downwards, and the second movable joint fine-tunes the posture of the third support rod. Even if the sensor is located in the middle, the overall extension and bending of the robotic arm allows the sensor to extend below obstacles off the ground; for high-altitude areas, the support rod extends to the third height range, and the movable joint tilts upwards. The sensor installed in the middle can cover the bottom and sides of high-altitude obstacles through the swinging of the robotic arm.

[0065] Understandably, when it is necessary to collect visual information about high-altitude areas, this application can identify the contour information and ground clearance of obstacles in the high-altitude area based on the visual information collected by the second sensor. Secondly, based on the identified obstacle features, the extension height range of the support rod and the rotation angle of the movable joint are calculated, thereby optimizing the posture of the robotic arm to match the high-altitude area. Furthermore, this application also controls the extension height of the support rod and the rotation angle of the movable joint to ensure that the sensor tip can be precisely aligned with the high-altitude area, improving the efficiency and accuracy of visual information collection. This allows the high-level scanning posture of the robotic arm in mapping mode to compensate for the limited field of view of the device's own sensors, thereby enhancing the completeness and accuracy of map construction.

[0066] Through the above technical solution, this application can achieve comprehensive collection of visual information in high-altitude areas, fill the blind spots in high-altitude detection caused by the fixed installation of sensors in the prior art, thereby improving the integrity of environmental maps and the navigation accuracy of automatic cleaning equipment.

[0067] In some embodiments, this application further proposes controlling a robotic arm equipped with a second sensor to reciprocate within a preset angle range during the process of acquiring visual information of a high-altitude area using a second sensor; wherein the reciprocation includes periodic reciprocation in the horizontal plane and / or pitch reciprocation in the vertical plane. The reciprocation of the robotic arm equipped with the second sensor can be achieved through motor drive, gear transmission, or other mechanical transmission methods, the purpose of which is to dynamically adjust the sensor's viewing angle and avoid blind spots in information acquisition caused by a fixed orientation. The preset angle range can be set according to the spatial characteristics of the high-altitude area, for example, ±30°, ±45°, etc., to ensure coverage of key spatial information of the target area. Furthermore, the periodic reciprocation in the horizontal plane is used to expand the sensor's scanning range in the width direction, while the pitch reciprocation in the vertical plane is used to capture detailed information in the height direction. This combined reciprocation method can significantly improve the comprehensiveness and efficiency of information acquisition.

[0068] In some embodiments, this application further proposes a technical solution for controlling a robotic arm equipped with a second sensor to reciprocate within a preset angle range to collect visual information of a high-altitude area. This solution may include: determining the swing speed of the robotic arm equipped with the second sensor based on the moving speed of the device body; and controlling the robotic arm equipped with the second sensor to reciprocate within a preset angle range based on the swing speed, thereby achieving visual information collection of the high-altitude area. Specifically, when the device body moves quickly, the swing speed of the robotic arm equipped with the second sensor can be increased accordingly, thereby quickly covering the high-altitude area along the movement path and avoiding information loss due to slow swinging; when the device body moves slowly, the swing speed of the robotic arm equipped with the second sensor can be reduced, reducing redundant movement and resource consumption. Furthermore, controlling the reciprocating swing of the robotic arm equipped with the second sensor within a preset angle range based on the swing speed ensures the continuity and stability of the swinging motion, thereby improving the accuracy and completeness of visual information collection.

[0069] Understandably, after the robotic arm enters the high-level scanning posture, the swing speed of the robotic arm equipped with the second sensor matches the movement speed of the equipment body, which can more efficiently complete the scanning task of the high-altitude area and improve the information collection efficiency.

[0070] This application further proposes that after controlling the automatic cleaning equipment to move to a position below the high-altitude area, the method further includes: obtaining the contour information of the high-altitude area based on the visual information already collected by the second sensor; planning the movement path of the automatic cleaning equipment according to the contour information; controlling the equipment body to move at a preset speed according to the movement path, and continuously collecting the visual information of the high-altitude area through the second sensor during the movement.

[0071] Contour information refers to descriptive data on the shape, boundary, and height features of obstacles in high-altitude areas. It can be generated by extracting edge features using image processing algorithms and combining them with depth information. The movement path can be understood as the trajectory planning of the device itself in the working environment. It can be achieved through path planning algorithms, aiming to ensure that the device can efficiently cover the target area. The preset speed refers to the constant rate of the device during movement. It can be set according to device performance and data acquisition requirements, for example, set to 0.5 meters per second, to ensure the stability and continuity of the data acquisition process.

[0072] Understandably, after the device moves below the high-altitude area, this application can first extract the contour information of the high-altitude area based on the visual information already collected by the second sensor. Subsequently, an optimized movement path is generated based on the extracted contour information to ensure that the device body can efficiently scan the shape of the high-altitude area. On this basis, the device moves along the planned path at a preset speed, while continuously collecting visual information of the high-altitude area through the second sensor, thereby avoiding data omissions due to irregular movement.

[0073] refer to Figure 4 , Figure 4 This application provides a schematic diagram of scanning an open area in the control method of an automatic cleaning device. The application further proposes the following technical solution: upon initial entry into mapping mode, the automatic cleaning device is controlled to rotate, and visual information collected by the first sensor 120 and the second sensor 130 is acquired during the rotation; and / or, within an open area, the automatic cleaning device is controlled to rotate, and visual information collected by the first sensor 120 and the second sensor 130 is acquired during the rotation.

[0074] Understandably, when initially entering mapping mode, the automatic cleaning equipment may not yet have fully covered the environmental area. Controlling the equipment's rotation at this time allows for a rapid expansion of the sensor's scanning range, thereby acquiring more comprehensive environmental information. In open areas, due to the lack of obstacles to guide path changes, the equipment's movement trajectory may be relatively simple. Controlling the automatic cleaning equipment's rotation effectively supplements the acquisition of visual information from multiple angles. During rotation, the first and second sensors continuously collect visual information, ensuring the continuity and integrity of the data.

[0075] In some embodiments, this application further proposes a control method for an automatic cleaning device, wherein in mapping mode, a robotic arm is controlled to extend out of the device body, including initially entering mapping mode and / or in an open area, controlling the robotic arm to extend above the device body and within a first height range, the field of view of a second sensor is oriented towards the horizontal direction or downward at a preset angle to the horizontal direction, the first height range is lower than the extension height range; the robotic arm is located within the projected outline range of the device body.

[0076] The first height range can include the height range of the robotic arm when it extends above the device body. The vertical displacement of the robotic arm can be adjusted using a telescopic rod or hydraulic device to prevent collisions with surrounding obstacles. The preset angle can include the tilt of the second sensor's field of view relative to the horizontal plane. The pitch angle of the robotic arm equipped with the second sensor can be adjusted by a rotary joint to expand the scanning range of the ground or low-lying areas. The projection contour range can include the area projected onto the horizontal plane when the robotic arm is extended, ensuring it does not exceed the outer contour boundary of the device body. The position of the robotic arm can be monitored in real time using limit switches or position sensors to ensure stability during device movement.

[0077] In some embodiments, this application further proposes controlling the automatic cleaning device to rotate when initially entering the mapping mode, and acquiring visual information collected by the first sensor and the second sensor during the rotation; and / or controlling the automatic cleaning device to rotate in an open area, and acquiring visual information collected by the first sensor and the second sensor during the rotation.

[0078] The mapping mode can include the automatic cleaning equipment's environmental map construction process, which can be initiated through a preset program, allowing the equipment to enter an autonomous movement and data acquisition process. Rotation can include the equipment body adjusting its angle around a vertical axis, which can be achieved using differential speed control of the drive wheels, changing the speed difference between the left and right wheels to generate rotational motion. Open areas can include unobstructed, flat open spaces in the working environment, determined by real-time detection of obstacle distribution using sensors; when the obstacle density is below a preset threshold, it is considered an open area. Acquiring visual information during rotation can include the equipment simultaneously triggering data acquisition from the first and second sensors during rotation. A time synchronization module can correlate the sensor acquisition period with changes in the rotation angle to ensure complete recording of visual information from different perspectives.

[0079] refer to Figure 5 , Figure 5This is a schematic diagram of scanning low-lying areas in the control method of the automatic cleaning equipment provided in the embodiments of this application; in some embodiments, this application further proposes to identify obstacles by collecting visual information from the first sensor 120 and / or the second sensor 130; if an obstacle 160 above the ground is identified, and the distance between the obstacle 160 above the ground and the ground 150 is less than a preset height, then it is determined that a low-lying area has been identified.

[0080] The visual information can include environmental images or 3D point cloud data acquired through optical sensors, such as RGB cameras, depth cameras, or LiDAR, used to extract obstacle outlines and spatial location information. Ground-based obstacles can include objects suspended above the ground with accessible spaces underneath, identified through image segmentation algorithms to recognize object edges and combined with point cloud height analysis; examples include furniture such as beds, sofas, or cabinets. The preset height can include a critical height threshold for spaces the device itself cannot access, set according to the device's physical dimensions, for example, 10 centimeters, used to determine whether low-lying areas require robotic arm detection. Low-lying areas refer to spaces in the environment where the device cannot be accommodated due to height limitations, such as the bottom of furniture or narrow gaps.

[0081] Understandably, this application uses a first and a second sensor to collect real-time visual information about the environment and processes this information to detect the presence of low-lying areas. If a low-lying area is detected and its height is determined to be insufficient to accommodate the device body, the extension action of the robotic arm is triggered. The robotic arm adjusts its posture based on the position and height information provided by the sensors to ensure that its end effector can accurately enter the low-lying area and collect visual information, thereby achieving coverage of the low-lying area.

[0082] In some embodiments, this application further proposes a control method for an automatic cleaning device. In mapping mode, visual information collected by a first sensor and a second sensor is fused to establish a map of the working environment. The method includes: acquiring first point cloud data based on visual information collected by the first sensor in mapping mode, and acquiring second point cloud data based on visual information collected by the second sensor in mapping mode; aligning the overlapping areas of the first point cloud data and the second point cloud data in the same coordinate system; fusing the aligned first point cloud data and the second point cloud data to obtain fused point cloud data; and establishing a map of the working environment based on the fused point cloud data.

[0083] The first point cloud data can include a set of three-dimensional spatial coordinates converted from visual information collected by sensors on the device itself. This can be generated after scanning the working environment using LiDAR or a depth camera, and is used to describe the obstacle distribution in the movable area of ​​the device. The second point cloud data can include a set of three-dimensional spatial coordinates converted from visual information collected by sensors at the end effector of the robotic arm. This can be generated after scanning low-lying or high-altitude areas using an adjustable-angle depth camera, and is used to supplement blind spots not covered by the device's sensors. Alignment within the same coordinate system can include mapping data collected by different sensors to a unified spatial reference system. This can be achieved using feature point matching algorithms or motion trajectory-based simultaneous localization and mapping (SMR) techniques, ensuring spatial consistency of point cloud data from different sources. The fused point cloud data can include a synthetic dataset obtained by removing redundant information and superimposing complementary information from two aligned point cloud sets. This can be processed using voxel filtering or probabilistic fusion algorithms to form a three-dimensional model covering the entire working environment.

[0084] Understandably, during the movement of the automated cleaning equipment, sensors on the equipment body continuously collect visual information in the horizontal direction and the area accessible to the equipment body, generating the first point cloud data. When the robotic arm extends into a low-lying area or adjusts to a high-lying posture, the sensors at its end collect visual information of the corresponding area, generating the second point cloud data. A coordinate transformation algorithm is used to convert the two sets of point cloud data to the same coordinate system; for example, a coordinate transformation matrix is ​​established based on the relative positional relationship between the equipment body and the robotic arm, eliminating spatial deviations caused by differences in sensor installation positions. Subsequently, the two sets of point clouds are precisely aligned by comparing the geometric features of overlapping areas, such as planar contours or edge curvature. The aligned point clouds are then fused using a fusion algorithm to remove duplicate parts, such as averaging the two sets of points at the same location or retaining high-precision data, while preserving the unique point cloud information of both low-lying and high-lying areas. Finally, an environmental map containing complete obstacle distribution and spatial structure is generated based on the fused point cloud data.

[0085] It is worth noting that fixed sensors in existing technologies cannot acquire visual information about low-lying or high-altitude areas, resulting in blind spots in the map. This solution, however, utilizes a robotic arm equipped with adjustable-angle sensors, combined with point cloud data alignment and fusion technology. This complements the detection ranges of the equipment's own sensors and the robotic arm's sensors, allowing data from low-lying, high-altitude, and conventional areas to be integrated into a single map. This eliminates blind spots caused by fixed sensor perspectives and improves the completeness of the environmental map through multi-source data fusion. For example, in low-lying area detection, point cloud data collected by the robotic arm's end effector fills in areas not covered by the equipment's own sensors; in high-altitude area detection, point cloud data collected after the robotic arm adjusts its posture supplements the three-dimensional spatial information missed by conventional horizontal scanning. The resulting map accurately reflects the obstacle distribution at different heights in the working environment, providing more comprehensive environmental model support for the path planning and obstacle avoidance of automated cleaning equipment.

[0086] refer to Figure 6 , Figure 6 This is an example flowchart of a control method for an automatic cleaning device provided in an embodiment of this application. In some embodiments, the method may specifically include: firstly, initiating a 3D mapping mode, controlling a robotic arm to extend out of the device body and controlling the device to move in the working environment, while simultaneously acquiring visual information through a first visual sensor and a second visual sensor; subsequently, executing the host sensor scanning process and the robotic arm segmented scanning process in parallel, wherein the robotic arm segmented scanning includes: a low-level scanning stage, controlling the robotic arm to lower and extend into low-lying areas to supplement blind spot visual information; a mid-level scanning stage, controlling the robotic arm to rise to a mid-level height to acquire obstacle information in the lower half of the area; a high-level scanning stage, controlling the robotic arm to rise and swing upwards to acquire vertical height information; furthermore, using multi-sensor data fusion technology, aligning and optimizing the acquired visual information and point cloud data in the same coordinate system to construct an environmental map containing 3D semantic information.

[0087] It is understood that this application acquires first point cloud data based on visual information collected by a first sensor and second point cloud data based on visual information collected by a second sensor; the point cloud data are aligned and fused in the same coordinate system to establish a map of the working environment. The above-mentioned process of observing the same area from multiple perspectives so that the data from the multi-angle scanning of the robotic arm can complement each other can improve the detail and accuracy of the map, thereby obtaining a denser point cloud and a more accurate surface geometry, making the modeling of complex objects (such as chair legs and plants) more refined, and making the map more consistent with the actual environment.

[0088] In some embodiments, the method of this application may include sequentially executing the following stages: first, performing a mid-level scan, during which a robotic arm is controlled to extend above the device body and within a first height range, and the field of view of the second sensor is oriented horizontally or downward at a preset angle to the horizontal direction, in order to quickly scan an open area and establish a basic framework of the working environment; then, performing a low-level area scan, in response to identifying a low-level area through visual information collected by the first sensor and / or the second sensor, where the low-level area cannot accommodate the device body, the robotic arm is controlled to extend into the low-level area to collect visual information to supplement the blind spot details of the low-level area; then, performing a high-level scan, controlling the automatic cleaning device to move to a position below the high-level area, controlling the support rod to extend above the device body and within the extension height range, with the movable joint upward at a preset angle to the horizontal direction, so that the robotic arm equipped with the second sensor swings back and forth within the preset angle range, with the second sensor facing the high-level area to obtain visual information of the high-level area; furthermore, this application can use multi-sensor data fusion technology to align and optimize the visual information collected in the mid-level, low-level and high-level scan stages with point cloud data in the same coordinate system to construct an environmental map containing three-dimensional semantic information.

[0089] Understandably, by performing the above-mentioned sequential scanning scheme—intermediate scanning, low scanning, and high scanning—intermediate scanning can prioritize covering a large area, establishing the overall framework of the environment first. Then, low and high scanning can be used to supplement the details of the corresponding areas, thereby avoiding repetition or omissions during the scanning process, improving mapping efficiency, and ensuring the comprehensiveness and accuracy of the map. This provides more efficient and reliable environmental model support for the path planning and obstacle avoidance of automatic cleaning equipment.

[0090] refer to Figure 7 , Figure 7 This is a schematic block diagram of a control device for an automatic cleaning equipment provided in an embodiment of this application. In some embodiments, this application provides a control device 700 for an automatic cleaning equipment. The automatic cleaning equipment includes a device body and a robotic arm disposed on the device body. The device body is provided with a first sensor, and the robotic arm is provided with a second sensor. The device includes: The acquisition module 701 is configured to acquire visual information through a first sensor and a second sensor during the process of the automatic cleaning equipment moving in the working environment after the robotic arm extends out of the equipment body; Control module 702 is configured to, in response to identifying a high-altitude area based on visual information collected by the second sensor, control the automatic cleaning equipment to move to a position below the high-altitude area; control the robotic arm to enter a high-level scanning posture and collect visual information of the high-altitude area through the second sensor; The mapping module 703 is configured to fuse visual information acquired by the first and second sensors in mapping mode to create a map of the working environment.

[0091] This application also provides an automatic cleaning device, including: One or more processors; and A memory associated with one or more processors, the memory being used to store program instructions that, when read and executed by one or more processors, perform the steps of the method of any of the first aspects.

[0092] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods in the first aspect.

[0093] in, Figure 8 The architecture of the automatic cleaning device provided in the embodiments of this application is illustrated by way of example, wherein, Figure 8 The automatic cleaning equipment 800 can be an automatic cleaning device, and the automatic cleaning equipment 800 may include a control device 700 installed on the automatic cleaning equipment.

[0094] Furthermore, such as Figure 8 As shown, automatic cleaning devices may include a processor 810, a video display adapter 811, a disk drive 812, an input / output interface 813, a network interface 814, and a memory 820. The processor 810, video display adapter 811, disk drive 812, input / output interface 813, network interface 814, and memory 820 can communicate with each other via a communication bus 830.

[0095] The processor 810 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.

[0096] The memory 820 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 820 can store the operating system 821 for controlling the terminal's operation, and the basic input / output system (BIOS) 822 for controlling the terminal's low-level operations. Additionally, it can store a web browser 823, a data storage management system 824, and a control device 700 installed on the automatic cleaning equipment, etc. The aforementioned control device can be the application program that specifically implements the aforementioned steps in this embodiment. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 820 and executed by the processor 810.

[0097] The input / output interface 813 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0098] Network interface 814 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.).

[0099] Bus 830 includes a pathway for transmitting information between various components of the device, such as processor 810, video display adapter 811, disk drive 812, input / output interface 813, network interface 814, and memory 820.

[0100] It should be noted that although the above-described device only shows the processor 810, video display adapter 811, disk drive 812, input / output interface 813, network interface 814, memory 820, bus 830, etc., in specific implementations, the 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.

[0101] 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.

[0102] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for an automatic cleaning device, characterized in that, The automatic cleaning device includes a device body and a robotic arm disposed on the device body. The device body is equipped with a first sensor, and the robotic arm is equipped with a second sensor. The method includes: In mapping mode, the robotic arm is controlled to extend outside the device body, and the automatic cleaning device is controlled to move in the working environment. During the movement, visual information is collected through the first sensor and the second sensor. In response to identifying a high-altitude area based on visual information collected by the second sensor, the automatic cleaning equipment is controlled to move to a position below the high-altitude area; The robotic arm is controlled to enter a high-level scanning posture, and visual information of the high-altitude area is collected through the second sensor. The visual information collected by the first sensor and the second sensor in the mapping mode is fused to create a map of the working environment containing three-dimensional spatial information.

2. The method according to claim 1, characterized in that, The identification of high-altitude areas using visual information acquired by the second sensor includes: Obstacle identification is performed based on the visual information collected by the second sensor; If an obstacle is identified that is located above the device body and is more than a preset threshold above the ground, the area where the obstacle is located is defined as the high-altitude area.

3. The method according to claim 1, characterized in that, The robotic arm includes a support rod and a movable joint. The second sensor is disposed on the robotic arm. Controlling the robotic arm to enter a high-position scanning posture includes: Based on the visual information collected by the second sensor, preliminary identification is performed to obtain the initial outline information and initial ground clearance of obstacles in the high-altitude area; Based on the initial contour information and the initial ground clearance, determine the extension height range of the support rod and the rotation angle of the movable joint; The support rod is controlled to extend to a determined extension height range, and the movable joint is controlled to rotate to a determined rotation angle, so that the second sensor faces the high-altitude area, and the high-altitude area is accurately identified by the second sensor to obtain the precise contour information and precise ground clearance of obstacles in the high-altitude area.

4. The method according to claim 3, characterized in that, The process of controlling the robotic arm to enter a high-position scanning posture also includes: During the process of acquiring visual information of the high-altitude area through the second sensor, the robotic arm is controlled to swing back and forth within a preset angle range; The oscillation includes periodic oscillation in the horizontal plane and / or pitch oscillation in the vertical plane.

5. The method according to claim 4, characterized in that, The control of the robotic arm to reciprocate within a preset angle range includes: The swing speed of the robotic arm is determined based on the moving speed of the device body; Based on the swing speed, the robotic arm is controlled to swing back and forth within a preset angle range to collect visual information about the high-altitude area.

6. The method according to claim 1, characterized in that, After controlling the automatic cleaning equipment to move to a position below the high-altitude area, the method further includes: The contour information of the high-altitude area is obtained based on the visual information collected by the second sensor; The movement path of the automatic cleaning equipment is planned based on the contour information; According to the movement path, the device body is controlled to move at a preset speed, and during the movement, visual information of the high-altitude area is continuously collected through the second sensor.

7. The method according to claim 1, characterized in that, The method further includes: In response to the identification of a low-lying area by visual information acquired through the first sensor and / or the second sensor, where the low-lying area cannot accommodate the device body, the robotic arm is controlled to extend into the low-lying area to acquire visual information.

8. The method according to claim 1, characterized in that, The method further includes: Upon initial entry into mapping mode, the automatic cleaning device is controlled to rotate, and during this rotation, visual information collected by the first and second sensors is acquired; and / or, In an open area, the automatic cleaning equipment is controlled to rotate, and visual information collected by the first and second sensors is acquired during the rotation.

9. The method according to claim 1, characterized in that, In the mapping mode, controlling the robotic arm to extend outside the device body includes: Upon initial entry into mapping mode and / or in an open area, the robotic arm is controlled to extend above the device body and within a first height range, with the field of view of the second sensor facing horizontally or downward at a preset angle to the horizontal, and the first height range being lower than the extension height range.

10. The method according to claim 1, characterized in that, The process of fusing visual information collected by the first sensor and the second sensor in the mapping mode to create a map of the working environment includes: First point cloud data is obtained based on visual information collected by the first sensor in mapping mode, and second point cloud data is obtained based on visual information collected by the second sensor in mapping mode. Align the overlapping areas of the first point cloud data and the second point cloud data in the same coordinate system; The aligned first and second point cloud data are merged to obtain merged point cloud data; A map of the working environment is created based on the fused point cloud data.

11. A control device for an automatic cleaning equipment, characterized in that, The automatic cleaning device includes a device body and a robotic arm disposed on the device body. The device body is equipped with a first sensor, and the robotic arm is equipped with a second sensor. The device includes: The acquisition module is configured to acquire visual information through the first sensor and the second sensor as the robotic arm extends out of the device body and the automatic cleaning device moves in the working environment. The control module is configured to, in response to identifying a high-altitude area based on visual information acquired by the second sensor, control the automatic cleaning device to move to a position below the high-altitude area; and control the robotic arm to enter a high-level scanning posture to acquire visual information of the high-altitude area through the second sensor. The mapping module is configured to fuse visual information collected by the first sensor and the second sensor in the mapping mode to create a map of the working environment.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 11.

13. An automatic cleaning device, characterized in that, The automatic cleaning device includes a device body and a robotic arm disposed on the device body. The device body is equipped with a first sensor, and the robotic arm is equipped with a second sensor. The automatic cleaning device 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 11.

14. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1 to 11.

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