Detection method, control method, cleaning robot and cleaning system

Abstract

This application provides a detection method, a control method, a cleaning robot, and a cleaning system. Relating to the field of intelligent robot technology, the method includes: responding to a component connection command, controlling the cleaning robot to perform a connection operation between its robotic arm and a target component; after the connection operation, detecting the connection state between the robotic arm and the target component, and obtaining a first connection state and a second connection state; the first connection state and the second connection state respectively characterize the connection state of the robotic arm and the target component at a first connection position and a second connection position; when the first connection state and the second connection state meet preset conditions, determining that the robotic arm and the target component are successfully connected. This method aims to improve the reliability of the connection between the robotic arm and the component of the cleaning robot.

Description

Technical Field

[0001] This application relates to the field of intelligent robot technology, and in particular to a detection method, a control method, a cleaning robot, and a cleaning system. Background Technology

[0002] In home or commercial environments, cleaning robots (such as robotic vacuum cleaners) need to use robotic arms to grab, move, or operate various cleaning accessories (such as vacuum heads, mops, cleaning liquid sprayers, etc.) to complete tasks such as floor cleaning, obstacle removal, or deep cleaning of specific areas.

[0003] In related technologies, the docking of robotic arms and accessories usually relies on a single mechanical buckle or clamping structure. However, such methods are susceptible to vibration, displacement errors, or accessory installation deviations in dynamic environments, resulting in a high rate of connection failure and reduced connection reliability. Summary of the Invention

[0004] This application provides a detection method, a control method, a cleaning robot, and a cleaning system to improve the reliability of the connection between the robotic arm and accessories of the cleaning robot.

[0005] In a first aspect, embodiments of this application provide a method for detecting the connection status of an accessory, comprising: in response to an accessory connection command, controlling the cleaning robot to perform a connection operation between the robotic arm and the target accessory;

[0006] After the connection operation, the connection status between the robotic arm and the target accessory is detected to obtain a first connection status and a second connection status; the first connection status and the second connection status respectively represent the connection status of the robotic arm and the target accessory at the first connection position and the second connection position.

[0007] When the first connection state and the second connection state meet the preset conditions, it is determined that the robotic arm and the target accessory are successfully connected.

[0008] The above implementation method controls the robotic arm to perform a connection operation with the target component in response to the component connection command. Then, it performs state detection on the robotic arm and the target component at the first and second connection positions respectively, obtaining the corresponding first and second connection states. A successful connection is determined when both meet preset conditions. This solution achieves reliable judgment of the component connection status through multi-state (i.e., multi-position) collaborative detection, effectively avoiding misjudgments caused by the failure of a single detection point or partial connection anomalies, thus improving the accuracy and reliability of component connection for cleaning robots in complex operating environments.

[0009] In one possible implementation, detecting the connection status between the robotic arm and the target accessory, and obtaining a first connection status and a second connection status, includes:

[0010] Simultaneously, the connection status of the robotic arm and the target component at different positions is detected, and a first connection status corresponding to the first connection position of the target component and a second connection status corresponding to the second connection position of the target component are obtained.

[0011] By simultaneously detecting two different connection positions and obtaining the first and second connection states respectively, the connection dimensions between the robotic arm and the target accessory can be fully covered, avoiding misjudgments caused by single-position detection. That is, whether it is an electrical connection abnormality or a mechanical connection abnormality, it can be detected in time through the corresponding status detection, ensuring that the judgment result of whether the connection operation is successful is accurate and reliable, and providing a clear basis for whether to retry the connection in the future.

[0012] Detect the first connection status corresponding to the first connection position between the robotic arm and the target accessory;

[0013] After obtaining the first connection status, the second connection status corresponding to the second connection position of the target accessory is detected.

[0014] In the above embodiments, step-by-step detection enables orderly and phased screening of connection status. This method can be flexibly adapted to the needs of different detection scenarios, and is particularly suitable when there are differences in detection priorities or when detection module resources are limited. Thus, it effectively complements the synchronous detection method described above, further improving the flexibility and scenario adaptability of connection status detection.

[0015] In one possible implementation, when the first connection state and the second connection state meet preset conditions, the method for determining that the robotic arm and the target accessory are successfully connected includes:

[0016] A first state signal triggered by the connection operation is detected within a first preset duration or a first preset number of times, and a second state signal triggered by the connection operation is detected within a second preset duration or a second preset number of times.

[0017] The above implementation method, by setting dual judgment criteria of duration or number of times, can effectively avoid misjudgments caused by instantaneous signal interference and detection errors, and ensure the stability and reliability of connection status judgment.

[0018] In one possible implementation, the first connection state and the second connection state are determined based on a first state signal and a second state signal triggered by the connection operation, respectively.

[0019] The connection status between the robotic arm and the target component is detected to obtain a first connection status and a second connection status, including:

[0020] After the current connection operation is executed, the connection status detection process is performed.

[0021] If at least one of the first status signal and the second status signal is not detected within the duration of the connection status detection process, it is determined that the current connection operation was unsuccessful, the robotic arm is controlled to adjust its pose, and the connection operation is re-executed.

[0022] The duration of the connection status detection process is less than the first preset duration required to determine that the first connection status meets the preset conditions, and less than the second preset duration required to determine that the second connection status meets the preset conditions.

[0023] If at least one of the first state signal and the second state signal is not detected within the preset total detection time or the preset maximum number of detections, the detection result of the last connection state detection process shall be taken as the connection state between the robotic arm and the target accessory.

[0024] The above implementation method, by setting a connection status detection process that is shorter than the time required for status confirmation, and immediately triggering pose adjustment and reconnection when key status signals are not detected in time, achieves rapid response and automatic retry when connection fails, thereby improving the efficiency and reliability of the connection process.

[0025] In one possible implementation, controlling the robotic arm to perform pose adjustment includes at least one of the following:

[0026] The robotic arm is controlled to make fine-tuning of its angle around the connecting axis.

[0027] In the above embodiments, by making controllable angle fine-tuning around the connection axis, it is possible to effectively compensate for small angle alignment deviations caused by repeated positioning errors of the robotic arm, installation deviations of target parts, or disturbances in the working environment, thereby improving the success rate of subsequent connection attempts and the robustness of the overall operation.

[0028] Control the robotic arm to shift laterally in a direction perpendicular to the connection direction.

[0029] In the above embodiments, by controlling the robotic arm to make lateral position fine adjustments on a plane perpendicular to the connection direction, lateral misalignment caused by positioning errors, placement deviations, or calibration errors can be effectively compensated, thereby improving the accuracy of docking and the success rate of connection operations.

[0030] The robotic arm is controlled to move backward a preset distance along the connection direction and then move forward again.

[0031] The above implementation method can effectively eliminate docking interference caused by slight overshoot, jamming, or incomplete disengagement that may have occurred in the previous attempt, providing an interference-free starting position for the next connection attempt, thereby improving the reliability and success rate of the connection operation.

[0032] The cleaning robot can be controlled to move backward a preset distance and then move forward again.

[0033] Through the above implementation method, the relative pose relationship between the robot and the target accessory can be reset globally, effectively eliminating the cumulative error caused by the robot's overall positioning drift, environmental factors, or pose deviation that may have occurred in the previous attempt. This provides a more accurate and stable starting pose for the subsequent connection operation of the robotic arm, thereby ensuring the robustness and success rate of the connection process at a higher level.

[0034] In one possible implementation, after obtaining the first connection state during the process of detecting the connection state between the robotic arm and the target accessory, the method further includes:

[0035] If the first connection state does not meet the preset conditions, the step of detecting the second connection state corresponding to the second connection position of the target accessory is stopped, and a prompt message indicating that the first connection position has failed is generated.

[0036] In the above implementation, by terminating subsequent detections and generating a prompt in advance when the first connection state is abnormal, invalid detection processes can be effectively avoided, thereby improving fault response speed and system operating efficiency.

[0037] In one possible implementation, after detecting the connection status between the robotic arm and the target accessory and obtaining a first connection status and a second connection status, the method further includes:

[0038] If only one of the first connection state and the second connection state meets the preset condition, the robotic arm is controlled to adjust its posture and re-execute the connection operation.

[0039] In the above embodiments, by identifying single abnormal state signals and triggering targeted pose adjustments and reconnection, it is possible to cope with partial connection failures, thereby improving the fault tolerance and overall reliability of the connection process.

[0040] If only one of the first connection state and the second connection state meets the preset condition, the robotic arm is controlled to release the connection state at the successfully connected position and re-execute the connection operation.

[0041] In the above embodiments, by actively disconnecting a partially successful connection and triggering a re-connection, the problem of misalignment or stress concentration caused by unilateral connection failure can be corrected, thereby ensuring the integrity and reliability of the connection status.

[0042] In one possible implementation, both the first connection position and the second connection position are electrical connection positions;

[0043] Both the first connection position and the second connection position are mechanical connection positions;

[0044] The first connection position includes an electrical connection position, and the second connection position includes a mechanical connection position.

[0045] The above implementation method, by flexibly defining the types of the first connection position and the second connection position, can adapt to the detection requirements of different accessory connection scenarios and realize multi-dimensional verification of the connection status.

[0046] In one possible implementation, if the first connection position is an electrical connection position, the first state signal is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory;

[0047] If the first connection position is a mechanical connection position, the first state signal is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0048] In the above embodiments, by adopting corresponding status signal generation methods for electrical connections and mechanical connections respectively, different types of successful connection states can be accurately and reliably identified, improving the accuracy and adaptability of detection.

[0049] In one possible implementation, the accessory connection instructions are generated in at least one of the following ways:

[0050] In response to a trigger operation performed by the user on the terminal device or the cleaning robot itself, an accessory connection command is generated.

[0051] In the above embodiments, accessory connection instructions are generated by responding to user trigger operations on the terminal or the robot body, which improves the intuitiveness and ease of operation of human-computer interaction and makes the accessory connection process more in line with actual use scenarios.

[0052] In response to the cleaning robot completing the previous cleaning sub-task of the connection task, the accessory connection instruction is generated, wherein the connection task and the cleaning sub-task are obtained by disassembling the cleaning task of the cleaning robot.

[0053] In the above embodiments, by automatically generating instructions by the cleaning robot, the cleaning task and the accessory connection task can be executed in conjunction, reducing the number of manual operation steps for users, improving the automation level of the cleaning robot's operation, and ensuring that the accessory connection task can be executed in a timely manner after the preliminary preparation work is completed, ensuring the effectiveness and continuity of the connection operation, and avoiding connection failure due to the incomplete preliminary tasks.

[0054] In one possible implementation, the method further includes, before controlling the cleaning robot to perform the connection operation between the robotic arm and the target accessory:

[0055] The target accessory corresponding to the accessory connection command is determined, and the in-situ status of the target accessory is identified.

[0056] Since the accessory connection command can be generated in various ways, such as user-triggered operation or automatic triggering upon completion of cleaning subtasks, the operation scenarios and user needs corresponding to different triggering methods are different. Therefore, the method of determining the target accessory corresponding to the accessory connection command can also be adapted according to the triggering method of the command to ensure that the determination of the target accessory is accurate and efficient and adapts to the connection needs in different scenarios.

[0057] In one possible implementation, determining the target accessory corresponding to the accessory connection instruction includes:

[0058] If the accessory connection instruction is generated by a user-triggered operation, the target accessory is determined based on the selection instruction input by the user on the terminal device or the cleaning robot body.

[0059] The above implementation method, by directly linking user-triggered operations with accessory selection instructions, enables intuitive and rapid designation of target accessories, thereby improving the accuracy and efficiency of human-computer interaction.

[0060] If the accessory connection instruction is generated in response to the cleaning robot completing the connection task in the previous cleaning sub-task, then the target accessory is determined based on the task information of the cleaning task and the current environmental information.

[0061] Through the above implementation method, the target accessory is automatically determined without the need for the user to input additional selection instructions, which further improves the automation and intelligence level of the cleaning robot operation and ensures seamless connection between accessory connection operation and subsequent cleaning tasks.

[0062] In one possible implementation, identifying the presence status of the target accessory includes at least one of the following methods:

[0063] The presence status of the target accessory is identified by matching it with a pre-stored accessory identification record, wherein the accessory identification record is generated based on information recorded when the cleaning robot has performed tasks in the past.

[0064] In the above embodiments, by matching the target accessory with the accessory identification record generated based on historical tasks, the in-situ status can be quickly and reliably identified, improving the efficiency and accuracy of judgment in the connection preparation stage.

[0065] The cleaning robot receives and processes the sensing signals corresponding to the target accessory through its on-site detection module to identify its on-site status.

[0066] In the above embodiments, the in-situ detection module on the cleaning robot directly receives and processes the sensing signals of the target accessory, realizing real-time and accurate identification of the in-situ status, and improving the reliability and automation level of the connection operation.

[0067] The cleaning robot uses an image acquisition device to capture and analyze images of the target accessory in order to identify its position.

[0068] In the above embodiments, the target accessories and identification codes are captured and analyzed by the image acquisition device, realizing the visualization and non-contact identification of the in-situ status, and improving the intuitiveness and environmental adaptability of the status judgment.

[0069] In one possible implementation, the method further includes:

[0070] If the accessory connection command is generated in response to the cleaning robot completing the previous cleaning sub-task, and the robotic arm fails to connect successfully with the target accessory, then the cleaning robot is controlled to end the current cleaning task.

[0071] In the above embodiments, by identifying connection failures and intelligently terminating tasks at critical task nodes, it is possible to effectively avoid the ineffective operation of subsequent cleaning work due to missing parts, thereby saving energy, preventing equipment idling damage, and ensuring the rationality and safety of task execution.

[0072] Secondly, embodiments of this application provide an accessory connection control method for a cleaning robot, applied to a cleaning robot, the method comprising:

[0073] In response to a component connection command, the cleaning robot is controlled to perform a connection operation between the robotic arm and the target component.

[0074] After the connection operation, the connection status between the robotic arm and the target accessory is detected in a preset order to obtain a first connection status and a second connection status respectively; wherein, the first connection status corresponds to the detection of a first type of connection and the second connection status corresponds to the detection of a second type of connection;

[0075] Based on the first connection state and the second connection state, the cleaning robot is controlled to perform a reconnection operation or terminate the current task.

[0076] In the above implementation, by responding to the accessory connection command, the cleaning robot is controlled to perform the connection operation between the robotic arm and the target accessory. Subsequently, the first connection state and the second connection state are detected sequentially according to a preset order, and the robot is controlled to reconnect or terminate the task based on the detection results. This sequential execution can prioritize the verification of critical connection states, and can promptly interrupt subsequent processes when an abnormality in a preceding connection is detected, thereby avoiding invalid operations, saving system resources, and improving the reliability of connection detection and task execution efficiency.

[0077] In one possible implementation, detecting the connection status of the robotic arm and the target accessory in a preset sequence includes:

[0078] First, detect the first type of connection and obtain the status of the first connection;

[0079] When the first connection state meets the first preset condition, the second type of connection is then detected to obtain the second connection state.

[0080] In one possible implementation, controlling the cleaning robot to perform a reconnection operation includes:

[0081] Control the robotic arm to adjust its pose and re-execute the connection operation;

[0082] or,

[0083] Control the robotic arm to disconnect the successfully established connection and re-execute the connection operation.

[0084] In one possible implementation, the pose adjustment includes at least one of the following:

[0085] The robotic arm is controlled to make fine-tuning angles around the connecting axis;

[0086] Control the robotic arm to shift laterally in a direction perpendicular to the connection direction;

[0087] The robotic arm is controlled to retract a preset distance along the connection direction and then move forward again.

[0088] The cleaning robot can be controlled to move backward a preset distance and then move forward again.

[0089] In one possible implementation, the first type of connection is an electrical connection and the second type of connection is a mechanical connection; or, the first type of connection is a mechanical connection and the second type of connection is an electrical connection.

[0090] In one possible implementation, if the first type of connection is an electrical connection, the first connection state is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory;

[0091] If the first type of connection is a mechanical connection, the first connection state is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0092] In one possible implementation, ending the current task includes generating a notification message and terminating the currently executing cleaning task.

[0093] Thirdly, embodiments of this application provide a cleaning robot, comprising:

[0094] robotic arms, and,

[0095] A controller for performing actions such as implementing the first aspect, the second aspect, and their respective possible implementations as described above.

[0096] Fourthly, embodiments of this application provide a cleaning system, including:

[0097] As described in the third aspect, the cleaning robot, and,

[0098] The accessory compartment includes a receiving structure for accommodating at least one accessory.

[0099] Fifthly, embodiments of this application provide a cleaning robot, including: a memory and a processor;

[0100] The memory stores computer-executed instructions;

[0101] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect, the second aspect, and their respective possible implementations as described above.

[0102] Sixthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect, the second aspect, and their respective possible implementations as described above.

[0103] In a seventh aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect, the second aspect, and their respective possible implementations as described above.

[0104] The detection method, control method, cleaning robot, and cleaning system provided in this application embodiment control a robotic arm to perform a connection operation with a target component in response to a component connection command. Subsequently, the robotic arm and the target component are subjected to state detection at a first connection position and a second connection position, respectively, to obtain the corresponding first and second connection states. A successful connection is determined when both meet preset conditions. This solution achieves reliable judgment of the component connection state through multi-state (i.e., multi-position) collaborative detection, effectively avoiding misjudgments caused by the failure of a single detection point or partial connection anomalies, thus improving the accuracy and reliability of component connection for the cleaning robot in complex operating environments. Attached Figure Description

[0105] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0106] Figure 1 A partial structural diagram of the cleaning system provided in this application;

[0107] Figure 2 This application provides a structural schematic diagram of a cleaning robot;

[0108] Figure 3 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0109] Figure 4 A flowchart illustrating a method for detecting the connection status of an accessory, as provided in an embodiment of this application;

[0110] Figure 5 A flowchart illustrating a method for controlling the connection status of accessories provided in an embodiment of this application;

[0111] Figure 6 Schematic diagram of the controller for the cleaning robot provided in this application Figure 1 ;

[0112] Figure 7 Schematic diagram of the controller for the cleaning robot provided in this application Figure 2 .

[0113] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0114] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0115] As described in the background section, in home or commercial environments, robotic vacuum cleaners need to use robotic arms to grasp, move, or operate various cleaning accessories (such as vacuum heads, mops, cleaning fluid sprayers, etc.) to complete tasks such as floor cleaning, obstacle removal, or deep cleaning of specific areas. For example, when cleaning carpets, the robotic arm needs to connect the suction-enhancing accessory to the main unit; when wiping hard floors, the mop needs to be installed and its angle adjusted; and when cleaning pet hair, a special roller brush needs to be replaced.

[0116] In related technologies, the docking of robotic arms and accessories relies on a single mechanical latch or clamping structure, the shortcomings of which are particularly apparent in dynamic environments. For example, during the movement of a robotic vacuum cleaner, mechanical vibrations may cause the latch to loosen. Furthermore, these technologies do not incorporate sensor data to dynamically adjust the docking path, resulting in the robotic arm being unable to correct its posture when the accessory shifts, increasing the failure rate.

[0117] To address the aforementioned technical issues, this application provides a method for detecting the connection status of accessories. This method achieves reliable judgment of the connection status of accessories through multi-position and multi-state collaborative detection, effectively avoiding misjudgments caused by the failure of a single detection point or partial connection abnormalities, and improving the accuracy and reliability of accessory connection in cleaning robots under complex operating environments.

[0118] To more clearly understand the accessory connection status detection method provided in this application, the following will be combined with... Figure 1 A brief description of the structure of the cleaning system in this application is provided. This facilitates a more convenient understanding and application of the accessory connection status detection method proposed in this application.

[0119] Figure 1 A partial structural diagram of the cleaning system provided in this application. Figure 1 As shown, the cleaning system 100 is equipped with a cleaning robot 101 and an accessory compartment 102.

[0120] It should be understood that the accessory connection status detection method provided in this application embodiment can be derived from... Figure 1The cleaning system 100 shown is operated by a cleaning robot 101. The cleaning system 100 also includes an accessory compartment 102, which is provided with a receiving structure for accommodating at least one accessory.

[0121] In this embodiment, the accessory compartment 102 can be integrated into the base station of the cleaning robot 101 for centralized management and automatic accessory replacement. Optionally, the accessory compartment 102 can hold multiple different types of accessories. For example, each accessory may include functional modules such as a gripping component, a vacuuming component, a cleaning brush, a cloth holder, and a disinfectant container.

[0122] Before the cleaning robot 101 performs a cleaning task, or when preset accessory replacement conditions are met during the cleaning process, such as detecting a change in floor material, a cleaning mode switching command, or a current accessory wear alarm, the cleaning robot 101 will autonomously move to a preset docking position in front of the accessory compartment 102. Subsequently, based on the triggered replacement requirement, the cleaning robot 101 selects the corresponding target accessory from the accessory compartment 102 and controls its robotic arm to perform the accessory connection operation.

[0123] After the connection operation is completed, the cleaning robot 101 automatically executes a connection status detection process to verify the result of the connection operation in real time. This detection process acquires the status signals corresponding to the first and second connection positions respectively and comprehensively judges whether the connection is completely successful. If the connection fails at either position, a pose adjustment is triggered, and a decision is made based on a preset connection priority strategy to determine whether to terminate the current connection process or continue to perform a retry operation.

[0124] The aforementioned connection status detection process, through the synergy of dual verification, dynamic pose adjustment, and intelligent connection decision-making, solves the problems of low connection reliability in related technologies, such as high misjudgment rate of connection status between the robotic arm and accessories of cleaning robots and inability to automatically recover after connection failure. It achieves accurate judgment and autonomous recovery of connection status, thereby improving the reliability and stability of the connection between the robotic arm and accessories of cleaning robots.

[0125] Figure 2 This is a structural schematic diagram of a cleaning robot provided in this application. Figure 2 As shown, the cleaning robot 101 includes a robotic arm 201 and a controller 202.

[0126] The robotic arm 201 is used to perform physical connection operations with the target accessory, including movements such as moving, aligning, and locking; the controller 202 is used to execute the accessory connection status detection method provided in the embodiments of this application.

[0127] In this embodiment, the controller 202 drives the robotic arm 201 to perform connection operations through a preset program and monitors the status feedback generated during the connection process in real time. When a connection abnormality is detected, the controller 202 will dynamically adjust the pose of the robotic arm 201 or re-execute the connection operation according to the connection logic preset in the method embodiment of this application, until the robotic arm 201 is successfully connected to the target accessory, thereby achieving accuracy and reliability of each accessory connection.

[0128] For example, Figure 3 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 3 As shown, the technical solution provided in this application embodiment can be applied to scenarios where obstacles need to be grasped during the cleaning process. Figure 3 As shown, the technical solution provided in this application can be applied to scenarios where cleaning robots need to grip or remove obstacles during cleaning tasks. For example, when scattered items such as toys, shoes, and stationery appear on the cleaning robot's path, the cleaning robot can first perform a connection operation with the target accessory based on the accessory compartment, and detect the connection status of the accessory during the connection process to ensure that the target accessory can be stably and reliably connected to the robotic arm. Subsequently, the cleaning robot can control the connected target accessory (gripping component) to grip the obstacle and move it aside or place it in a designated storage container, thereby realizing the continuous and automatic execution of the cleaning task.

[0129] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0130] Figure 4 This is a flowchart illustrating a method for detecting the connection status of accessories provided in an embodiment of this application, as shown below. Figure 4 As shown, the method includes the following steps:

[0131] S401, In response to the accessory connection command, control the cleaning robot to perform the connection operation between the robotic arm and the target accessory.

[0132] In this embodiment, the accessory connection command refers to the command used to control the cleaning robot to perform the connection operation between the robotic arm and the target accessory.

[0133] In some application scenarios, accessory connection instructions can be generated by user-triggered operations, such as through a terminal device or the interactive interface on the cleaning robot itself. In other application scenarios, accessory connection instructions can also be automatically generated by the cleaning robot in response to a preset task flow. For example, when the cleaning robot is performing a cleaning task, if the cleaning task is broken down into several sub-tasks and the current sub-task to be executed is an accessory connection task, the cleaning robot will automatically trigger and generate an accessory connection instruction when the previous cleaning sub-task is completed. It should be understood that accessory connection instructions can also be generated based on other reasonable triggering conditions or methods, and this embodiment does not specifically limit them.

[0134] After responding to a component connection command, the cleaning robot can first identify the target component that is compatible with the currently triggered component connection command. After identifying the target component, the cleaning robot can control its robotic arm to move to the location of the target component in the component compartment and perform connection actions such as grasping, docking, or locking to complete the physical connection between the robotic arm and the target component.

[0135] It should be noted that, in order to avoid technical problems such as connection failure and high misjudgment rate that are prone to occur in traditional single mechanical buckle or clamping connection structures, the connection operation in this embodiment specifically includes connection actions at multiple preset positions, so as to achieve reliable connection through multi-point cooperation.

[0136] S402. After the connection operation, the connection status between the robotic arm and the target accessory is detected to obtain the first connection status and the second connection status.

[0137] Based on the foregoing description, the connection operations performed by the cleaning robot in this embodiment may include connection operations between the robotic arm and the target accessory at multiple preset positions, such as a first connection position and a second connection position. The first and second connection positions may correspond to different physical connection points or docking structures between the robotic arm and the target accessory. For example, the first connection position may be a snap-fit ​​or guide rail interface for main load-bearing and coarse positioning, and the second connection position may be a locking pin or electromagnetic adsorption point for auxiliary fixing and fine positioning. Of course, other connection positions can be set according to the actual connection structure, and this embodiment does not specifically limit this.

[0138] Taking the connection operation including the first connection position and the second connection position as an example, when performing connection status detection, the connection status of the robotic arm and the target accessory at the first connection position and the second connection position can be detected respectively, that is, the first connection status and the second connection status can be obtained accordingly.

[0139] Specifically, the cleaning robot can obtain corresponding status signals through sensors set at different connection points. For example, for the first connection point, a position sensor or pressure sensor can be used to detect whether it is in place and locked; for the second connection point, a magnetic induction sensor or micro switch can be used to detect whether it is firmly attached or fully inserted.

[0140] Based on feedback from the sensors at each location, the cleaning robot can determine whether the first connection location is in a successful connection state and whether the second connection location is in a successful connection state, thereby obtaining the first connection state and the second connection state respectively.

[0141] In this way, by detecting the connection status of multiple connection points separately, the cleaning robot can improve the completeness and reliability of connection status detection, and perform targeted pose adjustment or reconnection operations when a connection point is abnormal, thereby improving the stability of accessory connection and the success rate of task execution.

[0142] S403. When the first connection state and the second connection state meet the preset conditions, it is determined that the robotic arm and the target accessory are successfully connected.

[0143] It can be set to require both connection states to be successful, that is, both the first connection state and the second connection state are judged as successful; or the two connection states can be defined as a primary state and an auxiliary state respectively, and set to be successful for the primary state and the auxiliary state can be ignored, that is, the first connection state is successful while the second connection state is either successful, failed, or abnormal. However, depending on the task type or accessory function settings, the abnormality will not affect the execution of the current task.

[0144] Taking any preset condition as an example, if the first connection state and the second connection state meet the preset condition, the cleaning robot determines that the robotic arm and the target accessory are successfully connected and can continue to perform subsequent tasks; if they do not meet the condition, the robotic arm and the target accessory are determined to be unconnected and can perform reconnection or report faults and other processing procedures.

[0145] In the above solution, the robotic arm is controlled to perform a connection operation with the target component in response to the component connection command. Then, the status of the robotic arm and the target component at the first and second connection positions are detected to obtain the corresponding first and second connection states. A successful connection is determined when both meet preset conditions. This solution achieves reliable judgment of the component connection status through multi-state (i.e., multi-position) collaborative detection, effectively avoiding misjudgments caused by the failure of a single detection point or partial connection anomalies, thus improving the accuracy and reliability of component connection for the cleaning robot in complex operating environments.

[0146] The following section will further detail the generation and execution process of the clamping strategy. It should be noted that the following description is merely an exemplary implementation of the technical solution of this application and does not constitute a limitation on the technical solution of this application.

[0147] In this embodiment, the cleaning robot can generate accessory connection instructions in response to user operations or preset task processes, and control the robotic arm to perform connection operations with the target accessory based on the instructions.

[0148] Optionally, one possible implementation of generating accessory connection instructions may include generating accessory connection instructions in response to a triggering operation performed by a user on a terminal device or the cleaning robot itself.

[0149] In this embodiment, the terminal device can be a smartphone, tablet, desktop computer, remote control, or smart home control panel that is connected to the cleaning robot; the triggering operation includes, but is not limited to, clicking, voice commands, gesture recognition, or physical button pressing.

[0150] For example, in an application scenario where the user performs a trigger operation via a terminal device, the user can open the control application (APP) that comes with the cleaning robot, click the preset "Accessory Connection" virtual button in the APP interface, select the target accessory type, and confirm the trigger, or issue a voice command such as "Start Accessory Connection" through the voice control function within the APP. After detecting any of the above user trigger operations, the terminal device can send a trigger signal to the cleaning robot via the wireless communication module. After receiving the trigger signal, the cleaning robot can generate the corresponding accessory connection instruction.

[0151] In application scenarios where users perform trigger operations through the cleaning robot itself, they can press the physical "Accessory Connection" button on the robot's outer shell, touch the "Accessory Connection" touch area on the robot's control panel, or receive the "Accessory Connection" voice command issued by the user through the robot's built-in voice receiver module. The cleaning robot's control module monitors the signals from its operating components and voice receiver module in real time. When the above user-triggered operation is detected, it can directly generate the accessory connection command within the robot itself without relying on external terminal devices, ensuring that the accessory connection process can still be successfully triggered even when the terminal device is not connected or inconvenient to operate.

[0152] In the above embodiments, accessory connection instructions are generated by responding to user trigger operations on the terminal or the robot body, which improves the intuitiveness and ease of operation of human-computer interaction and makes the accessory connection process more in line with actual use scenarios.

[0153] Alternatively, another alternative implementation of generating accessory connection instructions may include: generating accessory connection instructions in response to a previous cleaning subtask in which the cleaning robot completes a connection task, wherein the connection task and the cleaning subtask are derived from the cleaning robot's cleaning task.

[0154] Specifically, to facilitate task management and sequence control, the cleaning robot can break down the pre-set cleaning task into multiple sequentially executed sub-tasks before executing it. If the decomposed task sequence includes a component connection task, the cleaning sub-task preceding the component connection task can be marked as the previous cleaning sub-task.

[0155] When the cleaning robot detects that the previous cleaning sub-task has been completed, that is, when it detects the execution feedback signal, position sensor signal or status detection signal corresponding to the cleaning sub-task, the cleaning robot can automatically trigger the accessory connection instruction generation process without the user having to perform any additional triggering operation. It can directly generate accessory connection instructions and send them to the robotic arm control module to drive the robotic arm to perform subsequent accessory connection operations.

[0156] In the above embodiments, by automatically generating instructions by the cleaning robot, the cleaning task and the accessory connection task can be executed in conjunction, reducing the number of manual operation steps for users, improving the automation level of the cleaning robot's operation, and ensuring that the accessory connection task can be executed in a timely manner after the preliminary preparation work is completed, ensuring the effectiveness and continuity of the connection operation, and avoiding connection failure due to the incomplete preliminary tasks.

[0157] It should be understood that the above-mentioned user-triggered operations and the specific triggering forms of task-based automatic triggering instructions are merely illustrative examples and are not intended to limit this embodiment. Those skilled in the art can set other reasonable triggering forms according to actual application needs, as long as the operation can trigger the cleaning robot to generate accessory connection instructions, all of which fall within the protection scope of this embodiment.

[0158] In this embodiment, since accessory connection instructions can be generated in various ways, such as user-triggered operations or automatic triggering upon completion of cleaning subtasks, and the operation scenarios and user needs corresponding to different triggering methods are different, the method of determining the target accessory corresponding to the accessory connection instruction can also be adapted according to the triggering method of the instruction to ensure that the determination of the target accessory is accurate and efficient, and adapts to the connection needs in different scenarios.

[0159] Based on this, one possible implementation for determining the target accessory corresponding to the accessory connection instruction may include: if the accessory connection instruction is generated by a user-triggered operation, then the target accessory is determined according to the selection instruction input by the user on the terminal device or the cleaning robot body.

[0160] In this embodiment, when a user triggers an accessory connection command through a terminal device, the selection command can be input via the terminal device's APP. For example, after the user launches the APP and triggers the accessory connection operation, the APP interface will display all accessory types compatible with the cleaning robot. The user can form a selection command by clicking the corresponding accessory icon on the interface, checking the accessory name, or issuing voice commands such as "select gripper" through the APP's built-in voice input function. The terminal device can send this selection command and the accessory connection command together to the cleaning robot through the wireless communication module. After receiving the selection command, the cleaning robot parses the accessory information in the command to determine the target accessory for this connection operation.

[0161] When a user triggers an accessory connection command through the cleaning robot itself, the selection command can be input through the robot's operating components. Specifically, the robot's control panel can have accessory selection buttons, touch selection areas, or a voice receiving module. After pressing the physical "Accessory Connection" button or touch area on the robot to trigger the command, the user can input the selection command by pressing the corresponding accessory selection button, touching the accessory options displayed on the control panel, or issuing a voice command specifying the accessory. The cleaning robot continuously monitors the signals from the robot's operating components and the voice receiving module, analyzes the user's input command, and quickly identifies the target accessory.

[0162] In addition, after identifying the target accessory, the cleaning robot will automatically match the connection parameters of the target accessory, such as connection position and clamping force, to provide a basis for subsequent accessory connection operations and ensure that the connection operation is accurately adapted to the target accessory.

[0163] The above implementation method, by directly linking user-triggered operations with accessory selection instructions, enables intuitive and rapid designation of target accessories, thereby improving the accuracy and efficiency of human-computer interaction.

[0164] Based on the above implementation, another optional implementation for determining the target accessory corresponding to the accessory connection instruction may include: if the accessory connection instruction is generated in response to the cleaning robot completing the previous cleaning sub-task of the connection task, then the target accessory is determined based on the task information of the cleaning task and the current environmental information.

[0165] In this embodiment, when the cleaning robot breaks down the overall cleaning task, it will simultaneously generate and store the complete task information corresponding to the cleaning task. The task information includes at least the core information such as the type of cleaning area, cleaning requirements, cleaning path planning, execution order and relationship of each sub-task, and the required accessories for each sub-task.

[0166] Based on this, current environmental information can be collected in real time by various sensors on the cleaning robot. Specifically, this information may include environmental parameters related to the cleaning operation, such as the surface material of the current cleaning area, the degree of surface contamination, and the distribution of obstacles within the cleaning area. During the previous cleaning sub-task before completing the connection task, the cleaning robot continuously collects and updates the current environmental information, ensuring the real-time nature and accuracy of the environmental data.

[0167] After the cleaning robot completes the previous cleaning sub-task and automatically generates accessory connection instructions, it can simultaneously call up the pre-stored overall cleaning task information and the real-time collected current environmental information, and perform comprehensive analysis and matching of the two types of information. For example, if the task information and current environmental information determine that the current cleaning area is the living room and the cleaning requirement is dust removal, and considering that there are many obstacles detected in the current environment, the cleaning robot will analyze and determine that the target accessory suitable for this scenario is a gripper. As another example, if the task information and current environmental information determine that the current cleaning area is the kitchen and the cleaning requirement is oil stain removal, and considering that the current environmental information shows that there is a lot of oil residue on the floor and the floor material is tile, the cleaning robot can analyze and determine that the target accessory suitable for this scenario is an oil-resistant cleaning brush.

[0168] Through the above implementation method, the target accessory is automatically determined without the need for the user to input additional selection instructions, which further improves the automation and intelligence level of the cleaning robot operation and ensures seamless connection between accessory connection operation and subsequent cleaning tasks.

[0169] After determining the target accessory corresponding to the accessory connection command, in order to ensure that subsequent accessory connection operations can be executed smoothly and to avoid connection failure due to the target accessory not being in place, it is necessary to first identify the presence status of the target accessory.

[0170] In this embodiment, an optional implementation of identifying the presence status of a target accessory may include: identifying its presence status by matching the target accessory with a pre-stored accessory identification record, wherein the accessory identification record is generated based on information recorded when the cleaning robot historically performed tasks.

[0171] In this embodiment, during the historical execution of cleaning and accessory connection tasks, the cleaning robot can record key information related to various accessories in real time, organize and archive this information to form an accessory identification record, and store it in the cleaning robot's local storage module. This record can also be continuously updated and improved as the cleaning robot performs its tasks. Here, the accessory identification record includes at least the unique identification information of each compatible accessory and core information such as sensor feedback data when the accessory is in place.

[0172] When it is necessary to identify the location status of a target accessory, the cleaning robot can first retrieve all pre-stored accessory identification records. Then, based on the identified target accessory corresponding to the currently triggered accessory connection command, it compares and matches each accessory identification record: if a matching accessory identification record is found, the target accessory is determined to be in place, meaning it has been placed in the preset connection position and subsequent connection operations can be performed; if no matching accessory identification record is found, the target accessory is determined to be out of place, meaning it is not placed in the preset position or is not placed correctly. In this case, the cleaning robot can issue a prompt signal, such as a voice prompt "Target accessory is not in place, please place it in the designated position," or a flashing indicator light, reminding the user to place the target accessory. Simultaneously, it can pause subsequent accessory connection operations to avoid connection failures or wear and tear on the robotic arm due to the target accessory not being in place.

[0173] In the above embodiments, by matching the target accessory with the accessory identification record generated based on historical tasks, the in-situ status can be quickly and reliably identified, improving the efficiency and accuracy of judgment in the connection preparation stage.

[0174] Alternatively, another possible implementation of identifying the presence status of a target accessory may include: receiving and processing the sensing signal corresponding to the target accessory through a presence detection module mounted on a cleaning robot to identify its presence status.

[0175] In this embodiment, the in-situ detection module carried by the cleaning robot may be implemented in a variety of ways. Specifically, it can be reasonably set according to the structural characteristics of the target accessory and the detection accuracy requirements. For example, one or more combinations of radio frequency identification detection module, photoelectric sensing detection module, pressure sensing detection module, and Hall effect sensing detection module can be selected. Different types of in-situ detection modules correspond to different sensing signal acquisition and processing methods to achieve accurate identification of the in-situ status of the target accessory.

[0176] To enable in-situ detection, the target accessory will also have pre-installed sensing components compatible with the in-situ inspection. For example, if the in-situ detection module is an RFID detection module, the target accessory will have a pre-installed RFID tag that stores the unique identification information of the target accessory; if the in-situ detection module is a photoelectric sensing detection module, the target accessory will have a light-shielding plate or reflector corresponding to the photoelectric sensor; if it is a pressure sensing detection module, when the target accessory is placed in the pre-installed connection position, it will make contact with the pressure sensor and generate pressure feedback.

[0177] When it is necessary to identify the presence status of a target accessory, the cleaning robot can activate the presence detection module, which sends detection signals, such as radio frequency signals or photoelectric signals, to the preset connection area of ​​the target accessory at a preset detection frequency. When the target accessory is in the preset connection position, i.e., in the presence state, the sensing component on the target accessory will respond to the detection signal, generate and send a corresponding sensing signal, which carries the presence information of the target accessory. The presence detection module receives the sensing signal in real time and preprocesses the signal, i.e., removes interference signals, extracts the effective signal information, and then sends the processed signal data to the cleaning robot.

[0178] Furthermore, the cleaning robot analyzes and judges the processed signal data sent by the presence detection module. If the received sensing signal is valid, it is determined that the target accessory is in place, and the cleaning robot then controls the robotic arm to prepare for the subsequent accessory connection operation; if no sensing signal is received or the sensing signal strength is invalid, it is determined that the target accessory is out of place. At this time, the cleaning robot can issue a prompt message and suspend the subsequent accessory connection operation to avoid invalid operation.

[0179] It should be understood that the detection frequency and preset threshold of the sensing signal of the in-situ detection module in this embodiment can be adjusted according to the actual application scenario to balance detection accuracy and energy consumption control. At the same time, the in-situ detection module can also provide real-time feedback on the detection status during the detection process. If the detection module malfunctions or the signal transmission is abnormal, the cleaning robot will also issue a fault prompt in a timely manner to facilitate user troubleshooting and maintenance.

[0180] In the above embodiments, the in-situ detection module on the cleaning robot directly receives and processes the sensing signals of the target accessory, realizing real-time and accurate identification of the in-situ status, and improving the reliability and automation level of the connection operation.

[0181] Alternatively, another possible implementation of identifying the presence status of a target accessory may include: taking pictures and analyzing images of the target accessory using an image acquisition device mounted on a cleaning robot to identify its presence status.

[0182] In this embodiment, the image acquisition device carried by the cleaning robot can be integrated into a preset position on the robot body, such as the end of the robotic arm, the top of the body, or the front end. Specifically, it can be a high-definition camera, a binocular camera, or a depth camera.

[0183] When it is necessary to identify the presence status of a target accessory, the cleaning robot can first acquire the appropriate target accessory and determine the preset area to be connected corresponding to the target accessory. Then, it can capture images of the area to obtain image frames containing the preset area to be connected.

[0184] Furthermore, the image acquisition device transmits image frames to the cleaning robot, and its built-in preset image analysis algorithm further analyzes and processes the received image data, and determines whether the target accessory is in place based on the analysis results.

[0185] If the target accessory can be detected in the image, and the deviation between the position coordinates of the target accessory and the preset connection position coordinates is within the preset allowable range, then the target accessory is determined to be in place and correctly placed in the preset connection position. The cleaning robot then triggers the subsequent accessory connection preparation process. If the target accessory is not detected in the image, or the deviation between the position coordinates of the detected target accessory and the preset connection position exceeds the allowable range, then the target accessory is determined to be out of place. At this time, the cleaning robot can issue a voice prompt or light prompt to inform the user that the target accessory has not been placed in place, and at the same time suspend the accessory connection operation to avoid invalid work.

[0186] In addition, the cleaning robot can record the results of each image recognition and the image data captured, so as to optimize the matching accuracy of its built-in image analysis algorithm when the robot is idle, and reduce recognition errors caused by changes in ambient light and shooting angle deviations.

[0187] In another alternative implementation, an identification code (such as a QR code, barcode, or specific pattern mark) can be pre-set on the target accessory. The cleaning robot takes pictures of the preset connection area of ​​the target accessory using an image acquisition device. If the acquired image frame contains the identification code, it is determined that the target accessory is in place; otherwise, if the identification code is not recognized in the image frame, it is determined that the target accessory is not in place.

[0188] In another alternative embodiment, an identification code can be pre-set in the accessory compartment containing the target accessory, for example, at a specific location on the inner wall or bottom of the compartment. The cleaning robot uses an image acquisition device to capture images of the pre-set shooting area of ​​the accessory compartment. If the acquired image frame contains the identification code, it indicates that the target accessory is not placed in the accessory compartment, i.e., the target accessory is in a non-positional state; conversely, if the identification code is not recognized in the image frame, it indicates that the target accessory has been placed in the accessory compartment, i.e., it is in a positional state.

[0189] In the above embodiments, the target accessories and identification codes are captured and analyzed by the image acquisition device, realizing the visualization and non-contact identification of the in-situ status, and improving the intuitiveness and environmental adaptability of the status judgment.

[0190] It should be noted that when performing in-situ inspection of the target component, it can be implemented based on any one of the above-mentioned multiple implementation methods, or it can be implemented by combining any of the multiple methods. This embodiment does not limit this.

[0191] If the target accessory is determined to be in place based on the implementation method described above, the cleaning robot can perform the connection operation between the robotic arm and the target accessory.

[0192] To ensure connection stability and reliable execution of subsequent work processes, the cleaning robot continuously monitors the connection status between the robotic arm and the target component in real time during the connection operation.

[0193] To avoid technical problems such as connection failure and high misjudgment rate that are common in traditional single mechanical buckle or clamping connection structures, this embodiment can perform connection status detection on multiple preset connection positions when performing connection status detection.

[0194] In this embodiment, the preset multiple connection positions may include a first connection position and a second connection position. These two connection positions may be of the same type of connection operation or different types of connection operations. For example, the first connection position and the second connection position may both be mechanical connections, or both may be electrical connections, or one may be a mechanical connection and the other an electrical connection. This embodiment does not impose specific limitations on this.

[0195] In one optional embodiment, both the first connection position and the second connection position are electrical connection positions. The electrical connection position refers to the docking point between the robotic arm and the target accessory for transmitting electrical signals and supplying power. Specifically, it may include the docking positions of electrode contacts, conductive interfaces, and terminals on the robotic arm with corresponding electrodes, conductive slots, and wiring interfaces on the target accessory.

[0196] In this embodiment, the method of providing electrical connection positions is applicable to target components with high requirements for electrical connection reliability, such as grippers, disinfection nozzles, and electric cleaning brushes that require continuous power supply. By setting two independent electrical connection positions, the electrical connection status of different circuits can be detected separately. For example, one electrical connection position is used to detect the continuity of the control signal transmission circuit, while the other is used to detect the stability of the power supply circuit. Dual detection effectively avoids misjudgments caused by abnormalities detected at a single connection position, ensuring that the target component can stably receive control commands and drive power transmitted by the robotic arm, guaranteeing its normal operation.

[0197] In another alternative embodiment, both the first connection position and the second connection position are mechanical connection positions. Here, the mechanical connection position can refer to the docking part between the robotic arm and the target accessory to achieve physical fixation, limitation, and positioning. Specifically, it can include the docking positions of the buckles, grippers, and positioning pins on the robotic arm and the corresponding slots, gripping grooves, and positioning holes on the target accessory.

[0198] In this embodiment, the implementation with mechanical connection positions is applicable to target accessories that are heavy or prone to vibration or stress during operation, such as heavy-duty grippers, heavy-duty cleaning mops, and rigid cleaning brush heads. By setting two independent mechanical connection positions, dual fixation and limiting of the target accessory can be achieved, while the mechanical connection status at each position can be detected separately. For example, one mechanical connection position is used to detect the main fixing structure, such as the engagement firmness of the buckle, while the other mechanical connection position is used to detect the auxiliary limiting structure, such as the positioning accuracy of the locating pin. This effectively prevents the target accessory from falling off or shifting during cleaning operations, improving the stability and reliability of the mechanical connection.

[0199] In another alternative embodiment, the first connection position includes an electrical connection position, and the second connection position includes a mechanical connection position. It should be understood that the specific structure and function of the electrical connection position and the mechanical connection position are consistent with the foregoing embodiments.

[0200] This implementation combines the advantages of the two implementations described above, and can simultaneously achieve comprehensive detection of the electrical and mechanical connection status between the robotic arm and the target component. It is applicable to most target components that require simultaneous electrical signal transmission and physical fixation.

[0201] In this embodiment, by detecting the connection status of both the electrical and mechanical connection points, the overall connection effectiveness between the robotic arm and the target component can be comprehensively determined. That is, if the electrical connection point is detected abnormally, it indicates that the target component cannot receive control signals or power normally; if the mechanical connection point is detected abnormally, it indicates that the target component is not securely fixed. The two detection results complement each other, which can avoid the risk of connection failure due to omission of detection in a single connection dimension.

[0202] It should be noted that, in practice, three implementation methods can be flexibly selected based on the specific type and functional requirements of the target accessory and the overall structure of the cleaning robot. All three methods can effectively detect the connection status between the robotic arm and the target accessory. That is, regardless of the implementation method used, the accuracy and reliability of connection status judgment are improved by detecting the status of the two connection points, ensuring the smooth progress of subsequent accessory connection operations and avoiding cleaning operation interruptions, accessory damage, or equipment failure due to abnormal connections.

[0203] Based on the above implementation method, different connection positions can correspond to different signal triggering methods. Taking the first connection position as an example, if the first connection position is an electrical connection position, the first state signal is generated based on the successful establishment of electrical conduction between the robotic arm and the target component.

[0204] Specifically, when the electrical connection part on the robotic arm is fully connected to the corresponding electrical connection part on the target accessory, and a stable electrical conduction circuit is formed between the two, the electrical detection module of the cleaning robot will detect the conduction signal in real time. After filtering, amplification and other preprocessing, the conduction signal generates a corresponding first state signal to indicate that the first connection position (electrical connection position) is connected normally. If a stable electrical conduction is not established, the electrical detection module will not generate the first state signal, or will generate a first state signal indicating an abnormal connection.

[0205] Optionally, if the first connection position is a mechanical connection position, the first state signal is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0206] Here, the preset physical sensing device can be reasonably set according to the structural type of the mechanical connection position. For example, pressure sensors, photoelectric sensors, Hall sensors, etc. can be selected. The physical sensing device is preset in the corresponding part of the mechanical connection position, such as the inside of the buckle of the robotic arm, the surface of the gripper, the end of the positioning pin, etc.

[0207] When the robotic arm and the target component are docked and secured at the mechanical connection point (e.g., the latches engage, the positioning pins insert into the positioning holes, and the grippers clamp the component), the pressure, displacement, or magnetic field changes generated during the docking process will trigger the physical sensor. Upon receiving the trigger signal, the physical sensor sends a feedback signal to the cleaning robot. Based on this feedback signal, the cleaning robot generates a first state signal to indicate that the first connection point (mechanical connection point) is properly connected. If the mechanical connection is not in place, the physical sensor cannot be triggered, or the trigger signal does not reach a preset threshold, and therefore the first state signal indicating a normal connection will not be generated.

[0208] It should be noted that the above-mentioned method of generating the first state signal only corresponds to the type of the first connection position. Its generation logic can be flexibly adapted to the three connection position implementation methods mentioned above. That is, regardless of whether the first connection position is an electrical connection position or a mechanical connection position, the first state signal can be generated through the above-mentioned corresponding method for subsequent comprehensive judgment of the connection status.

[0209] Based on the above implementation method, since the cleaning robot can retry the connection operation if the connection is unsuccessful, in order to judge the execution effect of each connection operation in a timely manner and avoid invalid repeated attempts, the cleaning robot will immediately detect the connection status between the robotic arm and the target accessory after completing each accessory connection operation. The detection result will determine whether the connection operation is successful and then decide whether to start the next connection retry process.

[0210] Taking the current detection as an example, an optional implementation of connection status detection may include: simultaneously detecting the connection status of the robotic arm and the target component at different positions, and obtaining the first connection status corresponding to the first connection position of the target component and the second connection status corresponding to the second connection position of the target component.

[0211] Specifically, after the cleaning robot completes the current accessory connection operation, it can immediately send a detection command to the preset connection status detection module, triggering the detection module to simultaneously start detecting the status of the first and second connection positions. It should be noted that the detection processes of the two positions can be performed independently and synchronously to ensure detection efficiency, avoid time loss caused by sequential detection, and meet the high-efficiency requirements when re-attempting connection.

[0212] Specifically, the connection status detection module can acquire the first connection status by adopting the corresponding detection method according to the specific type of the first connection position. That is, if the first connection position is an electrical connection position, the electrical detection module detects whether a stable electrical connection is established between the robotic arm and the target accessory, generating a first connection status representing the electrical connection status; if the first connection position is a mechanical connection position, the physical sensing device detects whether a preset sensing signal is triggered, generating a first connection status representing the mechanical connection status.

[0213] Similarly, for the second connection position, the detection module will use the same detection method as the first connection position to obtain the second connection status according to its type. That is, when the second connection position is an electrical connection position, it will detect the electrical conduction status; when it is a mechanical connection position, it will detect the physical induction signal triggering status.

[0214] If both connection states meet the preset conditions, the connection operation is considered successful, and the cleaning robot can proceed to the subsequent cleaning process. If either connection state does not meet the preset conditions, the connection operation is considered failed, and the cleaning robot can start the process of retrying the connection until the connection is successful or the preset number of retries is reached.

[0215] By simultaneously detecting two different connection positions and obtaining the first and second connection states respectively, the connection dimensions between the robotic arm and the target accessory can be fully covered, avoiding misjudgments caused by single-position detection. That is, whether it is an electrical connection abnormality or a mechanical connection abnormality, it can be detected in time through the corresponding status detection, ensuring that the judgment result of whether the connection operation is successful is accurate and reliable, and providing a clear basis for whether to retry the connection in the future.

[0216] Optionally, one possible implementation of the connection status detection may include: detecting a first connection status corresponding to a first connection position between the robotic arm and the target accessory; and after obtaining the first connection status, detecting a second connection status corresponding to a second connection position of the target accessory.

[0217] It should be noted that the step-by-step detection method allows for an orderly review of connection status, adapting to the needs of different detection scenarios. This complements the synchronous detection method described earlier, further enhancing the flexibility of connection status detection. For example, the step-by-step detection method is suitable for scenarios with requirements on detection priority or limited detection module resources.

[0218] Specifically, after the cleaning robot completes the current accessory connection operation, it can first send a first detection command to the connection status detection module. The command detection module prioritizes the detection of the connection status of the first connection position. At this time, the detection module only focuses on the first connection position and does not start the detection process of the second connection position, so as to ensure the accuracy of the first connection status detection and avoid signal interference that may be caused by simultaneous detection of multiple positions.

[0219] The detection module performs the detection operation using the corresponding detection method based on the specific type of the first connection location. The detection module transmits the generated first connection status to the cleaning robot in real time. The cleaning robot receives and acknowledges the first connection status, completing the acquisition of the first connection status. After successfully acknowledging the acquisition of the first connection status, the cleaning robot sends a second detection command to the detection module, triggering the detection module to start detecting the connection status of the second connection location. At this point, the detection module switches its detection target, performing the detection operation only on the second connection location.

[0220] Consistent with the detection logic of the first connection state, the detection module generates the second connection state according to the specific type of the second connection position using the corresponding detection method, and transmits the second connection state to the cleaning robot to complete the step-by-step detection of this connection state.

[0221] During the above-mentioned distribution detection process, if the first connection status does not meet the preset conditions, the cleaning robot can directly determine that the connection operation has failed, without continuing to perform the detection of the second connection position, and directly start the process of retrying the connection, thereby saving detection time and reducing equipment energy consumption; if the first connection status meets the preset conditions, the overall connection validity is further confirmed by detecting the status of the second connection position, ensuring the accuracy of the connection status judgment.

[0222] In the above embodiments, step-by-step detection enables orderly and phased screening of connection status. This method can be flexibly adapted to the needs of different detection scenarios, and is particularly suitable when there are differences in detection priorities or when detection module resources are limited. Thus, it effectively complements the synchronous detection method mentioned above, further improving the flexibility and scenario adaptability of connection status detection.

[0223] During the above detection process, whether it is synchronous detection or step-by-step detection, the cleaning robot needs to judge the first connection state and the second connection state obtained to confirm whether they meet the preset connection conditions, and then determine whether the connection operation is successful.

[0224] Optionally, one possible way to determine that the first connection state and the second connection state meet preset conditions may include: detecting a first state signal triggered by a connection operation within a first preset duration or a first preset number of times, and detecting a second state signal triggered by a connection operation within a second preset duration or a second preset number of times.

[0225] In this embodiment, the first state signal corresponds to the normal connection state of the first connection position, and it is triggered to be generated after the first connection position is successfully connected; the second state signal corresponds to the normal connection state of the second connection position, and its generation logic is the same as that of the first state signal, and it is triggered to be generated after the second connection position is successfully connected.

[0226] Specifically, after the cleaning robot initiates the first connection position detection, it will simultaneously start timing and counting. If the detection module continuously detects a stable first state signal before the timing reaches a first preset duration, or if the first state signal is detected before the counting reaches a first preset number of times, it is determined that the first connection state meets the preset conditions; if the first state signal is not detected after the first preset duration, or if a valid first state signal is not obtained after the first preset number of detections, it is determined that the first connection state does not meet the preset conditions.

[0227] Similarly, the logic for determining the second connection state is the same as that for determining the first connection state, and will not be repeated here.

[0228] Only when the first state signal is detected within the first preset time / first preset number of times, and the second state signal is detected within the second preset time / second preset number of times, is the first connection state and the second connection state determined to meet the preset conditions, that is, the connection operation is successful; if either connection state does not meet the corresponding preset conditions, the overall connection state is determined not to meet the preset conditions, and the cleaning robot can start the process of retrying the connection until both meet the preset conditions or reach the preset retry limit.

[0229] It should be noted that the first and second preset durations, as well as the first and second preset counts, can be set independently according to actual testing needs and do not need to be consistent. For example, the first preset duration can be set to 1-5 seconds, and the second preset duration can be set to 3-8 seconds; the first preset count can be set to 2-5 times, and the second preset count can be set to 3-6 times. Furthermore, in practical applications, the preset parameters can be adjusted appropriately based on the type of the first and second connection points, the accuracy of the detection module, and environmental interference.

[0230] Furthermore, the settings for the first preset duration or first preset number of times, and the second preset duration or second preset number of times, can be flexibly adapted to different detection scenarios. For example, for connection locations with fast detection response speed and high signal stability, the first preset number of times / second preset duration can be prioritized as the judgment criterion to improve detection efficiency; for connection locations where the signal is easily interfered with and requires multiple confirmations, the first preset number of times / second preset number of times can be prioritized as the judgment criterion to reduce the probability of false judgment.

[0231] The above implementation method, by setting dual judgment criteria of duration or number of times, can effectively avoid misjudgments caused by instantaneous signal interference and detection errors, and ensure the stability and reliability of connection status judgment.

[0232] As described above, the first connection state is determined based on the first state signal triggered by the connection operation, and the second connection state is determined based on the second state signal triggered by the connection operation. That is, a valid first state signal indicates that the connection at the first connection position is normal, a valid second state signal indicates that the connection at the second connection position is normal, and if no corresponding state signal is detected, the connection at the corresponding connection position is abnormal.

[0233] In this case, during the detection of the connection status between the robotic arm and the target accessory, one optional implementation of obtaining the first connection status and the second connection status may include: after executing the current connection operation, executing a connection status detection process; if at least one of the first status signal and the second status signal is not detected within the duration of the connection status detection process, it is determined that the current connection operation was unsuccessful, the robotic arm is controlled to adjust its pose, and the connection operation is re-executed; wherein, the duration of the connection status detection process is less than the first preset time required to determine that the first connection status meets the preset conditions, and less than the second preset time required to determine that the second connection status meets the preset conditions; if at least one of the first status signal and the second status signal is not detected within the preset total detection time or the preset maximum number of detections, the detection result of the last connection status detection process is taken as the connection status corresponding to the robotic arm and the target accessory.

[0234] Specifically, the cleaning robot performs the current accessory connection operation. After the current connection operation is completed, it immediately starts the connection status detection process. This detection process is used to initially detect whether the first status signal and the second status signal exist, and quickly determine whether there is an obvious connection abnormality in the current connection operation, so as to provide a quick basis for subsequent adjustments and retrying.

[0235] During the duration of the connection status detection process, the detection module continuously monitors the presence of the first and second status signals and feeds the detection results back to the cleaning robot in real time. It's important to note that the duration of the connection status detection process has specific parameter constraints. Its duration can be set to be less than a first preset time required to determine if the first connection status meets preset conditions, and simultaneously less than a second preset time required to determine if the second connection status meets preset conditions. This allows for rapid anomaly detection; that is, obvious connection failures can be identified promptly without waiting for the full preset condition determination time, avoiding unnecessary waiting and improving the efficiency of connection retry.

[0236] Optionally, if at least one of the first and second state signals is not detected within the duration of this detection process (i.e., only the first or second state signal is not detected, or neither state signal is detected), the current connection operation is directly determined to have failed. In this case, the cleaning robot will not continue to wait for the determination of the first or second preset time, but will immediately control the robotic arm to adjust its posture. After the robotic arm completes the posture adjustment, the cleaning robot will re-execute the accessory connection operation and enter the next cycle of state detection.

[0237] To avoid the robotic arm repeatedly adjusting and reconnecting indefinitely, two constraints can be preset: a total detection time and a maximum number of detections. The loop detection will terminate when either condition is met. In other words, if, within the preset total detection time, no at least one of the first and second state signals is detected after multiple loops of state detection; or if no at least one of the first and second state signals is detected after the preset maximum number of connection state detections, the connection retry process will terminate, and the robotic arm pose adjustment and reconnection operations will no longer be performed.

[0238] At this point, the result of the last executed connection status detection process is taken as the final connection status between the robotic arm and the target accessory. That is, if only the first status signal is detected and the second status signal is not detected in the last detection process, the first connection status is determined to be normal and the second connection status to be abnormal; if only the second status signal is detected and the first status signal is not detected, the first connection status is determined to be abnormal and the second connection status to be normal; if neither status signal is detected, both the first and second connection statuses are determined to be abnormal; if both status signals are detected in the last detection process, both connection statuses are determined to be normal, and the connection is considered successful.

[0239] The above implementation method, by setting a connection status detection process that is shorter than the time required for status confirmation, and immediately triggering pose adjustment and reconnection when key status signals are not detected in time, achieves rapid response and automatic retry when connection fails, thereby improving the efficiency and reliability of the connection process.

[0240] During the aforementioned status detection process, if at least one of the first and second status signals is not detected within the duration of the connection status detection process, it is determined that the current connection operation was unsuccessful. In this case, the cleaning robot will control the robotic arm to adjust its posture to correct the docking deviation and improve the success rate of reconnection.

[0241] Alternatively, one possible implementation of pose adjustment may include controlling the robotic arm to make fine-tuning angles about the connecting axis.

[0242] In this embodiment, the connecting axis can be understood as a preset docking reference axis between the robotic arm and the target component, that is, the collinear center axis of the connecting part at the end of the robotic arm and the docking part of the target component. For example, the connecting axis may include: the center axis of the flange at the end of the robotic arm, or the center axis of the docking structure on the target component.

[0243] When the current connection operation is determined to be unsuccessful, the cleaning robot can make a preliminary judgment on the direction of the angle deviation based on the connection failure detection result, so as to determine the initial direction for fine-tuning and avoid blind adjustment.

[0244] Subsequently, the cleaning robot controls its robotic arm to slowly and uniformly fine-tune around the connecting axis, with the adjustment range preset to 0.5°-5°. In practical applications, this can be adjusted according to accuracy requirements to avoid excessive or insufficient adjustment, thus preventing equipment damage.

[0245] During fine-tuning, the detection module can monitor the first and / or second status signals in real time. If a valid status signal is detected at any point during the fine-tuning process, the current fine-tuning action can be stopped immediately, or the fine-tuning can be reversed based on the signal characteristics to optimize alignment. If no valid status signal is detected after the robotic arm has rotated around the connecting axis to the preset maximum fine-tuning angle, the robotic arm can be controlled to rotate in the opposite direction to attempt a change, or the mode can be switched to another pose adjustment mode.

[0246] Optionally, a step-by-step fine-tuning mode can also be used during the above-mentioned fine-tuning process. In other words, during fine-tuning, the robotic arm is controlled to rotate around the connecting axis by a preset small step angle each time, and pauses after each step rotation to perform a simplified connection status detection. If no valid status signal is detected in this detection, the next angle fine-tuning step is performed; if a valid signal is detected, the fine-tuning stops. By using this step-by-step pausing and detection method, precise pose correction can be achieved while avoiding increased energy consumption and mechanical wear caused by continuous over-adjustment.

[0247] In the above embodiments, by making controllable angle fine-tuning around the connection axis, it is possible to effectively compensate for small angle alignment deviations caused by repeated positioning errors of the robotic arm, installation deviations of target parts, or disturbances in the working environment, thereby improving the success rate of subsequent connection attempts and the robustness of the overall operation.

[0248] Alternatively, another alternative implementation of pose adjustment may include controlling the robotic arm to shift laterally in a direction perpendicular to the connection direction.

[0249] In this embodiment, the connection direction can be interpreted as the preset docking direction between the robotic arm and the target component, that is, the axial direction in which the robotic arm approaches the target component and completes the connection; correspondingly, the lateral offset perpendicular to the connection direction can be interpreted as a fine-tuning of the position along the horizontal direction perpendicular to the docking axis, used to correct the left-right and front-back misalignment of the docking part between the end of the robotic arm and the target component.

[0250] If the current connection operation is determined to be unsuccessful, the cleaning robot can generate a lateral offset adjustment command. Here, this command is used to drive the actuator of the robotic arm, causing its end effector to make a small translational movement in one or more preset directions within a plane perpendicular to the preset connection direction.

[0251] During the offset adjustment process, the cleaning robot can control its robotic arm to move slowly and uniformly along any of the preset lateral directions, namely forward, backward, left, and right. Simultaneously, the detection module monitors the first and second state signals in real time. If a valid signal is detected, it indicates that the offset is in place, and the adjustment immediately stops. If no valid signal is detected after multiple offsets to the maximum offset in the same lateral direction, the robot can switch to other lateral directions for fine-tuning; alternatively, it can combine this with the previously mentioned angle fine-tuning method to correct complex deviations.

[0252] In the above embodiments, by controlling the robotic arm to make lateral position fine adjustments on a plane perpendicular to the connection direction, lateral misalignment caused by positioning errors, placement deviations, or calibration errors can be effectively compensated, thereby improving the accuracy of docking and the success rate of connection operations.

[0253] Alternatively, another possible implementation of the pose adjustment may include: controlling the robotic arm to move backward a preset distance along the connection direction and then move forward again.

[0254] If the current connection operation is determined to be unsuccessful, the cleaning robot can generate a retraction retry command. This command first controls the end effector of the robotic arm to move a preset retraction distance in the opposite direction of the connection. This distance can be set according to the physical dimensions of the docking structure and the safety margin for movement. After completing the retraction action, the cleaning robot then controls the robotic arm to re-execute the forward and docking operation in the connection direction.

[0255] The above implementation method can effectively eliminate docking interference caused by slight overshoot, jamming, or incomplete disengagement that may have occurred in the previous attempt, providing an interference-free starting position for the next connection attempt, thereby improving the reliability and success rate of the connection operation.

[0256] Alternatively, another possible implementation of the pose adjustment may include controlling the entire body of the cleaning robot to move backward a preset distance and then move forward again.

[0257] If the current connection operation is deemed unsuccessful, the cleaning robot can generate a whole-machine movement command. This command controls the robot's drive system to move the entire robot body a preset retraction distance in the opposite direction of the connection direction. This distance can be set based on the relative position of the robot and the accessory compartment or fixed device, as well as the safety space. After completing the retraction, the cleaning robot then controls itself to move forward again to the vicinity of the docking starting position and controls the robotic arm to attempt the connection operation again.

[0258] Through the above implementation method, the relative pose relationship between the robot and the target accessory can be reset globally, effectively eliminating the cumulative error caused by the robot's overall positioning drift, environmental factors, or pose deviation that may have occurred in the previous attempt. This provides a more accurate and stable starting pose for the subsequent connection operation of the robotic arm, thereby ensuring the robustness and success rate of the connection process at a higher level.

[0259] It should be noted that the above pose adjustment methods can be implemented as independent adjustment strategies, or they can be combined and implemented in any order or logic according to the needs of the actual application scenario. For example, lateral offset fine-tuning can be performed first, and if it is still unsuccessful, angular fine-tuning can be combined; or the whole machine repositioning process can be initiated after multiple attempts. The specific implementation methods, combination order and triggering conditions can be flexibly configured according to the actual situation, and this application does not impose any limitations on them.

[0260] In the process of detecting the connection status between the robotic arm and the target accessory, following the step-by-step detection implementation method described above, after detecting and obtaining the first connection status corresponding to the first connection position, the method provided in this embodiment also includes a corresponding exception handling process, including: if the first connection status does not meet the preset conditions, then stop executing the step of detecting the second connection status corresponding to the second connection position of the target accessory, and generate a prompt message to indicate that the first connection position connection has failed.

[0261] Specifically, upon acquiring the first connection status, the system immediately determines whether a first status signal triggered by a connection operation has been detected within a first preset time period or a first preset number of times. If the first connection status does not meet the preset conditions, it indicates that the first connection position has not been successfully connected. In this case, there is no need to continue with subsequent detection steps, and the detection of the second connection status corresponding to the second connection position of the target accessory is directly stopped. This saves detection resources, improves detection efficiency, and avoids the time and energy waste caused by continuing to perform the detection of the second connection position when the connection at the first connection position has clearly failed.

[0262] Simultaneously, the cleaning robot will also generate a notification message to clearly indicate that the connection at the first connection location has failed. The notification message may include the type of the first connection location, facilitating subsequent troubleshooting of the connection failure and optimization of the positioning adjustment direction. After generating the notification message, the cleaning robot will also output it through preset methods, such as controlling the indicator light on the robot body to flash at a specific frequency, broadcasting "Connection at the first connection location failed" via the voice module, or sending corresponding notification information to the terminal device, so that the user is aware of the connection anomaly in real time.

[0263] In some implementation scenarios, the cleaning robot can also initiate the pose adjustment process mentioned above, correct the deviation in the case of connection failure at the first connection position, and then re-execute the connection and detection operations.

[0264] In the above implementation, by terminating subsequent detections and generating a prompt in advance when the first connection state is abnormal, invalid detection processes can be effectively avoided, thereby improving fault response speed and system operating efficiency.

[0265] After detecting the connection status between the robotic arm and the target accessory and obtaining the first connection status and the second connection status, the method provided in this embodiment also includes a corresponding exception handling process. One optional implementation includes: if only one of the first connection status and the second connection status meets the preset conditions, then control the robotic arm to adjust its posture and re-execute the connection operation.

[0266] Specifically, the scenario where only one connection state meets the preset conditions can include the following two sub-cases: first, the first connection state meets the preset conditions while the second connection state does not; second, the second connection state meets the preset conditions while the first connection state does not. Since the exception handling logic corresponding to these two sub-cases is essentially the same, for the sake of simplicity, the subsequent description of the exception handling process will use one of these cases as an example, while the other case can be executed by referring to it.

[0267] Specifically, after the cleaning robot determines that only one connection state meets the preset conditions, it can combine the connection states that meet the conditions to initially locate the approximate location and type of docking deviation: if the first connection state is normal and the second connection state is abnormal, it means that the docking at the first connection position is correct and the deviation is concentrated at the second connection position; if the second connection state is normal and the first connection state is abnormal, the deviation is concentrated at the first connection position.

[0268] At this point, based on the deviation positioning results, the cleaning robot can generate targeted pose adjustment commands, selecting one or more of the adjustment methods mentioned above to focus on correcting deviations in abnormal connection positions and avoid blind adjustments. For example, if the second connection position is a mechanical connection and is abnormal, the robotic arm can be controlled first to make fine-tuning angle adjustments to correct misalignment between the latch and the slot.

[0269] After the robotic arm completes the pose adjustment, it re-executes the connection operation and then checks the connection status again. If only one condition is met, the adjustment and connection process is repeated until the connection is successful or the preset retry limit is reached.

[0270] In the above embodiments, by identifying single abnormal state signals and triggering targeted pose adjustments and reconnection, it is possible to cope with partial connection failures, thereby improving the fault tolerance and overall reliability of the connection process.

[0271] After obtaining the first connection state and the second connection state, the method provided in this embodiment also includes a corresponding exception handling process. Another optional implementation includes: if only one of the first connection state and the second connection state meets the preset conditions, the robotic arm is controlled to release the connection state at the successfully connected position and re-execute the connection operation.

[0272] Specifically, when the test results show that only one connection position is valid and the other connection position is invalid, continuing to maintain the connection at the successful position can easily cause mechanical stress concentration, uneven force on the contacts, or local jamming, affecting the accuracy and reliability of subsequent reconnection.

[0273] Therefore, after determining that only one connection state meets the preset conditions, the cleaning robot first determines the successfully connected position based on the connection state, and controls the robotic arm to perform a disconnection action at that position, so that the robotic arm and the target accessory return to the initial unconnected state, eliminating interference caused by local force or misalignment.

[0274] After successfully disconnecting the connection, the robotic arm is controlled to re-execute the complete accessory connection operation, and the connection status of the first and second connection positions is re-checked to ensure the effectiveness and consistency of the overall connection.

[0275] In the above embodiments, by actively disconnecting a partially successful connection and triggering a re-connection, the problem of misalignment or stress concentration caused by unilateral connection failure can be corrected, thereby ensuring the integrity and reliability of the connection status.

[0276] Based on the above implementation, for specific scenarios in which accessory connection instructions are generated, the method provided in this embodiment also includes an optional exception handling method, which further includes: if the accessory connection instruction is generated in response to the cleaning robot completing the previous cleaning sub-task of the connection task, and the robotic arm and the target accessory are not successfully connected, then the cleaning robot is controlled to end the current cleaning task.

[0277] In this embodiment, the current scenario applies to situations where accessory connection commands are automatically triggered. That is, after the cleaning robot completes the previous cleaning sub-task, it automatically generates accessory connection commands without user intervention to switch to the target accessory adapted for the next cleaning sub-task. At this time, the accessory connection operation is a critical link in the connection between different sub-tasks in the current cleaning task. If the connection fails, all subsequent cleaning sub-tasks will be unable to proceed normally, and continuing to retry the connection is meaningless.

[0278] Based on this, once the cleaning robot automatically generates the accessory connection command, it will execute the operation according to the connection, detection, posture adjustment, and reconnection process described above until the robotic arm successfully connects with the target accessory, or until the preset number of retries or the preset total detection time is reached. If the robotic arm and the target accessory still fail to connect successfully after reaching the retry limit, and the accessory connection command was automatically generated after the completion of the previous cleaning sub-task, the cleaning robot determines that the current cleaning task cannot be continued and then sends a command to control the cleaning robot to end the current cleaning task.

[0279] Optionally, the specific operations for ending the current cleaning task may include: controlling the robotic arm to return to its initial position, shutting down the detection and drive modules related to accessory connection, saving the execution progress of the current cleaning task, and providing feedback to the user in a preset manner that "the current cleaning task has ended due to accessory automatic connection failure," so as to facilitate the user's troubleshooting.

[0280] In the above embodiments, by identifying connection failures and intelligently terminating tasks at critical task nodes, it is possible to effectively avoid the ineffective operation of subsequent cleaning work due to missing parts, thereby saving energy, preventing equipment idling damage, and ensuring the rationality and safety of task execution.

[0281] Figure 5 A flowchart illustrating another accessory connection status control method provided in this application embodiment is shown below. Figure 5 As shown, the method includes the following steps:

[0282] S501, in response to the accessory connection command, controls the cleaning robot to perform the connection operation between the robotic arm and the target accessory.

[0283] It should be understood that the specific implementation method of this step is consistent with the corresponding steps that have been described in detail above in principle and operation. For specific implementation details, please refer to the relevant description above, and it will not be repeated here.

[0284] S502. After the connection operation, the connection status between the robotic arm and the target accessory is detected in a preset order to obtain the first connection status and the second connection status respectively.

[0285] This embodiment achieves orderly and phased screening of connection status through step-by-step detection. This method can be flexibly adapted to the needs of different detection scenarios, and is particularly suitable when there are differences in detection priorities or limited detection module resources. Therefore, it effectively complements the synchronous detection method described above, further enhancing the flexibility and scenario adaptability of connection status detection.

[0286] In this embodiment, the first connection state corresponds to the detection result of the first type of connection, and the second connection state corresponds to the detection result of the second type of connection. It is understood that the first type of connection and the second type of connection in this embodiment can correspond to different connection positions or connection states of different dimensions.

[0287] For connection detection at different locations, please refer to the relevant content that has been explained in detail above, and it will not be repeated here.

[0288] If the connection detection is performed in different dimensions, the detection results of the first type of connection and the second type of connection can be used to characterize the connection between the robotic arm and the target accessory in different dimensions, such as physical engagement state, electrical conduction state, etc., thereby realizing a multi-dimensional comprehensive judgment of the connection state.

[0289] For example, the connection status corresponding to the first type of connection can be used to characterize whether the two have completed a physical connection, while the connection status corresponding to the second type of connection can be used to characterize whether the target component after connection is in a normal working state.

[0290] In this embodiment, for the first type of connection, the appearance and position of the robotic arm and the target component after connection can be captured by an image acquisition device for visual analysis. This allows for the determination of whether the target component is damaged, improperly assembled, or functionally abnormal, and generates a first detection signal. If the first detection signal indicates that the target component has been stably installed at the end of the robotic arm, the connection at that position is considered successful; otherwise, the connection is considered failed. For the second type of connection, a second detection signal after the robotic arm and the target component are connected can be obtained through an in-situ detection module (such as a proximity sensor, pressure sensor, or magnetic induction switch) installed on the robotic arm. If the second detection signal indicates that the target component is functioning normally and is ready, the connection at that position is considered successful; otherwise, the connection is considered failed.

[0291] In this way, by mapping state detection of different dimensions to different types of connections, we can obtain two key states: physical connection reliability and functional availability, thereby further improving the reliability and comprehensiveness of connection state judgment.

[0292] S503. Based on the first connection state and the second connection state, control the cleaning robot to perform a reconnection operation or end the current task.

[0293] In this embodiment, after obtaining the detection results of the first connection state and the second connection state, they are compared with preset connection success conditions. If both the first connection state and the second connection state meet the preset conditions, it is determined that the robotic arm and the target accessory are successfully connected. The control system generates a connection completion command and controls the cleaning robot to end the current connection task and enter the subsequent operation process.

[0294] If either the first or second connection state fails to meet the preset conditions, the connection is deemed to have failed. In this case, the cleaning robot can perform corresponding processing based on the type of anomaly: for example, if only the second connection state is abnormal, a partial reconnection can be attempted at the second connection location; or, if the first connection state is abnormal, it is determined to be a critical connection failure, requiring a complete reconnection operation. During the reconnection process, the controller can adjust the robotic arm's docking parameters based on historical connection data or environmental conditions, and trigger the step-by-step detection process again after reconnection.

[0295] In addition, the cleaning robot can record the type of connection failure, the time of occurrence, and the number of reconnections. When the number of consecutive reconnection failures exceeds a set threshold, it will generate a fault alarm and pause the task, waiting for user intervention.

[0296] In the above implementation, by responding to the accessory connection command, the cleaning robot is controlled to perform the connection operation between the robotic arm and the target accessory. Subsequently, the first connection state and the second connection state are detected sequentially according to a preset order, and the robot is controlled to reconnect or terminate the task based on the detection results. This sequential execution can prioritize the verification of critical connection states, and can promptly interrupt subsequent processes when an abnormality in a preceding connection is detected, thereby avoiding invalid operations, saving system resources, and improving the reliability of connection detection and task execution efficiency.

[0297] Based on the above implementation method, an optional implementation method for detecting the connection status between the robotic arm and the target accessory in a preset order may include: first detecting a first type of connection to obtain a first connection status; when the first connection status meets a first preset condition, then detecting a second type of connection to obtain a second connection status.

[0298] Based on the above implementation, an alternative implementation of controlling the cleaning robot to perform a reconnection operation may include: controlling the robotic arm to adjust its posture and re-perform the reconnection operation.

[0299] Based on the above implementation, another alternative implementation for controlling the cleaning robot to perform a reconnection operation may include: controlling the robotic arm to disconnect the successfully established connection and re-execute the connection operation.

[0300] Based on the above implementation, when the cleaning robot controls the robotic arm to adjust its posture, the posture adjustment includes at least one of the following: controlling the robotic arm to make a fine angle adjustment around the connecting axis; controlling the robotic arm to shift laterally in a direction perpendicular to the connecting direction; controlling the robotic arm to move backward a preset distance along the connecting direction and then move forward again; controlling the entire body of the cleaning robot to move backward a preset distance and then move forward again.

[0301] Based on the above implementation method, the first type of connection is an electrical connection and the second type of connection is a mechanical connection; or, the first type of connection is a mechanical connection and the second type of connection is an electrical connection.

[0302] Based on the above implementation method, if the first type of connection is an electrical connection, the first connection state is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory; if the first type of connection is a mechanical connection, the first connection state is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0303] Based on the above implementation method, ending the current task includes: generating a prompt message and terminating the currently executing cleaning task.

[0304] It should be understood that since the specific implementation methods of the above steps are consistent with the corresponding steps that have been described in detail above in terms of principle and operation logic, the specific implementation details can be referred to the relevant descriptions above, and will not be repeated here.

[0305] Figure 6 Schematic diagram of the controller for the cleaning robot provided in this application Figure 1 ,like Figure 6 As shown, the controller 60 of the cleaning robot provided in this embodiment includes:

[0306] The connection operation module 601 is used to control the cleaning robot to perform the connection operation between the robotic arm and the target accessory in response to the accessory connection command;

[0307] The state detection module 602 is used to detect the connection state between the robotic arm and the target accessory after the connection operation, and to obtain a first connection state and a second connection state; the first connection state and the second connection state respectively represent the connection state of the first connection position and the second connection position between the robotic arm and the target accessory.

[0308] The status determination module 603 is used to determine that the robotic arm and the target accessory are successfully connected when the first connection status and the second connection status meet the preset conditions.

[0309] In one alternative embodiment, the state detection module 602 is specifically used for:

[0310] Simultaneously detect the connection status of the robotic arm and the target component at different positions, and obtain the first connection status corresponding to the first connection position of the target component and the second connection status corresponding to the second connection position of the target component;

[0311] or,

[0312] Detect the first connection status corresponding to the first connection position between the robotic arm and the target accessory;

[0313] After obtaining the first connection status, detect the second connection status corresponding to the second connection position of the target accessory.

[0314] In one optional implementation, the state determination module 603 is specifically used for:

[0315] A first state signal triggered by a connection operation is detected within a first preset duration or a first preset number of times, and a second state signal triggered by a connection operation is detected within a second preset duration or a second preset number of times.

[0316] In one alternative implementation, the first connection state and the second connection state are determined based on a first state signal and a second state signal triggered by a connection operation, respectively.

[0317] The status detection module 602 is specifically used for:

[0318] After the current connection operation is executed, the connection status detection process is performed.

[0319] If at least one of the first and second state signals is not detected during the duration of the connection status detection process, the current connection operation is determined to be unsuccessful, the robotic arm is controlled to adjust its pose, and the connection operation is re-executed.

[0320] The duration of the connection status detection process is less than the first preset duration required to determine that the first connection status meets the preset conditions, and less than the second preset duration required to determine that the second connection status meets the preset conditions.

[0321] If at least one of the first state signal and the second state signal is not detected within the preset total detection time or the preset maximum number of detections, the detection result of the last connection state detection process shall be taken as the connection state between the robotic arm and the target accessory.

[0322] In one alternative embodiment, the state detection module 602 is specifically used for:

[0323] Control the robotic arm to make fine-tuning angles around the connecting axis;

[0324] Control the robotic arm to shift laterally in a direction perpendicular to the connection direction;

[0325] The robotic arm is controlled to move backward a preset distance along the connection direction and then move forward again.

[0326] The robot body is controlled to move backward a preset distance and then move forward again.

[0327] In one alternative implementation, the state detection module 602 is further configured to:

[0328] During the process of detecting the connection status between the robotic arm and the target component, after obtaining the first connection status, if the first connection status does not meet the preset conditions, the step of detecting the second connection status corresponding to the second connection position of the target component is stopped, and a prompt message is generated to indicate that the connection at the first connection position has failed.

[0329] In one alternative implementation, the state detection module 602 is further configured to:

[0330] After detecting the connection status between the robotic arm and the target accessory and obtaining the first connection status and the second connection status, if only one of the first connection status and the second connection status meets the preset conditions, the robotic arm is controlled to adjust its posture and re-execute the connection operation.

[0331] or,

[0332] If only one of the first connection state and the second connection state meets the preset conditions, the robotic arm is controlled to release the connection state at the successfully connected position and re-execute the connection operation.

[0333] In one optional embodiment, both the first connection position and the second connection position are electrical connection positions;

[0334] Both the first and second connection positions are mechanical connection positions;

[0335] The first connection position includes an electrical connection position, and the second connection position includes a mechanical connection position.

[0336] In one alternative implementation, if the first connection position is an electrical connection position, the first state signal is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory.

[0337] If the first connection position is a mechanical connection position, the first state signal is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0338] In one optional embodiment, the connection operation module 601 is specifically used for:

[0339] In response to a trigger operation performed by the user on the terminal device or the cleaning robot itself, an accessory connection command is generated;

[0340] In response to the cleaning robot completing the previous cleaning sub-task of the connection task, an accessory connection instruction is generated, wherein the connection task and the cleaning sub-task are derived from the cleaning robot's cleaning task.

[0341] In one optional embodiment, the connection operation module 601 is further configured to:

[0342] Before controlling the cleaning robot to perform the connection operation between the robotic arm and the target accessory, the target accessory corresponding to the accessory connection command is identified, and the in-situ status of the target accessory is recognized.

[0343] In one optional embodiment, the connection operation module 601 is further configured to:

[0344] If the accessory connection command is generated by the user-triggered operation, the target accessory is determined according to the selection command entered by the user on the terminal device or the cleaning robot itself;

[0345] If the accessory connection command is generated in response to the cleaning robot completing the connection task in the previous cleaning sub-task, the target accessory is determined based on the task information of the cleaning task and the current environmental information.

[0346] In one optional embodiment, the connection operation module 601 is further configured to:

[0347] The presence status of a target accessory is identified by matching it with a pre-stored accessory identification record, which is generated based on information recorded during the historical execution of tasks by the cleaning robot.

[0348] The cleaning robot uses an on-site detection module to receive and process the sensor signals corresponding to the target accessory in order to identify its on-site status.

[0349] The cleaning robot uses an image acquisition device to photograph and analyze the target accessories in order to identify their status.

[0350] In one optional implementation, the state determination module 603 is further configured to:

[0351] If the accessory connection command is generated in response to the cleaning robot completing the previous cleaning sub-task, and the robotic arm and the target accessory have not been successfully connected, then the cleaning robot is controlled to end the current cleaning task.

[0352] Figure 7 Schematic diagram of the controller for the cleaning robot provided in this application Figure 2 ,like Figure 7 As shown, the controller 70 of the cleaning robot provided in this embodiment includes:

[0353] The connection operation module 701 is used to control the cleaning robot to perform the connection operation between the robotic arm and the target accessory in response to the accessory connection command;

[0354] The status detection module 702 is used to detect the connection status between the robotic arm and the target accessory in a preset order after the connection operation, so as to obtain the first connection status and the second connection status respectively; wherein, the first connection status corresponds to the detection of the first type of connection and the second connection status corresponds to the detection of the second type of connection.

[0355] The status determination module 703 is used to determine that the robotic arm and the target accessory are successfully connected when the first connection state and the second connection state meet the preset conditions.

[0356] In one alternative embodiment, the state detection module 702 is specifically used for:

[0357] First, detect the first type of connection and obtain its status.

[0358] When the first connection state meets the first preset condition, the second type of connection is then detected to obtain the second connection state.

[0359] In one alternative implementation, the state detection module 702 is further configured to:

[0360] Control the robotic arm to adjust its pose and re-execute the connection operation;

[0361] or,

[0362] Control the robotic arm to disconnect the successfully established connection and re-execute the connection operation.

[0363] In one alternative implementation, pose adjustment includes at least one of the following:

[0364] Control the robotic arm to make fine-tuning angles around the connecting axis;

[0365] Control the robotic arm to shift laterally in a direction perpendicular to the connection direction;

[0366] The robotic arm is controlled to move backward a preset distance along the connection direction and then move forward again.

[0367] The robot body is controlled to move backward a preset distance and then move forward again.

[0368] In one alternative implementation, the first type of connection is an electrical connection and the second type of connection is a mechanical connection; or, the first type of connection is a mechanical connection and the second type of connection is an electrical connection.

[0369] In one alternative implementation, if the first type of connection is an electrical connection, the first connection state is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory;

[0370] If the first type of connection is a mechanical connection, the first connection state is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

[0371] In one alternative implementation, ending the current task includes generating a notification message and terminating the currently executing cleaning task.

[0372] The controller provided in this embodiment can execute the methods provided in the above method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0373] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0374] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0375] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0376] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0377] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0378] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0379] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0380] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0381] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0382] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for detecting the connection status of accessories for a cleaning robot, characterized in that, Applied to cleaning robots, the method includes: In response to a component connection command, the cleaning robot is controlled to perform a connection operation between the robotic arm and the target component. After the connection operation, the connection status between the robotic arm and the target accessory is detected to obtain a first connection status and a second connection status; the first connection status and the second connection status respectively represent the connection status of the robotic arm and the target accessory at the first connection position and the second connection position. When the first connection state and the second connection state meet the preset conditions, it is determined that the robotic arm and the target accessory are successfully connected.

2. The method according to claim 1, characterized in that, The connection status between the robotic arm and the target component is detected to obtain a first connection status and a second connection status, including: Simultaneously, the connection status of the robotic arm and the target component at different positions is detected, and the first connection status corresponding to the first connection position of the target component and the second connection status corresponding to the second connection position of the target component are obtained. or, Detect the first connection status corresponding to the first connection position between the robotic arm and the target accessory; After obtaining the first connection status, the second connection status corresponding to the second connection position of the target accessory is detected.

3. The method according to claim 1, characterized in that, When the first connection state and the second connection state meet preset conditions, the methods for determining that the robotic arm and the target accessory are successfully connected include: A first state signal triggered by the connection operation is detected within a first preset duration or a first preset number of times, and a second state signal triggered by the connection operation is detected within a second preset duration or a second preset number of times.

4. The method according to claim 1, characterized in that, The first connection state and the second connection state are determined based on the first state signal and the second state signal triggered by the connection operation, respectively; The connection status between the robotic arm and the target component is detected to obtain a first connection status and a second connection status, including: After the current connection operation is executed, the connection status detection process is performed. If at least one of the first status signal and the second status signal is not detected within the duration of the connection status detection process, it is determined that the current connection operation was unsuccessful, the robotic arm is controlled to adjust its pose, and the connection operation is re-executed. The duration of the connection status detection process is less than the first preset duration required to determine that the first connection status meets the preset conditions, and less than the second preset duration required to determine that the second connection status meets the preset conditions. If at least one of the first state signal and the second state signal is not detected within the preset total detection time or the preset maximum number of detections, the detection result of the last connection state detection process shall be taken as the connection state between the robotic arm and the target accessory.

5. The method according to claim 4, characterized in that, Controlling the robotic arm to perform pose adjustment includes at least one of the following: The robotic arm is controlled to make fine-tuning angles around the connecting axis; Control the robotic arm to shift laterally in a direction perpendicular to the connection direction; The robotic arm is controlled to retract a preset distance along the connection direction and then move forward again. The cleaning robot can be controlled to move backward a preset distance and then move forward again.

6. The method according to claim 1, characterized in that, In the process of detecting the connection status between the robotic arm and the target accessory, after obtaining the first connection status, the method further includes: If the first connection state does not meet the preset conditions, the step of detecting the second connection state corresponding to the second connection position of the target accessory is stopped, and a prompt message indicating that the first connection position has failed is generated.

7. The method according to claim 1, characterized in that, After detecting the connection status between the robotic arm and the target accessory and obtaining a first connection status and a second connection status, the method further includes: If only one of the first connection state and the second connection state meets the preset condition, the robotic arm is controlled to adjust its posture and the connection operation is re-executed. or, If only one of the first connection state and the second connection state meets the preset condition, the robotic arm is controlled to release the connection state at the successfully connected position and re-execute the connection operation.

8. The method according to any one of claims 1-7, characterized in that, Both the first connection position and the second connection position are electrical connection positions; Both the first connection position and the second connection position are mechanical connection positions; The first connection position includes an electrical connection position, and the second connection position includes a mechanical connection position.

9. The method according to claim 8, characterized in that, If the first connection position is an electrical connection position, the first state signal is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory; If the first connection position is a mechanical connection position, the first state signal is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

10. The method according to any one of claims 1-7, characterized in that, The accessory connection instructions are generated in at least one of the following ways: In response to a trigger operation performed by the user on the terminal device or the cleaning robot itself, a connection command for the accessory is generated; In response to the cleaning robot completing the previous cleaning sub-task of the connection task, the accessory connection instruction is generated, wherein the connection task and the cleaning sub-task are obtained by disassembling the cleaning task of the cleaning robot.

11. The method according to claim 10, characterized in that, Before controlling the cleaning robot to perform the connection operation between the robotic arm and the target accessory, the method further includes: The target accessory corresponding to the accessory connection command is determined, and the in-situ status of the target accessory is identified.

12. The method according to claim 11, characterized in that, Determining the target accessory corresponding to the accessory connection command includes: If the accessory connection instruction is generated by a user-triggered operation, the target accessory is determined according to the selection instruction input by the user on the terminal device or the cleaning robot body; If the accessory connection instruction is generated in response to the cleaning robot completing the connection task in the previous cleaning sub-task, then the target accessory is determined based on the task information of the cleaning task and the current environmental information.

13. The method according to claim 11, characterized in that, Identifying the presence status of the target accessory includes at least one of the following methods: The presence status of the target accessory is identified by matching it with a pre-stored accessory identification record, wherein the accessory identification record is generated based on information recorded when the cleaning robot has performed tasks in the past. The cleaning robot receives and processes the sensing signals corresponding to the target accessory through its on-site detection module to identify its on-site status. The cleaning robot uses an image acquisition device to capture and analyze images of the target accessory in order to identify its position.

14. The method according to claim 10, characterized in that, The method further includes: If the accessory connection command is generated in response to the cleaning robot completing the previous cleaning sub-task, and the robotic arm fails to connect successfully with the target accessory, then the cleaning robot is controlled to end the current cleaning task.

15. A method for controlling the connection of accessories for a cleaning robot, characterized in that, Applied to cleaning robots, the method includes: In response to a component connection command, the cleaning robot is controlled to perform a connection operation between the robotic arm and the target component. After the connection operation, the connection status between the robotic arm and the target accessory is detected in a preset order to obtain a first connection status and a second connection status respectively; wherein, the first connection status corresponds to the detection of a first type of connection and the second connection status corresponds to the detection of a second type of connection; Based on the first connection state and the second connection state, the cleaning robot is controlled to perform a reconnection operation or terminate the current task.

16. The method according to claim 15, characterized in that, The step of detecting the connection status between the robotic arm and the target accessory in a preset sequence includes: First, detect the first type of connection and obtain the status of the first connection; When the first connection state meets the first preset condition, the second type of connection is then detected to obtain the second connection state.

17. The method according to claim 15 or 16, characterized in that, The control of the cleaning robot to perform a reconnection operation includes: Control the robotic arm to adjust its pose and re-execute the connection operation; or, Control the robotic arm to disconnect the successfully established connection and re-execute the connection operation.

18. The method according to claim 17, characterized in that, The pose adjustment includes at least one of the following: The robotic arm is controlled to make fine-tuning angles around the connecting axis; Control the robotic arm to shift laterally in a direction perpendicular to the connection direction; The robotic arm is controlled to retract a preset distance along the connection direction and then move forward again. The cleaning robot can be controlled to move backward a preset distance and then move forward again.

19. The method according to claim 15, characterized in that, The first type of connection is an electrical connection, and the second type of connection is a mechanical connection; or, the first type of connection is a mechanical connection, and the second type of connection is an electrical connection.

20. The method according to claim 19, characterized in that, If the first type of connection is an electrical connection, the first connection state is generated based on the successful establishment of electrical conduction between the robotic arm and the target accessory; If the first type of connection is a mechanical connection, the first connection state is generated based on the successful triggering of a preset physical sensing device between the robotic arm and the target accessory.

21. The method according to claim 15, characterized in that, The termination of the current task includes: generating a prompt message and terminating the currently executing cleaning task.

22. A cleaning robot, characterized in that, include: robotic arms, and, A controller for performing the method as described in any one of claims 1-21.

23. A cleaning system, characterized in that, include: The cleaning robot as described in claim 22, and, The accessory compartment includes a housing structure for accommodating at least one accessory.

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