In-vehicle cleaning systems, control methods, and vehicles

Abstract

This invention discloses an in-vehicle cleaning system, control method, and vehicle, relating to the field of intelligent vehicles and service robots. The in-vehicle cleaning system includes vehicle interior trim, a robotic arm, and a control device. The vehicle interior trim forms a storage cavity with an opening. The free end of the robotic arm is equipped with a cleaning actuator, allowing the robotic arm to be in a retracted state (closed within the storage cavity) and in a working state (extended from the cavity opening). The control device is electrically connected to the robotic arm and controls the switching between the retracted and working states. The technical solution provided by this invention allows the robotic arm to automatically clean the cabin interior when the vehicle is unloaded, enabling the vehicle to meet both high-frequency operation and cabin cleaning needs. After cleaning, the robotic arm can be retracted into the existing vehicle interior trim within the cabin, reducing the space occupied and ensuring a comfortable passenger experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicles and service robots, and in particular to an in-vehicle cleaning system, control method, and vehicle. Background Technology

[0002] With the continuous development of autonomous driving technology and unmanned operation service models, unmanned vehicles are gradually entering the stage of large-scale commercial application. During the high-frequency and continuous operation of these vehicles, the cleanliness of the in-vehicle environment directly affects passenger experience, vehicle turnover efficiency, and platform service quality. Since unmanned vehicles lack drivers or attendants to clean and tidy the cabin in real time during operation, current methods typically rely on manual cleaning, return-to-station cleaning, or back-end operation and maintenance scheduling to handle in-vehicle garbage, dust, residue, and surface pollution. This is insufficient to meet the actual need for "quickly restoring the cleanliness of the in-vehicle interior" in high-frequency operation scenarios. Summary of the Invention

[0003] The main objective of this invention is to propose an in-vehicle cleaning system, control method, and vehicle, which aims to improve the current problem that unmanned vehicles cannot simultaneously achieve high-frequency operation and cabin cleaning.

[0004] In a first aspect, the in-vehicle cleaning system proposed in this invention includes: Vehicle interior trim components, forming a storage cavity, the storage cavity having a cavity opening; A robotic arm, the free end of which is provided with a cleaning actuator, the robotic arm having a retracted state housed in a receiving cavity, and a working state extending out of the cavity opening; and, A control device is electrically connected to the robotic arm. The control device is used to control the robotic arm to switch between the storage state and the working state, and to control the robotic arm to move when the robotic arm is in the working state, so as to drive the cleaning actuator to perform the corresponding cleaning task.

[0005] In one embodiment, the vehicle interior trim is configured as a center armrest box, and the storage cavity is formed in the center armrest box.

[0006] In one embodiment, multiple cleaning actuators are provided, and all of the multiple cleaning actuators can be placed in the receiving cavity; The cleaning actuator is detachably connected to the free end of the robotic arm, which is configured to selectively connect at least one of a variety of cleaning actuators to perform a corresponding cleaning task.

[0007] In one embodiment, the plurality of cleaning actuators include at least one of a wiping head, a pickup gripper, and a vacuum cleaner; and / or, The top of the storage cavity has multiple storage positions, and various cleaning actuators can be placed in the corresponding storage positions.

[0008] In one embodiment, the in-vehicle cleaning system further includes a waste collection device disposed at the bottom of the storage cavity and detachably connected to the center armrest box.

[0009] In one embodiment, the central armrest box is further provided with a cover plate, which is movably disposed in the central armrest box and has a sealing position that covers the cavity opening and an avoidance position that exposes the cavity opening within its movement stroke. When the cover plate is in the avoidance position, the robotic arm can switch between the storage state and the working state; When the cover is in the sealed position, the cover can cover the robotic arm in the retracted state.

[0010] In one embodiment, a sealing ring is provided at the edge of the cavity opening, and the cover plate abuts against the sealing ring at the sealing position.

[0011] In one embodiment, a table is provided on the top of the central armrest box, the table extends in the front-to-back direction, and the rear end of the table is rotatably connected to the rear end of the central armrest box in the up-down direction. The table has a first position and a second position within its rotation stroke. In the first position, the table is positioned facing forward and is positioned to block at least a portion of the opening of the storage cavity in the vertical direction; In the second position, the tabletop is positioned to avoid the cavity opening in the vertical direction.

[0012] In one embodiment, the vehicle interior cleaning system further includes: A slide rail, extending in a front-to-back direction, is used for mounting to the vehicle's cabin floor, and the center armrest box is movably mounted on the slide rail in the front-to-back direction; and... A sliding drive motor, electrically connected to the control device, is used to drive the movement of the central armrest box according to the cleaning task.

[0013] In one embodiment, the robotic arm has multiple joints; In the retracted state, each pair of adjacent joints moves closer to each other; In the operating state, at least two adjacent joints are open relative to each other.

[0014] In one embodiment, a lifting mechanism is provided in the storage cavity, the lifting mechanism is electrically connected to the control device, the lifting seat of the lifting mechanism is movably arranged along the orientation of the cavity opening, and has a storage position away from the cavity opening and an exposed position close to the cavity opening. The fixed end of the robotic arm is located on the lifting base; When the lifting platform is in the retracted position, the robotic arm is in the corresponding retracted state. When the lifting seat is in the exposed position, the robotic arm extends out of the storage cavity and at least two adjacent joints are opened relative to each other, so that the robotic arm is in the working state.

[0015] In one embodiment, the lifting seat has multiple exposed positions within its travel range; The control device can control the lifting seat to move to the corresponding exposed position according to the corresponding cleaning task.

[0016] In one embodiment, the robotic arm has multiple joints: A locking mechanism is provided between two adjacent joints, each locking mechanism being electrically connected to the control device and configured to lock two adjacent joints; and / or, At least some of the joints are configured to be retractable.

[0017] In one embodiment, the inner wall of the receiving cavity is provided with a limiting structure; When the robotic arm is in the retracted state, the limiting structure abuts against at least a portion of the joints of the robotic arm to restrict the movement of the robotic arm.

[0018] In one embodiment, the vehicle interior cleaning system includes a status monitoring device for detecting the operating status of the robotic arm. The control device is electrically connected to the status monitoring device, and when the status monitoring device detects an abnormal state, it controls the robotic arm to perform a preset operating action.

[0019] Secondly, the in-vehicle cleaning control method provided by the present invention is based on the above-mentioned in-vehicle cleaning system, and the in-vehicle cleaning control method includes: After receiving a cleaning instruction and confirming that the preset cleaning conditions are met, the robotic arm is controlled to switch from the storage state to the working state according to the cleaning instruction. In the working state, the joints of the robotic arm are controlled to move in coordination to drive the cleaning actuator to perform the cleaning task corresponding to the cleaning command; After the cleaning task is completed, the robotic arm is controlled to switch from working state to storage state.

[0020] In one embodiment, a lifting mechanism is provided in the storage cavity, the lifting mechanism is electrically connected to the control device, the lifting seat of the lifting mechanism is movably arranged along the orientation of the cavity opening, and has a storage position away from the cavity opening and an exposed position close to the cavity opening, and the fixed end of the robotic arm is provided on the lifting seat. The step of controlling the robotic arm to switch from a storage state to a working state according to the cleaning command includes: Control the lifting mechanism to raise the robotic arm from the storage position to the exposed position; According to the cleaning command, at least two adjacent joints in the robotic arm are controlled to open relative to each other, so that the robotic arm is in the working state; The control of the robotic arm to switch from the working state to the storage state includes: Control the two adjacent joints in the robotic arm to move closer to each other; Control the lifting mechanism to lower the robotic arm from the exposed position to the retracted position, thereby switching the robotic arm to the retracted state.

[0021] In one embodiment, the robotic arm has multiple joints, and a locking mechanism is provided between two adjacent joints; Before controlling the robotic arm to switch from the storage state to the working state according to the cleaning command, the process includes: Control each of the locking mechanisms to release the lock on the corresponding joint of the robotic arm; After the robotic arm is switched from the working state to the storage state, the following steps are included: Control each of the locking mechanisms to lock the corresponding joints of the robotic arm.

[0022] In one embodiment, the step of controlling the robotic arm to switch from a storage state to a working state according to the cleaning instruction after receiving a cleaning instruction and determining that preset cleaning conditions are met includes: After receiving a cleaning instruction, obtain the vehicle's current operating status information; When the current operating status information meets the preset cleaning conditions, the robotic arm is controlled to switch from the storage state to the working state according to the cleaning command.

[0023] Thirdly, the vehicle provided by the present invention includes the aforementioned in-vehicle cleaning system.

[0024] The technical solution provided by this invention applies an in-vehicle cleaning system to unmanned vehicles. Its control device can control a robotic arm to automatically clean the cabin interior when the unmanned vehicle is empty, for example, during the journey to pick up the next passenger after the previous passenger has disembarked. The unmanned vehicle does not need to return to a station for cleaning, thus balancing the needs of high-frequency operation and cabin cleaning, maintaining a clean and tidy cabin interior at all times. Furthermore, after cleaning, the robotic arm can be controlled and stored within the existing vehicle interior components, eliminating the need for prolonged exposure and reducing the space occupied by the robotic arm. This improves the cleanliness and visual consistency of the vehicle interior, ensuring a superior passenger experience. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of an embodiment of the in-vehicle cleaning system (with the robotic arm in a working state) proposed in this invention; Figure 2 for Figure 1 A three-dimensional structural diagram of the robotic arm in another working state; Figure 3 This is a simplified structural diagram of the lifting mechanism in the in-vehicle cleaning system proposed in this invention, showing the lifting seat in the stowed position. Figure 4 This is a simplified structural diagram of the lifting mechanism in the vehicle interior cleaning system proposed in this invention, showing the lifting seat in an exposed position. Figure 5 This is a top view of the in-vehicle cleaning system (with the robotic arm in a retracted state) proposed in this invention. Figure 6 This is a flowchart of the first embodiment of the in-vehicle cleaning control method proposed in this invention; Figure 7 This is a flowchart of a second embodiment of the in-vehicle cleaning control method proposed in this invention.

[0027] Explanation of icon numbers: 100. In-vehicle cleaning system; 1. Vehicle interior trim; 11. Center console; 11a. Storage cavity; 111a. Cavity opening; 12. Cover; 13. Table; 14. Storage compartment; 2. Robotic arm; 2a. Free end; 2b. Fixed end; 21. Joint; 3. Cleaning actuators; 3a. Wiping head; 3b. Pick-up grippers; 4. Waste collection device; 5. Lifting mechanism; 51. Lifting seat.

[0028] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0031] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] With the continuous development of autonomous driving technology and unmanned operation service models, unmanned vehicles are gradually entering the stage of large-scale commercial application. During the high-frequency and continuous operation of these vehicles, the cleanliness of the in-vehicle environment directly affects passenger experience, vehicle turnover efficiency, and platform service quality. Since unmanned vehicles lack drivers or attendants to clean and tidy the cabin in real time during operation, current methods typically rely on manual cleaning, return-to-station cleaning, or back-end operation and maintenance scheduling to handle in-vehicle garbage, dust, residue, and surface pollution. This is insufficient to meet the actual need for "quickly restoring the cleanliness of the in-vehicle interior" in high-frequency operation scenarios.

[0033] Currently, there has been some exploration of automated cabin cleaning for unmanned vehicles, but the following shortcomings still exist: Firstly, some solutions employ off-site cleaning robotic arms, fixed cleaning stations, or specialized maintenance equipment, requiring vehicles to drive into designated areas for external cleaning after completing an order. While this approach avoids deploying complex actuators inside the vehicle, it increases idle time, waiting time, and scheduling costs, thus reducing vehicle utilization.

[0034] Secondly, some other solutions attempt to deploy robotic arms directly inside the vehicle, but most of them are fixed installations. When not in use, the robotic arms still occupy passenger compartment space, which can easily affect the aesthetics of the vehicle interior, passenger comfort and daily use experience. They are also prone to collisions, pollution and wear due to long-term exposure.

[0035] In view of this, the present invention proposes an in-vehicle cleaning system, control method and vehicle, which can at least improve the problem that current unmanned vehicles cannot balance high-frequency operation and cabin cleaning.

[0036] To facilitate understanding of the in-vehicle cleaning system provided by this invention, the following description is provided in conjunction with the accompanying drawings, wherein... Figure 1 This is a three-dimensional structural diagram of an embodiment of the in-vehicle cleaning system (with the robotic arm in a working state) proposed in this invention; Figure 2 for Figure 1 A three-dimensional structural diagram of the robotic arm in another working state; Figure 3 This is a simplified structural diagram of the lifting mechanism in the in-vehicle cleaning system proposed in this invention, showing the lifting seat in the stowed position. Figure 4 This is a simplified structural diagram of the lifting mechanism in the vehicle interior cleaning system proposed in this invention, showing the lifting seat in an exposed position. Figure 5 This is a top view of the in-vehicle cleaning system (with the robotic arm in a retracted state) proposed in this invention.

[0037] Please see Figure 1 , Figure 3 and Figure 4 In one embodiment, the in-vehicle cleaning system 100 proposed in this invention includes a vehicle interior trim 1, a robotic arm 2, and a control device. The vehicle interior trim 1 forms a storage cavity 11a, which has a cavity opening 111a. The free end 2a of the robotic arm 2 is provided with a cleaning actuator 3. The robotic arm 2 has a stored state where it is stored in the storage cavity 11a and a working state where it extends out of the cavity opening 111a. The control device is electrically connected to the robotic arm 2 and is used to control the robotic arm 2 to switch between the stored state and the working state. When the robotic arm 2 is in the working state, the control device controls the robotic arm 2 to move so as to drive the cleaning actuator 3 to perform the corresponding cleaning task.

[0038] "Vehicle interior component 1" refers to all interior decoration and functional components of a vehicle, which typically include structures such as dashboard, seats, steering wheel, center armrest box 11, door panels, headliner, and carpets. This embodiment does not limit the specific structural form of vehicle interior component 1, as long as vehicle interior component 1 can provide a storage cavity 11a for storing the robotic arm 2. In different vehicle interior component 1 structures, the orientation of the cavity opening 111a of the storage cavity 11a may be different. For example, when vehicle interior component 1 is a front seat, the storage cavity 11a is the internal space of the front seat, and the cavity opening 111a can be set to the rear. When vehicle interior component 1 is a rear seat, the storage cavity 11a can be the bottom space of the rear seat, and the cavity opening 111a can be set to the front.

[0039] "Robotic arm 2" is a programmable automated mechanical device capable of automatically performing tasks. It typically consists of a series of joints 21 and links, mimicking a human arm. Its free end 2a is equipped with a cleaning actuator 3, allowing it to move and work flexibly and precisely within a predetermined range. Specifically, robotic arm 2 can be a four-axis, five-axis, or six-axis robotic arm, among other solutions. Figure 1 The six-axis robotic arm 2 shown includes a fixed-base rotation joint (dof1), a shoulder joint (dof2), an elbow joint (dof3), a wrist pitch joint (dof4), a wrist rotation joint (dof5), and a free-end joint (dof6). The "cleaning actuator 3" can have only a single cleaning function, thus performing only a single cleaning task. For example, the cleaning actuator 3 can be a gripper 3b, which can perform the cleaning task of picking up garbage or debris in the vehicle. The "cleaning actuator 3" can also have diversified cleaning functions, thus being able to perform multiple cleaning tasks. For example, the cleaning actuator 3 can integrate multiple cleaning function modules, such as integrating the gripper 3b and a vacuum cleaner, so that it can simultaneously perform the cleaning task of picking up garbage or debris in the vehicle, as well as the cleaning task of adsorbing dirt or debris in the vehicle.

[0040] It is worth mentioning that the robotic arm 2 has a retracted state that can be stored in the storage cavity 11a. In the retracted state, the robotic arm 2 can be in an unfolded posture or a folded posture, as long as it can be stored in the storage cavity 11a. For example, when there is more space in the storage cavity 11a than the overall volume of the robotic arm 2, the robotic arm 2 can be stored in the storage space in the unfolded posture. The robotic arm 2 also has a working state that extends out of the cavity opening 111a. In this embodiment, it is not required that the robotic arm 2 fully extends out of the cavity opening 111a in the working state. In principle, as long as its free end 2a can extend with the cleaning actuator 3, it is sufficient. The length of the robotic arm 2 extending beyond the cavity opening 111a can be determined according to the cleaning task. For example, when the cleaning task is to clean a local area that is far from the vehicle interior parts 1, the robotic arm 2 can extend beyond the cavity opening 111a. However, when the cleaning task is only to clean a local area that is close to the vehicle interior parts 1, the robotic arm 2 can extend only one or two joints 21, as long as the range of motion of the cleaning actuator 3 at its free end 2a can cover the local area to be cleaned. In one embodiment, the fixed end 2b of the cleaning robotic arm 2 is installed on the bottom wall or side wall of the receiving cavity 11a.

[0041] The control device is electrically connected to the robotic arm 2. Its function is to control the robotic arm 2 to switch between a retracted state and a working state. For example, when the system receives a cleaning command, the control device can control the robotic arm 2 to switch from the retracted state to the working state, and control the robotic arm 2 to move according to the cleaning strategy information contained in the cleaning command, so as to drive the cleaning actuator 3 to perform the cleaning task corresponding to the cleaning strategy information. Figure 1 In the embodiment shown, the cleaning actuator 3 is performing the task of cleaning the cabin floor, which requires controlling the overall posture of the robotic arm 2 to drop downwards; when the cleaning task is completed, the control device can also control the robotic arm 2 to switch from the working state to the storage state, thereby hiding it in the storage cavity 11a.

[0042] The technical solution provided by this invention, when the in-vehicle cleaning system 100 is applied to unmanned vehicles, allows its control device to control the robotic arm 2 to automatically clean the interior of the cabin when the unmanned vehicle is in an empty state, for example, during the journey from the previous passenger's disembarkation to picking up the next passenger. The unmanned vehicle does not need to return to the station for cleaning, thus meeting both the needs of high-frequency operation and cabin cleaning, and keeping the interior space of the cabin clean and tidy at all times. Moreover, after cleaning, the robotic arm 2 can be controlled to be stored in the inherent vehicle interior parts 1 inside the cabin, without being exposed for a long time, reducing the space occupied by the robotic arm 2 inside the cabin, improving the cleanliness and visual consistency of the vehicle interior, and ensuring the passenger's riding experience.

[0043] Please see Figure 1 and Figure 3 In one embodiment, the vehicle interior trim 1 is configured as a center armrest box 11, and a storage cavity 11a is formed in the center armrest box 11.

[0044] The “center armrest box 11” refers to the storage compartment between the two front seats in a vehicle. It is mainly used for storage and arm support. However, in autonomous driving scenarios, the design and function of the center armrest box 11 are more focused on improving the passenger experience. For example, the center armrest box 11 usually integrates more control panels, screens or wireless charging devices.

[0045] In the above technical solution, the vehicle interior component 1 is set as a center armrest box 11. The center armrest box 11 can provide a large storage cavity 11a, which can accommodate a large robotic arm 2 with a range of motion sufficient to cover the entire interior space of the cabin.

[0046] Please see Figure 3 and Figure 4 In one embodiment, multiple cleaning actuators 3 are provided, and all of the multiple cleaning actuators 3 can be placed in the receiving cavity 11a; wherein, the cleaning actuator 3 is detachably connected to the free end 2a of the robotic arm 2, and the robotic arm 2 is configured to selectively connect at least one of the multiple cleaning actuators 3 to perform the corresponding cleaning task.

[0047] Regarding the statement that "the robotic arm 2 is configured to selectively connect to at least one of a variety of cleaning actuators 3", it can be understood that the free end 2a of the robotic arm 2 may have only one quick-switch interface, and can selectively connect to one of the multiple cleaning actuators 3 at a time, thereby performing a corresponding cleaning task. Alternatively, it can be understood that the free end 2a of the robotic arm 2 may have two or three quick-switch interfaces, and can selectively connect to two or three of the multiple cleaning actuators 3 at the same time, thereby performing two or three corresponding cleaning tasks simultaneously.

[0048] The embodiments of the present invention do not limit the detachable connection method between the cleaning actuator 3 and the free end 2a of the robotic arm 2.

[0049] In the above technical solution, the free end 2a of the robotic arm 2 can be replaced by at least one of the cleaning actuators 3 in a detachable manner to perform the corresponding cleaning task. The storage cavity 11a can also provide storage space for multiple cleaning actuators 3 and avoid the exposure of idle cleaning actuators 3, thereby improving the passenger riding experience.

[0050] Please see Figure 3 In one embodiment, the multiple cleaning actuators 3 include at least one of a wiping head 3a, a picking gripper 3b, and a vacuum cleaner.

[0051] The concept of "pick-up gripper 3b and vacuum cleaner" is easy to understand and will not be elaborated upon in this embodiment. "Wiping head 3a" typically includes a base and a wiping cloth placed on the surface of the base. The wiping cloth can be soaked in cleaning liquid or be a dry wiping cloth. The free end 2a of the robotic arm 2 docks with the base of the wiping head 3a to achieve the switching of wiping function.

[0052] In the above technical solution, the free end 2a of the robotic arm 2 can clean up larger pieces of trash in the cabin by docking with the picking gripper 3b; the free end 2a of the robotic arm 2 can clean up smaller pieces of paper or dust in the cabin by docking with the vacuum cleaner; and the free end 2a of the robotic arm 2 can clean up residual stains in the cabin by docking with the wiping head 3a. Through the above-mentioned various types of cleaning actuators 3, most cleaning tasks in the cabin can be basically met.

[0053] Regarding the usage scenarios of multiple cleaning actuators 3 and the operation process of robotic arm 2, the following example illustrates the situation. For instance, the cleaning task includes cleaning fruit peels, paper scraps, and stains that are present on the rear seats at the same time. The control device can control robotic arm 2 to first use its free end 2a to pick up the gripper 3b in the receiving space. The gripper 3b can grab and clean up larger fruit peels. Then, the gripper 3b is put back into the receiving space. The vacuum cleaner is then replaced. The vacuum cleaner can absorb and clean up smaller paper scraps. Then, the vacuum cleaner is put back into the receiving space. The wiping head 3a is then replaced. The wiping head 3a can wipe away stains. Then, the wiping head 3a is put back into the receiving space to complete the cleaning task. Finally, robotic arm 2 switches from the working state to the storage state.

[0054] Please see Figure 3 or Figure 4 In one embodiment, the top of the receiving cavity 11a has multiple storage positions 14, and various cleaning actuators 3 can be placed in the corresponding storage positions 14.

[0055] "Storage position 14" can specifically be a storage structure for positioning and placing various cleaning actuators 3, such as a storage rack or a storage box; multiple storage positions 14 are set on the top of the storage cavity 11a, which means that multiple storage positions 14 are set close to the cavity opening 111a of the storage cavity 11a, so that the free end 2a of the robotic arm 2 in the working state can easily pick up and put in each cleaning actuator 3 through the cavity opening 111a.

[0056] It should be noted that the two parallel technical features mentioned above, "multiple cleaning actuators 3 including at least one of wiping head 3a, picking claw 3b, and vacuum cleaner" and "the top of the storage cavity 11a has multiple storage positions 14, and multiple cleaning actuators 3 can be placed in the corresponding storage positions 14", can be set either one or both.

[0057] In one embodiment, the in-vehicle cleaning system 100 further includes a waste collection device 4, which is disposed at the bottom of the storage cavity 11a and is detachably connected to the center armrest box 11.

[0058] The “garbage collection device 4” can have various functional structures. In a basic functional scheme, the garbage collection device 4 is a garbage can. The garbage collection device 4 is set at the bottom of the storage cavity 11a through a detachable connection with the central armrest box 11. When the vehicle finishes operation and returns to the station for maintenance, or when the garbage collection device 4 is saturated, the staff can easily take out the garbage collection device 4 and replace it.

[0059] In one embodiment, a plurality of storage positions 14 are disposed at the top of the storage cavity 11a, and a waste collection device 4 is disposed at the bottom of the plurality of storage positions 14. The plurality of storage positions 14 and the waste collection device 4 are located on one side of the robotic arm 2 in the front-back direction. A waste channel is defined between the plurality of storage positions 14 in the vertical direction, and the robotic arm 2 can throw the picked-up waste into the waste collection device 4 through the waste channel.

[0060] Specifically, in the upper space where the multiple storage positions 14 are located, there are also consumable parts, which can be liquid storage boxes containing cleaning fluid. The liquid storage boxes provide a source of cleaning fluid for the wiping head 3a. When the robotic arm 2 wipes away the stains with the wiping head 3a, it can also return to the liquid storage box to pick up the cleaning fluid.

[0061] Specifically, in one embodiment, the central armrest box 11 is provided with a retrieval opening on the side wall in the left and right directions. The retrieval opening can expose multiple cleaning actuators 3 and garbage collection devices 4. The retrieval opening is provided with a door. When the vehicle finishes operation and returns to the station for maintenance, the staff can take out the multiple cleaning actuators 3 and garbage collection devices 4 from the storage cavity 11a through the door and replace them.

[0062] In another embodiment, the central armrest box 11 is provided with a retrieval opening on the side wall in the left and right directions. The storage position 14 and the garbage collection device 4 can adopt a drawer-type structure and be embedded in the retrieval opening. When the vehicle finishes operation and returns to the station for maintenance, the staff can directly take out the storage position 14 and the garbage collection device 4 from the storage cavity 11a and replace them.

[0063] Please see Figure 4 and Figure 5In one embodiment, the central armrest box 11 is further provided with a cover plate 12. The cover plate 12 is movably disposed in the central armrest box 11 and has a sealing position that covers the cavity opening 111a and a clearance position that exposes the cavity opening 111a within its movement stroke. When the cover plate 12 is in the clearance position, the robotic arm 2 can switch between a retracted state and a working state. When the cover plate 12 is in the sealing position, the cover plate 12 can cover the robotic arm 2 in the retracted state.

[0064] The cover plate 12 can have various structural forms. For example, the cover plate 12 can be a single-opening cover plate, hinged to one side of the cavity opening 111a in the left-right direction, and can be switched between the avoidance position and the sealing position by flipping. Figure 5 In the illustrated embodiment, the cover plate 12 has a roller shutter-type folding structure, which switches between an avoidance position and a sealing position by sliding along the front-back direction. Figure 5 In the middle, the cover plate 12 is in the sealed position.

[0065] In the above technical solution, when the robotic arm 2 is in the retracted state, the cover plate 12 can be in a sealed position, thereby covering the cavity opening 111a of the storage cavity 11a, so that the relevant mechanical structure of the robotic arm 2 is not exposed, and the interior surface of the vehicle is kept intact, clean and uniform; when the cover plate 12 is in the avoidance position, the cavity opening 111a of the storage cavity 11a is opened, and the robotic arm 2 can switch between the retracted state and the working state.

[0066] This design further enhances the effect of the concealed deployment of the robotic arm 2 in this invention, allowing the robotic arm 2 to better integrate into the inherent vehicle interior of the cabin when it is stored, avoiding the impact on the aesthetics, dust protection and overall coordination of the cabin due to the exposure of the cavity opening 111a.

[0067] The switching action of the cover plate 12 between the avoidance position and the sealing position can be achieved by a separate drive motor controlled by a control device, or the switching action of the robotic arm 2 between the storage state and the working state can be linked by a transmission mechanism. As long as it can be ensured that the cover plate 12 can open automatically when the robotic arm 2 is extended out of the storage cavity 11a, and can close automatically after the robotic arm 2 is fully stored in the storage cavity 11a.

[0068] In one embodiment, a sealing ring is provided at the edge of the cavity opening 111a, and the cover plate 12 abuts against the sealing ring at the sealing position.

[0069] The "sealing ring" is usually made of elastic deformable material. During the process of being covered and abutted by the cover plate 12, the sealing ring can fill the gap between the sealing ring and the cover plate 12 through its own deformation, thereby achieving a sealing effect. The presence of the sealing ring can effectively isolate the internal and external environment of the storage cavity 11a, and can effectively prevent external liquids or dust from entering the storage cavity 11a, thus providing safety protection for the robotic arm 2.

[0070] In one embodiment, a garbage collection device 4 is also provided inside the storage cavity 11a. With the help of the cover plate 12 covering the cavity opening 111a, the odor in the garbage collection device 4 can be effectively prevented from overflowing outward, thus ensuring the passenger's riding experience.

[0071] In one embodiment, a table 13 is provided on the top of the central armrest box 11. The table 13 extends in the front-to-back direction, and the rear end of the table 13 is rotatably connected to the rear end of the central armrest box 11 in the vertical direction. The table 13 has a first position and a second position within its rotation stroke. In the first position, the table 13 is arranged facing forward and is arranged to block at least part of the opening of the storage cavity 11a in the vertical direction. In the second position, the table 13 is arranged to avoid the opening 111a of the cavity in the vertical direction.

[0072] The orientation of the tabletop 13 refers to its length direction. Figure 5 (in the front-back direction), from the rotating end (i.e., the rear end) of the table 13 toward the other end (the front end).

[0073] exist Figure 1 and Figure 2 In the illustrated embodiment, the table 13 is in the second position. The angle between the table 13 in the second position and the first position can be 90° or 180°. This embodiment only limits the table 13 to be facing forward in the first position, and does not limit the orientation of the table 13 in the second position. The table 13 usually has multiple adjustable angles. For example, when the table 13 is facing backward, it is located between two rear seats, and two rear passengers can share the table 13. When the table 13 is facing left or right, it can be used exclusively by the left or right rear passenger, respectively.

[0074] exist Figure 5 In the embodiment shown, the tabletop 13 is in a first position and blocks at least a portion of the cavity opening 111a of the storage cavity 11a in the vertical direction.

[0075] In the above technical solution, a table 13 is set on the center armrest box 11, which can provide passengers with a flexible and adjustable table surface, making it convenient for passengers to place water cups, meals or electronic devices, thus improving the comfort and practicality of the ride. When it is necessary to start the in-vehicle cleaning system 100, it is only necessary to control the table 13 to rotate to the second position to avoid the cavity opening 111a, which can reserve enough space for the extension of the robotic arm 2 without interfering with the cleaning operation. Without taking up extra cabin space, it takes into account both the passenger's usage needs and the deployment of cleaning functions.

[0076] In one embodiment, the in-vehicle cleaning system 100 further includes a slide rail and a slide drive motor; the slide rail extends in the front-to-back direction and is used to be mounted to the vehicle's cabin floor, and the center armrest box 11 is movably disposed on the slide rail in the front-to-back direction; the slide drive motor is electrically connected to a control device and is used to drive the center armrest box 11 to move according to the cleaning task.

[0077] In this embodiment of the invention, the forward and backward direction refers to the direction of travel of the vehicle.

[0078] In the above technical solution, the center armrest box 11 can adjust its position along the front and rear direction on the slide rail under the drive of the sliding drive motor, that is, adjust the position of the robotic arm 2 in the front and rear direction in the cabin. When the local area to be cleaned in the cabin is far away from the robotic arm 2 in the front and rear direction, such as on the headrest of the rear seat or on the dashboard corresponding to the passenger seat, the control device can control the sliding drive motor to adjust the position of the center armrest box 11 according to the cleaning strategy information contained in the cleaning instruction, so that the free end 2a of the robotic arm 2 can reach any local area to be cleaned in the vehicle for cleaning.

[0079] In one embodiment, the robotic arm 2 has a plurality of joints 21; in the retracted state, each pair of adjacent joints 21 is close to each other; in the working state, at least some of the pairs of adjacent joints 21 are open relative to each other.

[0080] It should be noted that during the process of two adjacent joints 21 in the robotic arm 2 approaching each other, there is a limit to their approach positions. This limit is affected by mechanical structure limitations and software safety limits. The "mechanical structure limitations" refer to the physical design of the joint 21 itself, such as the thickness of the connecting rod and the shape of the joint shell. When two adjacent joints 21 come into contact with each other, the mechanical hard limit is reached. The "software safety limit" refers to the fact that in order to prevent damage to the mechanical structure from collision, the control system sets a more conservative software safety range (soft limit) than the mechanical limit to ensure that the movement stops before physical contact occurs. In this embodiment, in the folded state, "two adjacent joints 21 approaching each other" means that each pair of joints 21 is in a folded state with either a mechanical hard limit or a software soft limit.

[0081] In contrast to the folded state, at least some of the two adjacent joints 21 are relatively open. The number of joints 21 that need to be relatively open, their positions on the robotic arm 2, and the angle of relative opening are all determined by the cleaning strategy information contained in the cleaning instruction. For example, when the location of the area to be cleaned is close to the free end 2a of the robotic arm 2 in the horizontal or vertical direction, the robotic arm 2 may only unfold one or two adjacent joints 21 near the free end 2a in the working state, and unfold at a relatively small angle, as long as the corresponding cleaning task can be completed. When the location of the area to be cleaned is far from the free end 2a of the robotic arm 2 in the horizontal or vertical direction, the robotic arm 2 may need to unfold all its adjacent joints 21 in the working state, and unfold at a relatively large angle, to ensure that the free end 2a of the robotic arm 2 can reach the area to be cleaned.

[0082] In the above technical solution, when the robotic arm 2 is in the storage state, the two adjacent joints 21 of each of them are close together and in a folded posture that occupies less space, which reduces the demand for storage space and makes the potential choices for vehicle interior parts 1 more. For example, it can be a front seat with a small interior space, or it can allow the storage space to have other uses. For example, the storage space can be equipped with a garbage collection device for collecting garbage.

[0083] Specifically, the fixed end 2b of the robotic arm 2 is located on the bottom wall of the storage cavity 11a. When the robotic arm 2 is in the storage state, its posture is a folded posture. When the robotic arm 2 needs to switch from the storage state to the working state, its multiple joints 21 can unfold to the corresponding angle step by step. For example, it unfolds step by step from the joint 21 corresponding to the free end 2a to the joint 21 corresponding to the fixed end 2b, so that its free end 2a can extend out of the storage cavity 11a.

[0084] Please see Figure 3 and Figure 4 In one embodiment, a lifting mechanism 5 is provided in the storage cavity 11a. The lifting mechanism 5 is electrically connected to a control device. The lifting seat 51 of the lifting mechanism 5 is movably arranged along the orientation of the cavity opening 111a and has a storage position away from the cavity opening 111a and an exposed position close to the cavity opening 111a. The fixed end 2b of the robotic arm 2 is provided on the lifting seat 51. When the lifting seat 51 is in the storage position, the robotic arm 2 is in the corresponding storage state. When the lifting seat 51 is in the exposed position, the robotic arm 2 extends out of the storage cavity 11a and at least two adjacent joints 21 are relatively open to each other so that the robotic arm 2 is in the corresponding working state.

[0085] The structure of the "lifting mechanism 5" can take many forms. For example, the lifting mechanism 5 can include a lead screw and a lead sleeve that cooperate with each other, and a lifting drive motor. The lifting seat 51 includes a lead sleeve. The lifting drive motor is electrically connected to the control device to drive the lead screw to rotate, thereby causing the lead sleeve to move in the direction of approaching or moving away from the cavity opening 111a. Another example is that the lifting structure can be a lifting drive cylinder or an electric push rod.

[0086] exist Figure 3 and Figure 4 In the embodiment shown, the cavity opening 111a of the receiving cavity 11a is arranged facing upwards. Figure 3 In the middle position, the lifting seat 51 is in the retracted position, and the adjacent joints 21 of the robotic arm 2 are in a folded posture with their joints close together. After the lifting mechanism 5 receives the control signal from the control device, the lifting seat 51 moves upward, thereby reaching the... Figure 4 As shown in the diagram, the robotic arm 2 is positioned in this exposed location, with its free end 2a extending out of the cavity opening 111a. It should be noted that... Figure 4 During operation, robotic arm 2 remains in a folded position, but can be switched to an unfolded position under the control of the control device, thus entering the working state. Conversely, after robotic arm 2 completes the cleaning task in the working state, it can first switch from the unfolded position to the folded position, and then the lifting mechanism 5 will drive robotic arm 2 back to the storage cavity 11a, so that it is in the storage state.

[0087] It should be noted that during the process of switching from the folded posture to the unfolded posture of the robotic arm 2, each joint 21 of the robotic arm 2 can unfold step by step; conversely, during the process of switching from the unfolded posture to the folded posture of the robotic arm 2, each joint 21 of the robotic arm 2 can fold step by step.

[0088] In the above technical solution, in the storage state, the robotic arm 2 is in a folded posture and stored in the storage cavity 11a inside the center armrest box 11, without occupying additional cabin activity space or affecting the overall layout of the original space inside the vehicle; during the process of switching from the storage state to the working state, the lifting mechanism is controlled by the control device, and the lifting seat 51 is smoothly raised from the storage position. After the lifting seat 51 reaches the exposed position, the robotic arm 2 switches from the folded posture to the unfolded posture according to the cleaning strategy information contained in the cleaning instruction, so as to be in the working state and perform cleaning tasks such as vacuuming, wiping, and clamping.

[0089] This design effectively solves the problems of space occupation, easy dust accumulation, easy wear and tear, and impact on passenger visual and riding experience caused by the long-term exposed arrangement of the robotic arm 2 in the existing technology. At the same time, it improves the concealment and integration of the robotic arm 2 in the vehicle environment.

[0090] In one embodiment, the fixed end 2b (base) of the robotic arm 2 is integrated with the lifting seat 51 of the lifting platform, so that the robotic arm 2 can obtain a stable mounting base and support point after being raised from the retracted state. Each joint 21 of the robotic arm 2 moves based on this lifting platform during deployment and operation, thereby improving the overall structural rigidity and motion stability. This design helps reduce swaying, offset, or posture errors of the robotic arm 2 during deployment and operation, improves the operational reliability of the robotic arm 2 in the limited cabin space, and helps ensure the smoothness and controllability when switching from the retracted state to the working state.

[0091] In one embodiment, the lifting seat 51 has multiple exposed positions within its travel range; the control device can control the lifting seat 51 to move to the corresponding exposed position according to the corresponding cleaning task.

[0092] Regarding the statement that "the lifting seat 51 has multiple visible positions within its travel range", multiple visible positions refer to multiple positions at different heights. Taking the scheme where the cavity opening 111a faces upward as an example, the height difference between the lifting seat 51 and the top wall of the cabin differs at multiple visible positions, which means that the height position of the robotic arm 2 also differs.

[0093] In the above technical solution, the control device can control the lifting seat 51 to move to the corresponding exposure position according to the corresponding cleaning task, so that the robotic arm 2 can reach different heights in the orientation of the cavity opening 111a, thereby meeting different cleaning task requirements. For example, when the local area to be cleaned is on the top wall of the cabin, the lifting seat 51 can be used to raise the robotic arm 2 to a higher exposure position to help expand the range of motion of the robotic arm 2.

[0094] In one embodiment, the robotic arm 2 has a plurality of joints 21, and a locking mechanism is provided between two adjacent joints 21. Each locking mechanism is electrically connected to a control device and is configured to lock two adjacent joints 21.

[0095] In the field of robotic arms, a "locking mechanism" typically refers to a braking device controlled by electrical signals to lock the position or posture of joint 21. Its core function is to reliably prevent joint 21 from moving after power failure or under specific commands, thereby locking the robotic arm 2 in its current position. The most common implementation is an "electromagnetic brake," which is usually integrated into the joint motor. When the electromagnetic brake is energized, the electromagnetic force releases the brake pads, allowing joint 21 to rotate freely. When the electromagnetic brake is de-energized or receives a locking signal, the spring force presses the brake pads, generating a large frictional force that immediately locks the motor shaft. Besides electromagnetic brakes, there are other ways to achieve the function of a "locking mechanism." For example, using a motor with high holding torque, such as a motor with a high reduction ratio reducer, whose reverse self-locking characteristic can naturally resist movement; or using a closed-loop control system to continuously output torque to resist external disturbances; or using a solenoid valve to cut off the oil or air circuit in the corresponding drive system to achieve mechanical locking. This invention does not limit the specific structural form of the locking mechanism.

[0096] In the above technical solution, by setting a locking mechanism between two adjacent joints 21, the locking mechanism can lock the two adjacent joints 21 under the control of the control device, so that the two adjacent joints 21 remain in the corresponding posture. For example, when the robotic arm 2 is in the storage state, the locking mechanism of the robotic arm 2 can be locked in the folded state by controlling the control device to perform the locking action, so as to prevent the robotic arm 2 from loosening, shifting or abnormally popping out when the vehicle is running and vibrating or in a non-working state.

[0097] In another embodiment, the robotic arm 2 has a plurality of joints 21, at least some of which are configured to be telescopically movable.

[0098] Regarding "at least some of the joints 21 are configured to be telescopic", for example, the robotic arm 2 has seven joints 21, one or two or more of which can extend and retract in their own length direction. When the range of motion of the robotic arm 2 is insufficient to cover the local area to be cleaned, the telescopic joints 21 can be controlled to perform an extension operation to expand the range of motion of the robotic arm 2.

[0099] It should be noted that "a locking mechanism is provided between two adjacent joints 21, each locking mechanism is electrically connected to the control device and is configured to lock two adjacent joints 21" and "at least some of the joints 21 are configured to be retractable" can be set separately or simultaneously.

[0100] In one embodiment, the inner wall of the receiving cavity 11a is provided with a limiting structure; when the robotic arm 2 is in the receiving state, the limiting structure abuts against at least a portion of the joint 21 of the robotic arm 2 to restrict the movement of the robotic arm 2.

[0101] The “limiting structure” can be an elastic limiting component. The elastic limiting component is set on the side wall of the storage cavity 11a. During the process of switching the robotic arm 2 from the working state to the storage state, it can gradually abut against the elastic limiting component. The elastic limiting component can provide the robotic arm 2 with elastic abutting force in multiple directions to help the robotic arm 2 stay stably in the storage state. The "limiting structure" can also be a limiting protrusion or a limiting groove. Correspondingly, the corresponding joint 21 of the robotic arm 2 is provided with a mating groove or a mating protrusion. Under the limiting action of the groove and the protrusion, the robotic arm 2 can be fixed relative to the cavity wall of the storage cavity 11a, so as to help the robotic arm 2 be stably kept in the storage state.

[0102] In one embodiment, the in-vehicle cleaning system 100 includes a status monitoring device for detecting the operating status of the robotic arm 2. A control device is electrically connected to the status monitoring device and controls the robotic arm 2 to perform preset operating actions when the status monitoring device detects an abnormal state.

[0103] The function of the "state monitoring device" is to detect the operating status of the robotic arm 2, which includes the operating environment status inside the vehicle and the operating parameter status of the robotic arm 2 itself. Correspondingly, the state monitoring device can be a position sensor, a current detection unit, an obstacle detection unit inside the vehicle, etc., to obtain the lifting position, joint angle, locking status and drive load status of the robotic arm 2 in real time.

[0104] "Abnormal states" include various types such as robotic arm 2 exceeding lifting limits, joint 21 abnormally unfolding, incomplete retraction, locking failure, and external obstacles entering the robotic arm 2's operating area. "Preset operating actions" are matched with the types of abnormal states. When the status monitoring device detects an abnormal state, the control module can immediately execute preset operating actions such as deceleration, stopping, maintaining the current position, or retracting robotic arm 2 and terminating the cleaning task to avoid equipment damage and improve operational safety.

[0105] For example, when robotic arm 2 is in working condition, if the status monitoring device detects an abnormal situation where a passenger boards the vehicle early, the control device will control robotic arm 2 to end the cleaning task and switch from working condition to storage condition to protect the safety of the passenger.

[0106] For example, when the robotic arm 2 is in operation, if the status monitoring device detects that the drive motor of one of the joints 21 of the robotic arm 2 is in an abnormal torque output state, the control device will control the robotic arm 2 to stop moving according to the abnormal state, so as to prevent the damage to the robotic arm 2 from further expanding.

[0107] In a typical application scenario, after an unmanned vehicle equipped with the in-vehicle cleaning system 100 completes a service order, all passengers have disembarked, and the vehicle is parked or in a safe state where cleaning is permitted, the system receives a cleaning instruction. After the control module confirms that the preset cleaning conditions are met, it controls the robotic arm 2 to enter working mode from its concealed storage state and uses the corresponding cleaning actuators 3 to complete tasks such as partial cleaning of trash inside the vehicle, surface wiping, or debris retrieval. After the cleaning task is completed, the robotic arm 2 folds and retracts into the storage cavity 11a according to a preset program, restoring the vehicle to its clean state before the next operation.

[0108] The above application scenarios are only used to illustrate the typical uses of the present invention and should not be construed as limiting the scope of application of the present invention.

[0109] To facilitate understanding of the in-vehicle cleaning control method provided by this invention, the following description is provided in conjunction with the accompanying drawings, wherein... Figure 6 This is a flowchart of the first embodiment of the in-vehicle cleaning control method proposed in this invention; Figure 7 This is a flowchart of a second embodiment of the in-vehicle cleaning control method proposed in this invention.

[0110] Please see Figure 6 The in-vehicle cleaning control method provided by this invention is based on the aforementioned in-vehicle cleaning system 100, and includes: S10. After receiving the cleaning instruction and confirming that the preset cleaning conditions are met, control the robotic arm 2 to switch from the storage state to the working state according to the cleaning instruction. The cleaning commands can be automatically triggered by the vehicle system based on the actual situation, or remotely triggered by the administrator based on the work requirements. For example, if the vehicle is equipped with a detection device, it can trigger a cleaning command after identifying a dirty area to be cleaned in the cabin. Or, if the vehicle system detects that a passenger has disembarked, it will trigger a default cleaning command when picking up the next passenger, regardless of whether there is a dirty area to be cleaned in the vehicle. The robotic arm 2 will then perform the default cleaning task according to the default cleaning command, such as wiping the rear seats.

[0111] "Preset cleaning conditions" refers to the external environmental conditions required for the robotic arm 2 to perform cleaning tasks. Only when the preset cleaning conditions are met can the robotic arm 2 complete the cleaning task normally.

[0112] S20. In the working state, control the joints 21 of the robotic arm 2 to move in coordination, so as to drive the cleaning actuator 3 to perform the cleaning task corresponding to the cleaning instruction; "Cleaning instructions" typically include cleaning strategy information. The cleaning strategy information varies depending on the location of the local area to be cleaned in the cabin and the type of cleaning task. The cleaning strategy information includes at least the type of cleaning task and the movement path information of the robotic arm 2. The robotic arm 2 needs to select the corresponding cleaning actuator 3 according to the type of cleaning task and control the coordinated movement of each joint 21 according to the movement path information to drive the cleaning actuator 3 to the local area to be cleaned and perform the cleaning task corresponding to the type of cleaning task.

[0113] S30. After the cleaning task is completed, control the robotic arm 2 to switch from working state to storage state.

[0114] After cleaning, the robotic arm 2 can be controlled and stored in the vehicle interior trim 1 inside the cabin, without being exposed for a long time. This reduces the space occupied by the robotic arm 2 inside the cabin, improves the cleanliness and visual consistency of the vehicle interior, and ensures the passenger's riding experience.

[0115] Please see Figure 6 In one embodiment, a lifting mechanism 5 is provided in the storage cavity 11a. The lifting mechanism 5 is electrically connected to the control device. The lifting seat 51 of the lifting mechanism 5 is movably arranged along the orientation of the cavity opening 111a and has a storage position away from the cavity opening 111a and an exposed position close to the cavity opening 111a. The fixed end 2b of the robotic arm 2 is provided on the lifting seat 51. Step S10, which controls the robotic arm 2 to switch from the storage state to the working state according to the cleaning command, includes: S11. Control the lifting mechanism 5 to raise the robotic arm 2 from the storage position to the exposed position; S12. According to the cleaning command, control at least two partially adjacent joints 21 in the robotic arm 2 to open relative to each other so that the robotic arm 2 is in working state; Step S30, which controls the robotic arm 2 to switch from the working state to the storage state, includes: S31, control the two adjacent joints 21 in the robotic arm 2 to move closer to each other; S32. Control the lifting mechanism 5 to lower the robotic arm 2 from the exposed position to the storage position, so that the robotic arm 2 switches to the storage state.

[0116] In the above technical solution, in the retracted state, the robotic arm 2 is in a folded posture and stored in the storage cavity 11a inside the center armrest box 11, without occupying additional cabin space or affecting the overall layout of the original space inside the vehicle. During the transition from the retracted state to the working state, the lifting mechanism is controlled by the control device, and the lifting seat 51 is smoothly raised from the retracted position. After the lifting seat 51 reaches the exposed position, the robotic arm 2 switches from the folded posture to the unfolded posture according to the cleaning strategy information contained in the cleaning instruction, so as to be in the working state and perform cleaning tasks such as vacuuming, wiping, and gripping. After the cleaning task is completed, the robotic arm 2 is first controlled to move the two adjacent joints 21 together to be in the folded posture, and then the lifting mechanism 5 is controlled to move to lower the robotic arm 2 from the exposed position back to the retracted position, so that the robotic arm 2 switches to the retracted state.

[0117] In one embodiment, the robotic arm 2 has a plurality of joints 21, and a locking mechanism is provided between two adjacent joints 21; Before controlling the robotic arm 2 to switch from the storage state to the working state according to the cleaning instructions, the process includes: Control each locking mechanism to release the lock on the corresponding joint 21 of the robotic arm 2; Before receiving a cleaning command, all locking mechanisms are locked, which helps ensure that the robotic arm 2 remains in a relatively stable storage state. After receiving a cleaning command, by controlling each locking mechanism to release the lock on the corresponding joint 21 of the robotic arm 2, the robotic arm 2 can be put into an unfolding ready state.

[0118] After controlling the robotic arm 2 to switch from the working state to the storage state, the following steps are taken: Control each locking mechanism to lock the corresponding joint 21 of the robotic arm 2.

[0119] After the robotic arm 2 completes the cleaning task and switches from the working state to the storage state, the corresponding joints 21 of the robotic arm 2 can be locked by controlling each locking mechanism, so that the robotic arm 2 can be stably kept in the storage state.

[0120] In one embodiment, the robotic arm 2 has a plurality of joints 21, and a locking mechanism is provided between two adjacent joints 21; Cleaning instructions include cleaning strategy information; The various joints 21 of the robotic arm 2 are controlled to move in coordination to drive the cleaning actuator 3 to perform the cleaning task corresponding to the cleaning command, including: Based on the cleaning strategy information of the cleaning instruction, the movable joints and fixed joints among the multiple joints 21 are identified; Since the "cleaning instruction" usually includes cleaning strategy information, which includes at least the activity path information of the robotic arm 2, the posture of the robotic arm 2 in the working state can be determined based on the cleaning strategy information. Correspondingly, some joints 21 need to remain active to perform the cleaning task, while other joints 21 need to remain fixed. Therefore, it is necessary to determine which joints 21 are active joints and which joints 21 are fixed joints among the multiple joints 21.

[0121] The corresponding locking mechanism is controlled to lock the fixed joint according to the position information of the fixed joint, and the movement of the movable joint is controlled according to the cleaning strategy information to drive the cleaning actuator 3 to perform the cleaning task corresponding to the cleaning instruction.

[0122] Once the position information of the fixed joint is determined, the position information of the corresponding locking structure can also be determined. Therefore, the locking mechanism can be controlled to lock the fixed joint, thereby reducing the overall sway of the robotic arm 2 and improving cleaning efficiency.

[0123] In one embodiment, after receiving a cleaning instruction and determining that preset cleaning conditions are met, the robotic arm 2 is controlled to switch from a storage state to a working state according to the cleaning instruction, including: After receiving a cleaning instruction, obtain the vehicle's current operating status information; When the current operating status information meets the preset cleaning conditions, the robotic arm 2 is controlled to switch from the storage state to the working state according to the cleaning command.

[0124] The vehicle's current operating status information includes several items, such as whether the vehicle is in a cleanable state, whether the doors are closed, whether there is no one inside the vehicle, whether the robotic arm 2 is in an deployable state, whether the cavity opening 111a of the storage cavity 11a is unobstructed, and whether there are any abnormal obstacles in the surrounding area. Correspondingly, the "preset cleaning conditions" are that the vehicle is in a cleanable state, the doors are closed, there is no one inside the vehicle, the robotic arm 2 is in an deployable state, the cavity opening 111a of the storage cavity 11a is open, and there are no abnormal obstacles around the robotic arm 2.

[0125] When the current operating status information meets the preset cleaning conditions, the operating environment of the robotic arm 2 is good. The robotic arm 2 can be controlled to switch from the storage state to the working state according to the cleaning command and perform the cleaning task.

[0126] Thirdly, the vehicle provided by the present invention includes the aforementioned in-vehicle cleaning system 100. The specific structure of the in-vehicle cleaning system 100 is as described in the above embodiments. Since the vehicle adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. Among them, the vehicle includes, but is not limited to, unmanned operating vehicles, manned operating vehicles, and manned private vehicles.

[0127] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An in-vehicle cleaning system characterized by comprising: include: Vehicle interior trim components, forming a storage cavity, the storage cavity having a cavity opening; A robotic arm, the free end of which is provided with a cleaning actuator, the robotic arm having a retracted state housed in a receiving cavity, and a working state extending out of the cavity opening; and, A control device is electrically connected to the robotic arm. The control device is used to control the robotic arm to switch between the storage state and the working state, and to control the robotic arm to move when the robotic arm is in the working state, so as to drive the cleaning actuator to perform the corresponding cleaning task.

2. The in-vehicle cleaning system of claim 1, wherein, The vehicle interior trim is configured as a center armrest box, and the storage cavity is formed in the center armrest box.

3. The in-vehicle cleaning system as described in claim 2, characterized in that, The cleaning actuator is provided in multiple ways, and all of the cleaning actuators can be placed in the receiving cavity; The cleaning actuator is detachably connected to the free end of the robotic arm, which is configured to selectively connect at least one of a variety of cleaning actuators to perform a corresponding cleaning task.

4. The in-vehicle cleaning system as described in claim 3, characterized in that, The various cleaning actuators include at least one of a wiping head, a pickup gripper, and a vacuum cleaner; and / or, The top of the storage cavity has multiple storage positions, and various cleaning actuators can be placed in the corresponding storage positions.

5. The in-vehicle cleaning system as described in claim 2, characterized in that, The in-vehicle cleaning system also includes a waste collection device, which is located at the bottom of the storage cavity and is detachably connected to the center armrest box.

6. The in-vehicle cleaning system as described in claim 2, characterized in that, The central armrest box is also provided with a cover plate, which is movably disposed in the central armrest box and has a sealing position that covers the cavity opening and an avoidance position that exposes the cavity opening within its movement stroke. When the cover plate is in the avoidance position, the robotic arm can switch between the storage state and the working state; When the cover is in the sealed position, the cover can cover the robotic arm in the retracted state.

7. The in-vehicle cleaning system as described in claim 6, characterized in that, A sealing ring is provided at the edge of the cavity opening, and the cover plate abuts against the sealing ring at the sealing position.

8. The in-vehicle cleaning system as described in claim 2, characterized in that, The top of the central armrest box is provided with a table, which extends in the front-to-back direction, and the rear end of the table is rotatably connected to the rear end of the central armrest box in the up-down direction. The table has a first position and a second position within its rotation stroke. In the first position, the table is positioned facing forward and is positioned to block at least a portion of the opening of the storage cavity in the vertical direction; In the second position, the tabletop is positioned to avoid the cavity opening in the vertical direction.

9. The in-vehicle cleaning system as described in claim 2, characterized in that, The in-vehicle cleaning system also includes: A slide rail, extending in a front-to-back direction, is used for mounting to the vehicle's cabin floor, and the center armrest box is movably mounted on the slide rail in the front-to-back direction; and... A sliding drive motor, electrically connected to the control device, is used to drive the movement of the central armrest box according to the cleaning task.

10. The vehicle interior cleaning system as described in any one of claims 1 to 9, characterized in that, The robotic arm has multiple joints; In the retracted state, each pair of adjacent joints moves closer to each other; In the operating state, at least two adjacent joints are open relative to each other.

11. The in-vehicle cleaning system as described in claim 10, characterized in that, The storage cavity is provided with a lifting mechanism, which is electrically connected to the control device. The lifting seat of the lifting mechanism is movably arranged along the orientation of the cavity opening and has a storage position away from the cavity opening and an exposed position close to the cavity opening. The fixed end of the robotic arm is located on the lifting base; When the lifting platform is in the retracted position, the robotic arm is in the corresponding retracted state. When the lifting seat is in the exposed position, the robotic arm extends out of the storage cavity and at least two adjacent joints are opened relative to each other, so that the robotic arm is in the working state.

12. The in-vehicle cleaning system as described in claim 11, characterized in that, The lifting seat has multiple visible positions within its travel range; The control device can control the lifting seat to move to the corresponding exposed position according to the corresponding cleaning task.

13. The in-vehicle cleaning system as described in any one of claims 1 to 9, characterized in that, The robotic arm has multiple joints: A locking mechanism is provided between two adjacent joints, and each locking mechanism is electrically connected to the control device and configured to lock two adjacent joints. And / or, At least some of the joints are configured to be retractable.

14. The in-vehicle cleaning system as described in any one of claims 1 to 9, characterized in that, The inner wall of the storage cavity is provided with a limiting structure; When the robotic arm is in the retracted state, the limiting structure abuts against at least a portion of the joints of the robotic arm to restrict the movement of the robotic arm.

15. The in-vehicle cleaning system as described in any one of claims 1 to 9, characterized in that, The vehicle interior cleaning system includes a status monitoring device for detecting the operating status of the robotic arm. The control device is electrically connected to the status monitoring device, and when the status monitoring device detects an abnormal state, it controls the robotic arm to perform a preset operating action.

16. A vehicle interior cleaning control method, based on the vehicle interior cleaning system as described in any one of claims 1 to 15, characterized in that, The vehicle interior cleaning control method includes: After receiving a cleaning instruction and confirming that the preset cleaning conditions are met, the robotic arm is controlled to switch from the storage state to the working state according to the cleaning instruction. In the working state, the joints of the robotic arm are controlled to move in coordination to drive the cleaning actuator to perform the cleaning task corresponding to the cleaning command; After the cleaning task is completed, the robotic arm is controlled to switch from working state to storage state.

17. The control method as described in claim 16, characterized in that, The storage cavity is provided with a lifting mechanism, which is electrically connected to the control device. The lifting seat of the lifting mechanism is movably arranged along the orientation of the cavity opening and has a storage position away from the cavity opening and an exposed position close to the cavity opening. The fixed end of the robotic arm is provided on the lifting seat. The step of controlling the robotic arm to switch from a storage state to a working state according to the cleaning command includes: Control the lifting mechanism to raise the robotic arm from the storage position to the exposed position; According to the cleaning command, at least two adjacent joints in the robotic arm are controlled to open relative to each other, so that the robotic arm is in the working state; The control of the robotic arm to switch from the working state to the storage state includes: Control the two adjacent joints in the robotic arm to move closer to each other; Control the lifting mechanism to lower the robotic arm from the exposed position to the retracted position, thereby switching the robotic arm to the retracted state.

18. The control method as described in claim 16, characterized in that, The robotic arm has multiple joints, and a locking mechanism is provided between two adjacent joints. Before controlling the robotic arm to switch from the storage state to the working state according to the cleaning command, the process includes: Control each of the locking mechanisms to release the lock on the corresponding joint of the robotic arm; After the robotic arm is switched from the working state to the storage state, the following steps are included: Control each of the locking mechanisms to lock the corresponding joints of the robotic arm.

19. The control method as described in claim 16, characterized in that, The step of controlling the robotic arm to switch from a storage state to a working state according to the cleaning instruction after receiving a cleaning command and determining that the preset cleaning conditions are met includes: After receiving a cleaning instruction, obtain the vehicle's current operating status information; When the current operating status information meets the preset cleaning conditions, the robotic arm is controlled to switch from the storage state to the working state according to the cleaning command.

20. A vehicle, characterized in that, Including the in-vehicle cleaning system as described in any one of claims 1 to 15.

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