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. Controlling the mechanical arm to extend out of the equipment body, and controlling the automatic cleaning equipment to move in the working environment; in the moving process, the mechanical arm is controlled to be maintained in a middle-position scanning posture above the equipment body, and the middle-position scanning posture comprises that the mechanical arm is located in a first height range, and the view field of the second sensor faces the preset middle-position scanning direction; collecting visual information of a working environment through a first sensor and a second sensor in a middle scanning posture; 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, and reliable spatial data support is provided for automatic cleaning equipment.

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 automatic cleaning equipment mostly rely on sensors fixedly installed on the equipment itself. The detection range and viewing angle are limited by the installation location and cannot be flexibly adjusted, resulting in incomplete coverage of the collected environmental visual information. This leads to insufficient integrity and lack of detail in the three-dimensional spatial information of the constructed environmental map in the vertical dimension, making it difficult to accurately reproduce the environmental features around the equipment. Consequently, it affects the practical application value of the map, reduces the accuracy of equipment navigation path planning, and the safety of the operation process. Summary of the Invention

[0003] This application provides a control method, control device, and related equipment for automatic cleaning equipment, which improves the integrity and detail accuracy of the three-dimensional spatial information of environmental maps and provides reliable spatial data support for automatic cleaning equipment.

[0004] In a first aspect, a control method for an automatic cleaning device is provided. 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, and the robotic arm is provided 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, the robotic arm is controlled to maintain a center-scanning posture above the device body. The center-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset center-scanning direction. Visual information about the working environment is collected through the first sensor and the second sensor, which is in the mid-scanning posture. 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.

[0005] In some embodiments, the robotic arm includes a support rod and a movable joint, the second sensor is disposed on the robotic arm, the mid-scanning direction includes a horizontal direction or a direction downward at a first preset angle to the horizontal direction, and controlling the robotic arm to maintain a mid-scanning posture above the device body includes: Control the extension and retraction of the support rod to keep the robotic arm within the first height range; Control the rotation of the movable joint so that the field of view of the second sensor is oriented towards the horizontal direction or downward at a first preset angle to the horizontal direction.

[0006] In some embodiments, controlling the movement of the automatic cleaning device in the working environment in mapping mode includes: The automatic cleaning equipment is controlled to move along a mapping path, which includes at least one scanning node located in an open area. In response to the automatic cleaning device arriving at the scanning node, the automatic cleaning device is controlled to rotate at the scanning node, and during the rotation, visual information collected by the first sensor and the second sensor is acquired.

[0007] In some embodiments, controlling the automatic cleaning device to rotate at the scanning node includes: Based on the visual information collected in real time by the first sensor and / or the second sensor, the obstacle distribution status information in the working environment is detected; In response to determining that the area where the current scanning node is located is an open area based on the obstacle distribution information, the drive wheel of the automatic cleaning device is controlled to generate a differential speed so that the device body rotates around its vertical axis.

[0008] In some embodiments, acquiring the visual information collected by the first sensor and the second sensor during the rotation includes: During the rotation of the device body, the data acquisition cycle of the first sensor and the second sensor is controlled by the time synchronization module, so that the acquisition cycle is correlated with the change of the rotation angle of the device body. Based on the correlation between the acquisition period and the rotation angle of the device body, the first sensor and the second sensor are triggered to acquire visual information.

[0009] In some embodiments, acquiring visual information about the environment surrounding the scanning node using the first sensor and the second sensor includes: The second sensor acquires basic contour information of the environment surrounding the scanning node. Based on the basic contour information, the obstacle edge information identified by the first sensor and / or the second sensor is scanned by the second sensor to obtain visual information of obstacles in the environment surrounding the scanning node.

[0010] In some embodiments, the robotic arm, in the mid-scan posture, is located within the projected contour range of the device body.

[0011] In some embodiments, after acquiring visual information about the working environment through the first sensor and the second sensor in the mid-scanning posture, the method further includes: Control the robotic arm to enter the low-level scanning phase; During the low-level scanning phase, in response to identifying a low-lying area, the robotic arm is controlled to extend into the low-lying area to acquire visual information about that area.

[0012] In some embodiments, the method further includes: After completing the low-level scanning phase, the robotic arm is controlled to enter the high-level scanning phase. During the high-altitude scanning phase, in response to the identification of the high-altitude region, the robotic arm is controlled to enter a high-altitude scanning posture to collect visual information of the high-altitude region; The process of creating the map for the work environment includes: The visual information acquired in the low-level scanning phase and the high-level scanning phase is fused with the visual information acquired in the mid-level scanning phase to create a map of the working environment.

[0013] In some embodiments, the low-order scanning phase includes: Control the automatic cleaning equipment to move to the entrance position of the low-ceiling area; The robotic arm is controlled to enter a low-position scanning posture to acquire visual information of the low-lying area, and during the acquisition process, the robotic arm is controlled to swing horizontally and / or the device body moves along the boundary of the low-lying area.

[0014] In some embodiments, the high-level scanning phase includes: Control the automatic cleaning equipment 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.

[0015] 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.

[0016] 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 mobile module is configured to, in mapping mode, control the robotic arm to extend outside the device body and control the automatic cleaning device to move in the working environment; The control module is configured to control the robotic arm to maintain a center-scanning posture above the device body during movement. The center-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset center-scanning direction. Visual information of the working environment is collected through the first sensor and the second sensor in the center-scanning posture. 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.

[0017] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0018] Fourthly, this application provides an automatic cleaning device, which 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 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.

[0019] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0020] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application controls a robotic arm to extend outside the device body in mapping mode, maintaining the robotic arm in a scanning posture within a first height range above the device body. The field of view of the second sensor is oriented towards a preset center scanning direction. Combined with the movement of the device body, the first and second sensors collaboratively collect visual information of the working environment. The information is then fused to construct a map, which can effectively make up for the coverage shortcomings of existing fixed sensor visual information collection, improve the completeness and detail accuracy of the three-dimensional spatial information of the environmental map, ensure that the map accurately restores the environmental features around the device, and thus provide reliable spatial data support for automatic cleaning equipment, ensuring the accuracy of navigation path planning and the safety of the operation process, and improving the operating efficiency and practical performance of the equipment.

[0021] 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

[0022] 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.

[0023] Figure 1 A schematic diagram of an automatic cleaning device provided in an embodiment of this application.

[0024] Figure 2 A flowchart illustrating the steps of a control method for an automatic cleaning device provided in an embodiment of this application.

[0025] Figure 3 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.

[0026] Figure 4 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.

[0027] Figure 5 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.

[0028] Figure 6 A flowchart illustrating an example of a control method for an automatic cleaning device provided in this application.

[0029] Figure 7 A schematic block diagram of the control device for an automatic cleaning equipment provided in an embodiment of this application.

[0030] Figure 8A schematic block diagram of an automatic cleaning device provided in an embodiment of this application.

[0031] 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

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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)."

[0036] In existing technologies, automated cleaning devices (such as robotic vacuum cleaners) typically rely on lidar, visual sensors, or RGB-D cameras fixedly mounted on the top of the device for environmental perception and map building. Because the sensor's viewing angle is fixed and cannot be flexibly adjusted, blind spots exist in its detection of low-lying spaces under furniture such as beds and sofas. This prevents the effective acquisition of visual information in these areas, resulting in an incomplete environmental map and limiting the navigation and obstacle avoidance capabilities of the automated cleaning device.

[0037] To address the aforementioned issues, this application provides a control method, control device, and related equipment for automatic cleaning equipment, used to acquire visual information from low-ceilinged spaces to construct a map of the working environment, thereby improving the navigation and obstacle avoidance capabilities of the automatic cleaning equipment.

[0038] The present application will be further described below with reference to the accompanying drawings.

[0039] 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.

[0040] 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.

[0041] 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; Step 202: During the movement, control the robotic arm to maintain a mid-scanning posture above the device body. The mid-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset mid-scanning direction. Step 203: Visual information of the working environment is collected through the first sensor and the second sensor in the mid-scanning posture; Step 204: The visual information collected by the first sensor and the second sensor in mapping mode is fused to create a map of the working environment.

[0042] Based on steps 201 to 204 above, this application controls the robotic arm to extend outside the device body in mapping mode, maintaining the robotic arm in a scanning posture within a first height range above the device body. The field of view of the second sensor is oriented towards a preset center scanning direction, which may include a horizontal direction or a direction downward at a first preset angle to the horizontal direction. Combined with the movement of the device body, the first and second sensors collaboratively collect visual information of the working environment. Then, through information fusion, a map is constructed. This can effectively make up for the coverage shortcomings of existing fixed sensor visual information collection, improve the integrity and detail accuracy of the three-dimensional spatial information of the environmental map, ensure that the map accurately restores the environmental features around the device, and thus provide reliable spatial data support for automatic cleaning equipment, ensuring the accuracy of navigation path planning and the safety of the operation process, and improving the operating efficiency and practical performance of the equipment.

[0043] 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.

[0044] Understandably, the automated cleaning equipment in this application achieves comprehensive perception and map construction of the working environment through the coordinated operation of the equipment body and the robotic arm, combined with the data acquisition and fusion mechanism of the first and second sensors. Specifically, in mapping mode, the robotic arm is controlled to extend beyond the equipment body. This action avoids the equipment body structure from obstructing the sensor's field of view, thereby expanding the detection range of the second sensor. At the same time, the automated cleaning equipment moves within the working environment, ensuring coverage of a larger area and solving the problem of environmental information omission caused by static scanning of traditional fixed sensors.

[0045] Furthermore, during movement, the robotic arm is maintained in a mid-scanning posture above the device body. This posture limits the robotic arm to a first height range and adjusts the field of view of the second sensor towards a preset mid-scanning direction. This design is based on the universality of mid-height environments, avoiding both excessive height leading to loss of ground details and excessive lowness causing collision risks. This allows the second sensor to accurately capture the contours of the most frequently encountered obstacles and spatial structures in the working environment. Consequently, the continuity of vertical dimension data is significantly enhanced.

[0046] Based on this, the first sensor and the second sensor, positioned in a mid-level scanning posture, synchronously acquire visual information about the working environment. The first sensor provides a stable data stream from the horizontal reference viewpoint of the device itself, while the second sensor supplements detailed information in the mid-height area. By complementarily covering the transition zone from the ground to the hollow area, they overcome the limitation of a single sensor, which, due to its fixed installation position, cannot cover both high and low perspectives, ensuring no blind spots in environmental feature capture. Furthermore, by fusing the visual information acquired by the first and second sensors in mapping mode, a map of the working environment is created. This process aligns and integrates data from different perspectives in a unified coordinate system, utilizing the wide-area coverage of the first sensor and the directional detail scanning of the second sensor for mutual correction, eliminating distortions or omissions that may exist with a single data source. The resulting 3D environment model realistically reflects the hierarchical relationships and subtle features of vertical space, providing a reliable basis for subsequent navigation decisions.

[0047] refer to Figure 3 , Figure 3This application provides a schematic diagram of an automatic cleaning equipment control method for scanning an open area, where the equipment body 100 is placed on the ground 150. The application further proposes a robotic arm 110 including a support rod and a movable joint. A second sensor 130 is disposed on the robotic arm 110. The mid-position scanning direction includes a horizontal direction or a downward direction at a first preset angle to the horizontal direction. Controlling the robotic arm 110 to maintain a mid-position scanning posture above the equipment body 100 includes: controlling the extension and retraction of the support rod to keep the robotic arm 110 within a first height range; and controlling the rotation of the movable joint to make the field of view of the second sensor 130 face the horizontal direction or downward at a first preset angle to the horizontal direction. The extension and retraction of the support rod and the rotation of the movable joint can be performed sequentially or in parallel.

[0048] The support rod can be a structural component capable of length adjustment along its axial direction. Its extension and retraction can be achieved through hydraulic drive, electric actuators, or threaded adjustment, aiming to ensure that the sensor tip is always positioned within a specified range of height through precise height adjustment. The movable joint can be understood as a connecting component with rotational freedom. Its angle can be changed through servo motor drive, gear transmission, or flexible hinges, aiming to flexibly adjust the field of view of the second sensor, thereby optimizing the scanning coverage.

[0049] 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.

[0050] 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 for mounting a 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 be flexibly extended and precisely adjusted in three-dimensional space, thereby controlling the robotic arm to maintain a mid-position scanning posture above the device body.

[0051] Understandably, the mid-scan direction is used to cover the mid-to-low level three-dimensional space around the device body. It takes into account both the horizontal environmental contour detection and the capture of ground and near-ground obstacle details by tilting downwards at a first preset angle. The selection of this direction can be based on the characteristic that mid-to-low level obstacles are most densely distributed in the working environment. This allows the mid-scan posture to collect environmental visual information of the mid-to-low level space around the device, so as to prioritize the acquisition of key spatial information required for navigation planning and provide basic data support for map construction and subsequent path planning.

[0052] 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.

[0053] 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 robotic arm is located within the projected outline range of the device body.

[0054] 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 sensor's end can be adjusted by rotating a 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.

[0055] Understandably, when the automated cleaning equipment enters mapping mode or performs tasks in an open area, the robotic arm is controlled to extend upwards to a first height range, while the field of view of the second sensor is adjusted to be horizontal or tilted downwards at a preset angle. For example, in an open area, the robotic arm can extend to a height of 50 centimeters above the ground, with the sensor tip tilted downwards at 30 degrees to cover the ground area in front. During this process, the extension range of the robotic arm always remains within the projected outline of the equipment body, avoiding shift in the center of gravity or interference with obstacles caused by exceeding the boundaries of the equipment body.

[0056] It is worth noting that in existing technologies, sensors are fixedly mounted on the top of the equipment, making it impossible to flexibly adjust their height and angle according to the environment, resulting in blind spots in low-lying areas. This solution, through the adjustable height of the robotic arm and the sensor's pitch angle, can actively adjust the scanning range in the initial mapping stage or in open areas. Combined with the constraints of the projected contour range, it not only expands the environmental perception capability but also ensures the stability of equipment movement.

[0057] Through the above technical solution, this application can dynamically adjust the height of the robotic arm and the sensor perspective during the mapping process, effectively covering environmental information in low-lying and horizontal areas, and improving the integrity of map construction. At the same time, the extension range of the robotic arm is limited within the projected outline of the equipment, avoiding equipment imbalance or collision with obstacles due to excessive extension of the robotic arm, and enhancing the adaptability of the automatic cleaning equipment in complex environments.

[0058] 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.

[0059] 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.

[0060] For example, such as Figure 3As shown in the diagram, the robotic arm can be raised to a mid-position (e.g., 15cm to 35cm above the ground; this range is the first height range and can be adjusted based on obstacles detected by the second sensor). Simultaneously, the robotic arm must not extend beyond the robot's body to avoid interfering with the operation of the main sensor. In open areas, it first performs a 360° horizontal scan in coordination with the main sensor and the robotic arm's camera. This scanning posture is maintained during movement to acquire mapping information and identify obstacles in the lower half of the room area.

[0061] Understandably, when the automated cleaning device first activates its mapping mode, it performs a stationary rotation at its initial position, such as a 360-degree clockwise or counterclockwise rotation. During this process, the first sensor on the top of the device and the second sensor at the end of the robotic arm continuously collect visual information about the surrounding environment, such as scanning horizontal obstacle outlines using LiDAR or capturing vertical spatial structures using a depth camera. When the automated cleaning device rotates in place, it can acquire environmental visual information for the surrounding area at once, avoiding repetitive scanning and data redundancy caused by frequent movement, thus effectively improving mapping efficiency. When the device moves to an open area, such as the center of a living room or a corridor, it rotates again. At this time, the first sensor acquires a large area of ​​environmental data at a fixed height, while the second sensor supplements the visual information for lower areas through robotic arm posture adjustments. The rotation angle range can be dynamically adjusted according to environmental complexity; for example, a 180-degree rotation in a confined space reduces the risk of collision, while multiple 360-degree rotations are performed in open areas to increase data coverage density.

[0062] It's worth noting that traditional automated cleaning equipment relies solely on sensors with a fixed viewing angle for single scans during mapping, resulting in a lack of visual information in low-lying areas and complex structures. For example, when the equipment is stationary, the sensors cannot capture details of obstacles to the side and rear, while the equipment may miss some areas due to viewing angle limitations when moving in a straight line. This solution actively controls the equipment's rotation, allowing the sensors to acquire multi-angle and multi-directional visual information as they dynamically adjust their viewing angle. For instance, during rotation, the bottom outline of obstacles behind the equipment can be covered, or multiple rotations can eliminate scanning blind spots caused by the sensor's limited field of view. Furthermore, performing rotation in open areas fully utilizes the operational freedom in an unobstructed environment, and multiple rotations improve the data acquisition accuracy of key areas.

[0063] Through the above technical solution, this application can effectively improve the ability of automated cleaning equipment to capture complex environmental features during the mapping process. By coordinating the control of rotational motion and sensor data acquisition, the equipment can acquire more comprehensive environmental information. For example, it can quickly establish a large-scale spatial outline during the initial rotation phase and supplement details such as ground flatness and obstacle distribution during the rotation phase in open areas. This dynamic data acquisition method can reduce the problem of insufficient detection in low-lying areas caused by fixed sensor perspectives, thereby providing a more complete environmental model foundation for subsequent map fusion and path planning.

[0064] In some embodiments, this application further proposes a control method for an automatic cleaning device, wherein in mapping mode the automatic cleaning device is controlled to move along a mapping path within the working environment, the mapping path including at least one scanning node located in an open area; in response to the automatic cleaning device reaching the scanning node, the automatic cleaning device is controlled to rotate at the scanning node, and visual information collected by a first sensor and a second sensor is acquired during the rotation.

[0065] The mapping path can include a pre-planned or dynamically generated movement trajectory covering the working environment. This can be implemented using a grid-based path planning algorithm or a random coverage algorithm to ensure the automated cleaning equipment can traverse the area to be mapped. Scanning nodes can include pre-defined locations along the path for multi-angle visual acquisition. These can be center points of open areas determined through environmental feature recognition or coordinate positioning, providing the sensor with an unobstructed field of view. The rotation process can include the device body rotating around its own axis, achieved using a stepper motor or servo motor driving a differential speed wheel set. This rotation expands the sensor's horizontal scanning range.

[0066] Understandably, in mapping mode, the automated cleaning device moves to each scanning node according to a preset mapping path. When the device reaches a scanning node, it triggers a rotation, such as a 360-degree rotation or a segmented rotation, while simultaneously acquiring visual information from the perspectives of the device body and the robotic arm via a first sensor and a second sensor, respectively. For example, the scanning node can be set in the center of a room or at the intersection of a corridor, rotating to cover environmental features such as surrounding walls and furniture edges. During this process, the robotic arm can remain extended, allowing the second sensor to supplement data collection from different heights and angles; for example, adjusting the tilt angle of the robotic arm during rotation to capture details of the ceiling or floor.

[0067] Through the above technical solutions, this application can improve the integrity and detail accuracy of environmental maps, especially in acquiring panoramic data in open areas by rotating scanning nodes, avoiding feature omissions caused by a single movement path. Simultaneously, the coordinated movement of the robotic arm and the device body expands the sensor coverage from a single plane to three-dimensional space, providing more comprehensive basic data for subsequent map fusion.

[0068] In some embodiments, this application may also detect obstacle distribution status information in the working environment based on visual information collected in real time by the first sensor and / or the second sensor; in response to determining that the area where the current scanning node is located is an open area based on the obstacle distribution status information, the drive wheel of the automatic cleaning device is controlled to generate differential speed so that the device body rotates around its vertical axis.

[0069] Obstacle distribution information refers to the identification of features such as the location, size, and density of obstacles in the environment by analyzing visual data collected by sensors. In practical applications, obstacle distribution information can be extracted using image processing algorithms, such as edge detection algorithms to identify obstacle outlines, or deep learning models to classify and locate obstacles. The purpose is to provide a reliable environmental assessment basis for subsequent safe rotation operations. An open area can be understood as an area within a preset range where there are no obstacles that may hinder the rotation of the equipment. In specific implementation, a safe distance threshold can be set to determine whether an area is open. For example, if the distance between the obstacle and the equipment body is greater than a preset safe radius, the area is considered an open area, ensuring the safety of rotation operations.

[0070] The differential speed control of the drive wheels refers to controlling the left and right drive wheels to operate at different speeds, thereby achieving in-situ rotation of the device body. This means that the above technical solution introduces a real-time obstacle detection mechanism based on sensor information to dynamically acquire environmental conditions and assess area safety. Rotation is only performed after confirming that the scanned node is an open area. This process first relies on real-time visual information collected by the first and / or second sensors to provide immediate data support for obstacle distribution assessment. Then, through analysis of the obstacle distribution information, the safety status of the area is accurately identified. Finally, when open conditions are met, differential speed drive achieves smooth rotation of the device body, effectively avoiding the risk of collision and ensuring the accuracy of visual information acquisition, thus improving the reliability of map construction and the accuracy of environmental reconstruction.

[0071] In some embodiments, this application further proposes a specific implementation method for acquiring visual information collected by the first and second sensors during rotation in the control method of the above-described automatic cleaning equipment. Specifically, this includes: controlling the data acquisition cycle of the first and second sensors through a time synchronization module during the rotation of the equipment body, so that the acquisition cycle is correlated with the change in the rotation angle of the equipment body; and triggering the first and second sensors to acquire visual information based on the correlation between the acquisition cycle and the rotation angle of the equipment body.

[0072] The time synchronization module is a control component used to coordinate the operating timing of multiple data acquisition units. It can be implemented using a hardware timer combined with software algorithms to ensure that data acquisition actions from different sensors are executed synchronously according to preset rules. The acquisition cycle refers to the time interval required for a sensor to complete one data acquisition cycle. This can be achieved by setting a fixed time interval or dynamically adjusting the time interval to match the device's motion state and obtain accurate visual information. The rotation angle refers to the angular change when the device rotates around its vertical axis. It can be detected using angle measuring devices such as encoders or gyroscopes to provide a precise spatial reference for data acquisition.

[0073] Understandably, during the rotation of the device body, this application can first establish a dynamic correlation between the data acquisition cycle of the first and second sensors and the rotation angle of the device body through a time synchronization module. This correlation allows the sensor acquisition frequency to adaptively adjust according to changes in the device's rotation speed, thereby avoiding the omission or redundant acquisition of critical angle information due to acceleration or deceleration. When the device body rotates along a predetermined trajectory, the time synchronization module monitors changes in the rotation angle in real time and precisely triggers the first and second sensors to acquire visual information according to preset correlation rules. This method ensures the accuracy of acquiring visual information at specific angular positions and improves the spatial alignment and completeness of the data.

[0074] In some embodiments, this application further proposes to acquire visual information of the environment surrounding the scanning node by means of a first sensor and a second sensor, including: acquiring basic contour information of the environment surrounding the scanning node by means of the second sensor; and based on the basic contour information, scanning the obstacle edge information identified by means of the first sensor and / or the second sensor by means of the second sensor to acquire visual information of obstacles in the environment surrounding the scanning node.

[0075] The basic contour information can be the overall shape and general layout of the environment surrounding the scanning node. This can be achieved using a second sensor such as LiDAR or a depth camera, with the aim of providing a global reference framework for subsequent precise positioning. The obstacle edge information can be understood as the boundary features between the obstacle and its surrounding environment. This can be achieved by extracting edge pixels using image processing algorithms or by calculating normal vector changes using depth data, with the aim of ensuring that the scan focuses on details that are easily overlooked.

[0076] In the above-described scheme, this application first acquires basic contour information of the environment surrounding the scanning node through a second sensor, initially capturing the overall shape of the environment. Then, based on the obstacle edge information identified by the first and / or second sensors, it performs precise positioning in conjunction with the basic contour information, ensuring the accuracy of key area identification. Next, the second sensor scans the obstacle edge information, selectively extracting high-precision visual data to compensate for the deficiencies of fixed-viewpoint sensors, thereby restoring obstacle features and improving the map's detail accuracy and usability. The entire process, through a basic-then-targeted acquisition logic, strengthens the sensor collaboration effect and enhances the comprehensiveness of environmental perception. Furthermore, when combined with other steps in mapping mode, this scheme can more comprehensively cover the vertical dimension information of the working environment, effectively solving the problem of insufficient obstacle edge detail capture and improving the accuracy of navigation path planning and operational safety.

[0077] In some embodiments, this application further proposes that after acquiring visual information of the working environment through a first sensor and a second sensor in a mid-scanning posture, the method further includes: controlling a robotic arm to enter a low-scanning phase; in the low-scanning phase, in response to identifying a low-lying area, controlling the robotic arm to extend into the low-lying area to acquire visual information of that area.

[0078] The low-level scanning phase refers to the robotic arm adjusting to a posture suitable for detecting low-lying areas. This can be achieved by controlling the support rod of the robotic arm to shorten its vertical height and rotating the movable joints to adjust the orientation of the sensor tip.

[0079] In some embodiments, the method further includes: after completing the low-level scanning phase, controlling the robotic arm to enter the high-level scanning phase; in the high-level scanning phase, in response to identifying a high-altitude area, controlling the robotic arm to enter a high-level scanning posture to collect visual information of the high-altitude area; and establishing a map of the working environment, including: fusing the visual information collected in the low-level scanning phase and the high-level scanning phase with the visual information collected in the mid-level scanning phase to establish a map of the working environment.

[0080] The high-level scanning phase refers to the robotic arm adjusting to a suitable posture for detecting high-altitude areas. This can be achieved by controlling the vertical extension of the support rod and coordinating with the rotational movement of the movable joints, so that the second sensor can cover the high-altitude area.

[0081] Understandably, the purpose of introducing low-level and high-level scanning stages is to expand the range of visual information acquisition, thereby compensating for the inability of the mid-level scanning stage to cover low and high-altitude areas.

[0082] refer to Figure 4 , Figure 4This 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.

[0083] In some embodiments, this application further proposes a control method for an automatic cleaning device, which controls a robotic arm to extend into a low-lying area to collect visual information. This includes controlling the automatic cleaning device to move to the entrance position of the low-lying area, controlling the robotic arm to enter a low-level scanning posture to collect visual information from the low-lying area, and controlling the robotic arm to swing horizontally and / or the device body to move along the boundary of the low-lying area during the collection process.

[0084] In some embodiments, it is understood that by controlling the robotic arm to extend into low-lying areas to collect visual information, including controlling the automatic cleaning device to move to the entrance position of the low-lying area; controlling the robotic arm to enter a low-level scanning posture, and controlling the horizontal swing of the robotic arm and / or the movement of the device body along the boundary of the low-lying area during the acquisition process, this application can eliminate the blind spots in the field of view of the automatic cleaning device when performing environmental perception and map building in the prior art. The active movement of the robotic arm can effectively reduce the inherent occlusion problem of fixed-viewpoint sensors, and can detect areas that traditional sweeping robots cannot enter or cannot be identified by sensors, such as under furniture, behind furniture, and narrow gaps, so as to ensure that there are no blind spots in environmental perception and thus improve the reliability of the constructed environmental map.

[0085] refer to Figure 5 , Figure 5 This is a schematic diagram of a high-altitude area scanning method for an automatic cleaning device provided in an embodiment of this application. The high-altitude area is provided with high-altitude obstacles 170, and the device body 100 is placed on the ground 150. In some embodiments, when the automatic cleaning device 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 device body 100 can be controlled to move along the boundary of the high-altitude area.

[0086] 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.

[0087] In some embodiments, this application controls the automatic cleaning device to move to a position below a high-altitude area. It can control the robotic arm to enter a high-level scanning posture to collect visual information about the high-altitude area. During the collection process, the robotic arm can be controlled to swing and / or the device body can move along the boundary of the high-altitude area. For example, the robotic arm can be raised to a high-level upward-looking position to scan suspended obstacles such as ceilings and upper walls. Subsequently, this application can also identify low-lying areas using visual information collected by the first and / or second sensors, and control the robotic arm to extend into these low-lying areas to collect visual information. For example, the robotic arm can be lowered to a low-level scanning area under a bed. It is worth noting that through the coordinated high-level and low-level scanning in the above process, this application can achieve three-dimensional coverage of the automatic cleaning device's working environment, solving the problem of traditional robotic vacuum cleaner maps lacking height information and low-lying area information. It can effectively construct a complete three-dimensional model including ceilings, chandeliers, bookshelves, sofa surfaces, and under beds at various heights, ensuring the three-dimensional integrity of the environmental map and thus providing a precise spatial basis for subsequent navigation.

[0088] In some embodiments, when the robotic arm is in a high-position scanning posture, the motion trajectory of its sensor end 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 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 a third height range, with the movable joint upward at a preset angle to the horizontal direction, so that the sensor end swings back and forth within a preset angle range, and the second sensor is oriented towards 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.

[0097] 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.

[0098] 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 data acquisition module 701 is configured to, 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; The control module 702 is configured to control the robotic arm to maintain a center-scanning posture above the device body during movement. The center-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset center-scanning direction. Visual information of the working environment is collected through the first sensor and the second sensor in the center-scanning posture. 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.).

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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, the robotic arm is controlled to maintain a center-scanning posture above the device body. The center-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset center-scanning direction. Visual information about the working environment is collected through the first sensor and the second sensor, which is in the mid-scanning posture. 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.

2. 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. The mid-position scanning direction includes a horizontal direction or a downward direction at a first preset angle to the horizontal direction. Controlling the robotic arm to maintain a mid-position scanning posture above the device body includes: Control the extension and retraction of the support rod to keep the robotic arm within the first height range; Control the rotation of the movable joint so that the field of view of the second sensor is oriented towards the horizontal direction or downward at a first preset angle to the horizontal direction.

3. The method according to claim 1, characterized in that, In the mapping mode, controlling the movement of the automatic cleaning equipment in the working environment includes: The automatic cleaning equipment is controlled to move along a mapping path, which includes at least one scanning node located in an open area. In response to the automatic cleaning device arriving at the scanning node, the automatic cleaning device is controlled to rotate at the scanning node, and during the rotation, visual information collected by the first sensor and the second sensor is acquired.

4. The method according to claim 3, characterized in that, The control of the automatic cleaning device to rotate at the scanning node includes: Based on the visual information collected in real time by the first sensor and / or the second sensor, the obstacle distribution status information in the working environment is detected; In response to determining that the area where the current scanning node is located is an open area based on the obstacle distribution information, the drive wheel of the automatic cleaning device is controlled to generate a differential speed so that the device body rotates around its vertical axis.

5. The method according to claim 3, characterized in that, The acquisition of visual information collected by the first sensor and the second sensor during the rotation process includes: During the rotation of the device body, the data acquisition cycle of the first sensor and the second sensor is controlled by the time synchronization module, so that the acquisition cycle is correlated with the change of the rotation angle of the device body. Based on the correlation between the acquisition period and the rotation angle of the device body, the first sensor and the second sensor are triggered to acquire visual information.

6. The method according to claim 3, characterized in that, The step of acquiring visual information about the environment surrounding the scanning node through the first sensor and the second sensor includes: The second sensor acquires basic contour information of the environment surrounding the scanning node. Based on the basic contour information, the obstacle edge information identified by the first sensor and / or the second sensor is scanned by the second sensor to obtain visual information of obstacles in the environment surrounding the scanning node.

7. The method according to claim 1, characterized in that, The robotic arm is located within the projected outline of the device body in the mid-scan posture.

8. The method according to claim 1, characterized in that, After acquiring visual information about the working environment through the first sensor and the second sensor in the mid-scanning posture, the method further includes: Control the robotic arm to enter the low-level scanning phase; During the low-level scanning phase, in response to identifying a low-lying area, the robotic arm is controlled to extend into the low-lying area to acquire visual information about that area.

9. The method according to claim 8, characterized in that, The method further includes: After completing the low-level scanning phase, the robotic arm is controlled to enter the high-level scanning phase. During the high-altitude scanning phase, in response to the identification of the high-altitude region, the robotic arm is controlled to enter a high-altitude scanning posture to collect visual information of the high-altitude region; The process of creating the map for the work environment includes: The visual information acquired in the low-level scanning phase and the high-level scanning phase is fused with the visual information acquired in the mid-level scanning phase to create a map of the working environment.

10. The method according to claim 8, characterized in that, The low-level scanning phase includes: Control the automatic cleaning equipment to move to the entrance position of the low-ceiling area; The robotic arm is controlled to enter a low-position scanning posture to acquire visual information of the low-lying area, and during the acquisition process, the robotic arm is controlled to swing horizontally and / or the device body moves along the boundary of the low-lying area.

11. The method according to claim 9, characterized in that, The high-level scanning phase includes: Control the automatic cleaning equipment 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.

12. 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.

13. 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 mobile module is configured to, in mapping mode, control the robotic arm to extend outside the device body and control the automatic cleaning device to move in the working environment; The control module is configured to control the robotic arm to maintain a center-scanning posture above the device body during movement. The center-scanning posture includes the robotic arm being within a first height range and the field of view of the second sensor being oriented towards a preset center-scanning direction. Visual information of the working environment is collected through the first sensor and the second sensor in the center-scanning posture. 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.

14. 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 13.

15. 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 13.

16. 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 13.

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