Skirting board cleaning method, skirting board cleaning apparatus, robot vacuum cleaner and storage medium

Abstract

A skirting board cleaning method, a skirting board cleaning apparatus, a robot vacuum cleaner and a storage medium. The method comprises: in response to an acquired skirting board cleaning instruction, determining a target skirting board identifier, and driving a mechanical arm to grasp a cleaning tool (4) (S101); on the basis of position information and contour information corresponding to the target skirting board identifier, determining an operation path of an automatic cleaning device and a first pose of the mechanical arm (S102), wherein the first pose is used for determining a cleaning height and cleaning orientation of the cleaning tool (4); and moving along the operation path, and during movement, on the basis of the first pose, using the cleaning tool (4) to clean a skirting board corresponding to the target skirting board identifier (S103).

Description

Skirting line cleaning method, skirting line cleaning device, sweeping robot and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024110740839, filed on August 6, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of smart home, and in particular to a skirting line cleaning method, a skirting line cleaning device, a sweeping robot and a storage medium. BACKGROUND

[0004] With the development of people's demand for high-quality home appliances and smart home, smart home appliances, as an important component of smart home, have developed rapidly. Smart home appliances are home appliances formed by introducing microprocessors, sensor technology and network communication technology into home appliances, which have automatic perception of residential space state and home appliance state, and home appliance service state, and can automatically control and receive control instructions from residential users in the residence or remotely. Among them, the sweeping robot as a small household appliance is more and more popular with users.

[0005] The sweeping robot generally uses brushing and vacuuming to first absorb the ground litter into its own garbage storage box, thereby completing the function of ground cleaning. The body of the sweeping robot includes an automated moving device and a vacuum cleaning device with a dust collection box. The body can move indoors based on a pre-set control path to complete cleaning work, such as edge cleaning, concentrated cleaning, random cleaning, straight line cleaning, and the like, and is assisted by side brushes, central main brush rotation, and cloth, etc., to enhance the cleaning effect and complete the humanized home cleaning effect.

[0006] In related technologies, the sweeping robot can complete the cleaning work of the ground, but it is difficult to clean the skirting line at the wall edge. SUMMARY

[0007] The present disclosure provides a skirting line cleaning method, a skirting line cleaning device, a sweeping robot and a storage medium, which are used to solve the problem that the sweeping robot in the prior art is difficult to clean the skirting line.

[0008] According to an aspect of an embodiment of the present disclosure, a skirting line cleaning method is provided, applied to an automatic cleaning device including a mechanical arm, and the skirting line cleaning method includes:

[0009] In response to the obtained skirting line cleaning instruction, a target skirting line identifier is determined, and the mechanical arm is driven to grasp a cleaning tool;

[0010] determine a first pose of the mechanical arm according to the position information and the contour information corresponding to the target skirting line mark; wherein the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool; and

[0011] move along the working path, and in the moving process, clean the skirting line corresponding to the target skirting line mark by using the cleaning tool based on the first pose.

[0012] According to another aspect of the embodiments of the present disclosure, a skirting line cleaning device is provided, which is configured in an automatic cleaning device, and the automatic cleaning device is configured with a mechanical arm. The skirting line cleaning device comprises:

[0013] a response module, configured to determine a target skirting line mark and drive the mechanical arm to grab a cleaning tool in response to the obtained skirting line cleaning instruction;

[0014] an adjustment module, configured to determine a working path of the automatic cleaning device and a first pose of the mechanical arm according to the position information and the contour information corresponding to the target skirting line mark; wherein the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool;

[0015] a cleaning module, configured to move along the working path, and in the moving process, clean the skirting line corresponding to the target skirting line mark by using the cleaning tool based on the first pose.

[0016] According to another aspect of the embodiments of the present disclosure, a sweeping robot is provided, which comprises a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to realize the steps of the method shown in the first aspect of the embodiments of the present disclosure.

[0017] According to still another aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which comprises a computer program stored thereon, and the computer program is executed by a processor to realize the steps of the method shown in the first aspect of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0019] FIG. 1 is a structural schematic diagram of an automatic cleaning device according to an embodiment of the present disclosure;

[0020] FIG. 2 is a flow schematic diagram of a skirting line cleaning method according to an embodiment of the present disclosure;

[0021] FIG. 3 is a schematic diagram of a screening process of target identification in a skirting board cleaning method according to an embodiment of the present disclosure;

[0022] FIG. 4 is a schematic diagram of a structure of segmenting a side surface of a skirting board according to an embodiment of the present disclosure;

[0023] FIG. 5 is a schematic diagram of cleaning different surfaces of a skirting board in turns according to an embodiment of the present disclosure;

[0024] FIG. 6 is a schematic diagram of a ground cleaning range according to an embodiment of the present disclosure;

[0025] FIG. 7 is a schematic diagram of a flow of a skirting board cleaning method according to an embodiment of the present disclosure;

[0026] FIG. 8 is a schematic diagram of a structure of a relative position between a robot cleaner and a skirting board according to an embodiment of the present disclosure; and

[0027] FIG. 9 is a schematic diagram of a structure of a skirting board cleaning device according to an embodiment of the present disclosure.

[0028] Explanation of Reference Numerals:

[0029] 1 - robot chassis, 2 - gripper handle, 3 - end gripper, 4 - cleaning tool, 5 - cleaning brush head, 6 - top surface of skirting board. Embodiments of the present invention

[0030] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it is to be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present disclosure.

[0031] In the drawings, various structural diagrams according to embodiments of the present disclosure are shown. These drawings are not drawn to scale, in which certain details are exaggerated for the purpose of clarity and certain details can be omitted. The shapes of various regions, layers, and the relative size and positional relationship therebetween shown in the drawings are merely exemplary, and in actuality, they can be deviated due to manufacturing tolerances or technical limitations, and a person skilled in the art can additionally design regions / layers having different shapes, sizes, and relative positions according to actual needs.

[0032] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element can be directly on the other layer / element, or an intervening layer / element can be present therebetween. Also, if a layer / element is on another layer / element in one orientation, it can be under the other layer / element when the orientation is reversed.

[0033] First, the terms involved in the present disclosure are explained:

[0034] 1. Skirting: also called skirting, is a component that connects the wall root to the ground, with a variety of materials, is a very subtle place in home decoration, but has a major impact, generally widely exists in the user's home.

[0035] The main functions include:

[0036] (1) There is a design transition between the wall and the ground: from the perspective of spatial aesthetics, the inside corner line, the waist line, and the skirting line play a visual balancing role. Using their linear feeling and material, color, etc. in the room, a better beautification and decoration effect can be achieved. The height of the skirting, the amount of the bottom exposed, and the effect are completely different.

[0037] The skirting line can divide the transition of space. When the layer height is limited, a narrow and thin skirting line of 2.5-6 cm is generally selected to improve the space refinement. If the layer height is allowed, a skirting line of 8-10 cm is generally selected for design to balance the visual effect and make the space more atmospheric.

[0038] (2) Protect the wall: If there is no skirting, the part of the wall near the ground is easy to be stepped on. Making a skirting can better combine the wall and the ground, reduce wall deformation, and avoid damage caused by external force collision. In addition, the skirting line is also easy to clean. If dirty water is splashed during mopping, it is very convenient to clean.

[0039] From a practical point of view, a too low skirting line is difficult to protect the wall foot, for example, a 4 cm skirting line is generally only visible, because if it is dark, the mop will touch the wall during mopping, so 6 cm and above are generally selected.

[0040] (3) Cover and protect the line; The material of the skirting line is generally wood, metal, ceramic tile or stone, etc., and the color is generally white, wood, black or gray, etc. After a period of time, the top surface will accumulate dust, and the side will also stick to dust, which needs to be cleaned by hand. There is no electric appliance that can automatically clean the skirting line.

[0041] 2. Automatic cleaning device: can be a robot that can clean the floor, arrange floor items and clean the skirting line, as shown in FIG. 1, the automatic cleaning device can include two moving parts:

[0042] (1) The lower part is a bottom plate that can move on the ground, move linearly along the z-axis direction (the walking mechanism can make the bottom plate lift relative to the ground), and contains a walking mechanism (not shown in the figure). The walking mechanism can be wheeled or tracked, etc.; and

[0043] (2) The upper part is a multi-degree-of-freedom mechanical arm module, such as the three mechanical joints M0, M1, and M2 shown in FIG. 1, which is arranged on the chassis;

[0044] The two moving parts cooperate to realize the function of the automatic cleaning device, and the method for cleaning the skirting line of the present disclosure can be applied to the automatic cleaning device.

[0045] The inventive concept of the present disclosure is to realize targeted cleaning of the skirting line by adjusting the pose of the mechanical arm in combination with path planning of the automatic cleaning device. The embodiments of the present disclosure can adjust the cleaning height and angle of the cleaning tool based on different poses of the mechanical arm, realize cleaning of different orientations of the skirting line, improve the adaptability of the cleaning method, and effectively improve the cleaning efficiency.

[0046] In the following, some embodiments of the present disclosure and how some embodiments of the present disclosure solve the above technical problems will be described in detail with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present disclosure will be described below with reference to the drawings.

[0047] The embodiments of the present disclosure provide a skirting line cleaning method, as shown in FIG. 2, which can be applied to an automatic cleaning device configured with a mechanical arm, and the skirting line cleaning method comprises:

[0048] S101, in response to the obtained skirting line cleaning instruction, determining a target skirting line identifier, and driving the mechanical arm to grab the cleaning tool.

[0049] In some embodiments, the above-mentioned skirting line cleaning instruction can be sent by a user terminal, and can also be automatically generated when the automatic cleaning device identifies the skirting line.

[0050] In some embodiments, the target skirting line identifier can be obtained from a pre-stored mapping. The above-mentioned cleaning tool can be stored in a storage compartment of the automatic cleaning device base station, or can be built-in in the automatic cleaning device body, which is not specifically limited in the embodiments of the present disclosure. The automatic cleaning device can include a sweeping robot, a sweeping and mopping integrated robot, a mopping robot, etc., and the following will be specifically described taking the sweeping robot as an example.

[0051] In some embodiments, the user terminal can send a skirting line cleaning instruction to the sweeping robot based on wireless connection, or the sweeping robot can directly obtain voice information to determine the skirting line cleaning instruction corresponding to the voice information. Then the robot responds to the instruction to obtain the target skirting line identifier from the pre-stored mapping.

[0052] In some embodiments, the robot cleaner can collect environment information based on sensors, and identify a skirting line from the environment information, and generate a skirting line cleaning instruction based on the identified skirting line.

[0053] The skirting line cleaning method further includes S102, determining a working path of the automatic cleaning device and a first pose of the mechanical arm according to the corresponding position information and contour information of the target skirting line identifier.

[0054] In some embodiments, the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool.

[0055] As shown in FIG. 8, when the automatic cleaning device cleans the top surface of the skirting line, the pose of the mechanical arm can fix the cleaning tool so that the cleaning tool maintains a cleaning pose perpendicular to the top surface of the skirting line. At this time, the distance X1 between the center of the chassis of the automatic cleaning device and the side surface of the skirting line is small, and the cleaning height is high. When the automatic cleaning device cleans the side surface of the skirting line, the pose of the mechanical arm can fix the cleaning tool so that the cleaning tool maintains a cleaning pose perpendicular to the side surface of the skirting line. At this time, the distance X2 between the center of the chassis of the automatic cleaning device and the side surface of the skirting line is large, and the cleaning height is low.

[0056] In some embodiments, the automatic cleaning device can move to the automatic cleaning device base station, and deploy the mechanical arm to grab the cleaning tool, and then query the corresponding position information and contour information of the target skirting line identifier from a preset database. Then, the working path of the automatic cleaning device and the first pose of the mechanical arm are adjusted according to the corresponding position information and contour information of the target skirting line identifier.

[0057] The skirting line cleaning method further includes S103, moving along the working path, and during the moving, cleaning the corresponding skirting line of the target skirting line identifier by using the cleaning tool based on the first pose.

[0058] According to the embodiments of the present disclosure, the cleaning tool is grabbed by the mechanical arm on the automatic cleaning device to achieve cleaning of the skirting line. In some embodiments, in response to the skirting line cleaning instruction, the target skirting line identifier is determined, the mechanical arm is driven to grab the cleaning tool, and the working path of the automatic cleaning device and the first pose of the mechanical arm are determined according to the corresponding position information and contour information of the target skirting line identifier, so that the automatic cleaning device moves along the working path, and during the moving, the skirting line is cleaned by using the cleaning tool based on the first pose. According to the embodiments of the present disclosure, the targeted cleaning of the skirting line is achieved by adjusting the pose of the mechanical arm in combination with the path of the automatic cleaning device. According to the embodiments of the present disclosure, the height and angle of the cleaning tool can be adjusted based on different poses of the mechanical arm to achieve multi-directional cleaning of the skirting line. Meanwhile, the cleaning method can also be adapted to skirting lines of different heights, and the cleaning efficiency is effectively improved.

[0059] In some embodiments, the target skirting line identifier is determined based on the following manner:

[0060] S201, when it is determined that one skirting line identifier is obtained, taking the skirting line identifier as the target skirting line identifier; and

[0061] S202, when it is determined that at least two skirting line identifiers are obtained, screening the target skirting line identifier from the at least two skirting line identifiers.

[0062] In some embodiments, the target skirting line identifier corresponds to a skirting line with a distance to the automatic cleaning device less than or equal to a preset first distance.

[0063] In the embodiments of the present disclosure, the sweeping robot can obtain the skirting lines of the four walls from the preset room mapping, i.e., four skirting line identifiers, and can start the cleaning operation from the skirting line closest to the sweeping robot among the four skirting lines according to the current real-time position of the sweeping robot.

[0064] In some embodiments, the screening step of the target skirting line identifier will be described in detail below.

[0065] In some embodiments, as shown in FIG. 3, the screening of the target skirting line identifier from the at least two skirting line identifiers includes:

[0066] S301, obtaining position information corresponding to each skirting line identifier and real-time position information of the automatic cleaning device.

[0067] In some embodiments, the position information corresponding to the skirting line identifier can be point coordinates of the vertex of the skirting line or line coordinates of the bottom side of the skirting line.

[0068] The skirting line cleaning method further includes S302, respectively determining relative distances between the position information corresponding to each skirting line identifier and the real-time position information of the automatic cleaning device.

[0069] In some embodiments, the relative distance can be a straight-line distance between the automatic cleaning device and a vertex of the skirting line, and can also be a shortest distance from the automatic cleaning device to the bottom side of the skirting line.

[0070] The skirting line cleaning method further includes S303, obtaining a skirting line identifier corresponding to a relative distance not greater than a first distance as a candidate identifier.

[0071] In some embodiments, the first distance can be the minimum value in the relative distances.

[0072] The skirting line cleaning method further includes S304: when the number of candidate identifiers is 1, the candidate identifier is taken as the target skirting line identifier. When the number of candidate identifiers is greater than 1, the relative direction of the position information of each candidate identifier and the real-time position information is determined, and the target skirting line identifier is selected from the candidate identifiers based on the relative direction.

[0073] In some embodiments, the relative distances from the sweeping robot to the skirting lines can be obtained first. When the sweeping robot is located in the middle of the room, the relative distances from the sweeping robot to at least two skirting lines can be the same. In this case, the skirting line on the right side of the sweeping robot can be selected preferentially to realize rightward one-by-one cleaning of multiple skirting lines in the room.

[0074] According to the embodiments of the present disclosure, by using the real-time distances from the skirting lines to the sweeping robot, the target skirting line is selected from at least two skirting lines for cleaning operation, the skirting line closest to the sweeping robot can be selected preferentially for cleaning, and a certain cleaning sequence can be set to effectively optimize the cleaning sequence of the skirting lines, thereby ensuring the cleaning efficiency.

[0075] In some embodiments, the automatic cleaning device further includes an environment information sensor, and the method further includes:

[0076] S401: based on the environment information sensor, environment information is collected when it is determined that the preset skirting line identifier is not obtained.

[0077] In the embodiments of the present disclosure, when the sweeping robot is in a new room and has not performed mapping work on the room, or has performed mapping but has not labeled the skirting line, the sweeping robot cannot obtain the skirting line identifier. In this case, the sweeping robot can identify the skirting line based on the environment information sensor.

[0078] In some embodiments, the environment information sensor can be a laser sensor, an image sensor, or the like, which is not limited in the present disclosure.

[0079] The skirting line cleaning method further includes S402: the skirting line is identified from the environment information, the position information and the contour information of the skirting line are obtained, the skirting line identifier is created, the position information and the contour information are taken as the associated information of the skirting line identifier, and the skirting line identifier and the associated information corresponding to the skirting line identifier are stored.

[0080] In the embodiments of the present disclosure, the skirting line identifier can be the code of the skirting line. The skirting line identifier can be taken as the key, and the corresponding position information and contour information can be taken as the value, so that the above data is stored in the form of key-value pair for data query and acquisition.

[0081] In some embodiments, when the skirting line cannot be identified from the environmental information, the robot can send an un-identified reminder.

[0082] In some embodiments, when there is no skirting line in the environment, the robot can send a voice reminder "no skirting line identified in the current room".

[0083] According to the embodiments of the present disclosure, by identifying and storing the skirting line through the environmental information sensor, a good foundation can be laid for subsequent skirting line cleaning, effectively improving the efficiency of skirting line cleaning.

[0084] In some embodiments, after the target skirting line identified by the target skirting line identifier is cleaned, the method further includes:

[0085] In the embodiments of the present disclosure, after the skirting line is cleaned once, the skirting line can be cleaned twice according to the shape and dirt level of the skirting line. The real-time coordinates of the current automatic cleaning device, i.e., the job end point of cleaning, can be used as the path starting point of the next cleaning.

[0086] The skirting line cleaning method further includes S501, adjusting the job path of the automatic cleaning device and the first pose of the mechanical arm to obtain a second job path and a second pose.

[0087] In some embodiments, the second pose is used to determine the cleaning height and cleaning pose of the cleaning tool.

[0088] In the embodiments of the present disclosure, after the skirting line is cleaned once, the skirting line can be cleaned twice according to the shape and dirt level of the skirting line. The real-time coordinates of the current automatic cleaning device, i.e., the job end point of cleaning, can be used as the path starting point of the next cleaning.

[0089] The skirting line cleaning method further includes S502, moving along the second job path, and cleaning the target skirting line identified by the target skirting line identifier by using the cleaning tool based on the second pose during the moving.

[0090] In the embodiments of the present disclosure, when the mechanical arm is in the first pose, it can make the clamped cleaning tool perpendicular to the side of the skirting line to complete the side cleaning of the skirting line. When cleaning twice, the inclination angle of the cleaning tool can be adjusted to obtain a second pose according to the real-time coordinates of the robot, the length of the cleaning tool, the height of the skirting line, and other data, and the distance between the robot and the wall is calculated to plan a second job path to complete the cleaning of the top surface of the skirting line. In addition, the top surface of the skirting line can be cleaned based on the first pose first, and then the side of the skirting line can be cleaned based on the second pose, which is not specifically limited in the present disclosure.

[0091] In some embodiments, the side of the skirting board can be divided into an upper section and a lower section, and the side of the skirting board can be cleaned in sections. When the robot cleaner is in a first pose, the robot cleaner can make the gripped cleaning tool perpendicular to the side of the skirting board, and clean the upper section of the side of the skirting board. After the upper section is cleaned, the robot cleaner can rotate the body to change the moving direction, or directly change the moving direction to prepare for the second cleaning. The height of the cleaning tool can be adjusted according to the real-time coordinates of the robot cleaner, the length of the cleaning tool, the height of the skirting board, and the like, to obtain a second pose. The distance between the robot cleaner and the wall can be calculated to plan a second working path, and then the robot cleaner can move along the second working path based on the second pose to clean the lower section of the side of the skirting board. In addition, the lower section of the skirting board can be cleaned based on the first pose, and the upper section of the skirting board can be cleaned based on the second pose. The specific implementation is not limited in the present disclosure.

[0092] In the embodiments of the present disclosure, after the skirting board is cleaned once, the pose of the robot cleaner can be adjusted according to the height of the skirting board and different cleaning surfaces, to realize segmented multiple cleaning of the same surface of the same skirting board, or multiple cleaning of different cleaning surfaces of the skirting board. The quality and efficiency of the cleaning work can be ensured, and the user experience can be effectively improved.

[0093] In some embodiments, the moving along the second working path, and in the moving process, the target skirting board is cleaned by the cleaning tool based on the second pose, includes:

[0094] The moving along the second working path, and in the moving process, the ground is cleaned, and the target skirting board is cleaned by the cleaning tool based on the second pose.

[0095] In the embodiments of the present disclosure, as shown in FIG. 5, after the top surface of the skirting board is cleaned for the first time, the side of the skirting board is cleaned for the second time. During the second cleaning, the sweeping function of the robot cleaner can be started, so that the robot cleaner can clean the ground and the skirting board when moving along the second working path. That is, when the same skirting board is cleaned repeatedly, the ground and the skirting board can be cleaned at the same time. During the cleaning of the skirting board, the dust and dirt that fall on the skirting board during the previous cleaning can be cleaned, so that the cleanliness of the ground can be maintained, and the cleaning efficiency can be further improved.

[0096] In some embodiments, the ground can be cleaned after the skirting board is cleaned. The specific scheme will be described in detail below.

[0097] In some embodiments, the automatic cleaning device further comprises an obstacle sensor, which moves along the working path, and during the movement, the corresponding skirting line is cleaned based on the first pose of the cleaning tool.

[0098] S601, when the automatic cleaning device does not encounter an obstacle in the working path, it moves along the working path, and during the movement, the corresponding skirting line is cleaned based on the first pose of the cleaning tool.

[0099] The skirting line cleaning method further comprises S602, when the automatic cleaning device encounters an obstacle in the working path, the real-time coordinates of the automatic cleaning device are obtained, and the obstacle sensing information is obtained from the obstacle sensor.

[0100] In some embodiments, the obstacle sensor can be a laser sensor, an image sensor, etc., which is not specifically limited in the present disclosure.

[0101] The skirting line cleaning method further comprises S603, based on the obstacle sensing information and the real-time coordinates, the working path and the pose of the mechanical arm are adjusted to obtain a corrected working path and a corrected pose of the mechanical arm.

[0102] In some embodiments, the corrected working path can effectively avoid the obstacle, and at the same time, the corrected pose can ensure that the mechanical arm and the cleaning tool do not touch the obstacle.

[0103] The skirting line cleaning method further comprises S604, moving along the corrected working path, and during the movement, the corresponding skirting line is cleaned based on the corrected pose of the cleaning tool.

[0104] In the embodiments of the present disclosure, when a flowerpot obstacle in front of the sweeping robot is identified, the working path of the sweeping robot can be adjusted according to the sensing information of the flowerpot, and if the height of the flowerpot interferes with the cleaning tool and the mechanical arm, the pose of the mechanical arm can be adjusted to change the height and angle of the cleaning tool, so that the skirting line cleaning is not affected on the basis of avoiding the obstacle, and the skirting line cleaning is cleaner.

[0105] In some embodiments, after the corresponding skirting line is cleaned based on the target skirting line identification, the method further comprises:

[0106] The cleaning tool and the mechanical arm are recovered, and the ground adjacent to the skirting line is cleaned.

[0107] In some embodiments, the cleaning tool can be stored in the base station of the automatic cleaning device, or can be stored in the internal body of the automatic cleaning device.

[0108] In some embodiments, the automatic cleaning device can demarcate a ground cleaning range according to the previous working path for the ground adjacent to the skirting line, and perform cleaning work in the ground cleaning range.

[0109] In some embodiments, during the skirting line cleaning process, the mechanical arm can hold the cleaning tool in front of the left side or front of the right side of the robot. As shown in FIG. 6, the robot body can be kept at an appropriate distance from the skirting line to prevent dust and dirt on the skirting line from falling on the robot body during cleaning. The embodiments of the present disclosure can also be applied to skirting line cleaning that the robot cannot approach due to narrow corners or walkways blocked by obstacles. At this time, the mechanical arm can be driven to change the pose to extend the cleaning tool and clean the skirting line that the robot cannot approach. Therefore, when cleaning the ground, the cleaning range can not be limited to the edge range along the skirting line, and the cleaning range can be demarcated according to the working path during the previous skirting line cleaning.

[0110] In the embodiments of the present disclosure, after cleaning the skirting line, dust and dirt on the skirting line can fall to the ground. The robot can clean the ground after the skirting line cleaning is completed to ensure the thoroughness of the cleaning work.

[0111] In some embodiments, the driving of the mechanical arm to grab the cleaning tool includes driving the mechanical arm to grab the cleaning tool from the base station of the automatic cleaning device.

[0112] In the embodiments of the present disclosure, the cleaning tool can be stored in the storage compartment of the base station of the robot. The robot can move to the base station, and the mechanical arm can be driven to grab the cleaning tool from the storage compartment of the base station of the robot.

[0113] The above recycling of the cleaning tool and the mechanical arm includes:

[0114] Based on the mechanical arm, the cleaning tool is transported and placed in the base station of the automatic cleaning device, and the mechanical arm is recycled to the inside of the automatic cleaning device, so that the automatic cleaning device enters the base station of the automatic cleaning device for charging or performing other tasks.

[0115] In some embodiments, after completing the skirting line cleaning work, the robot can return to the base station of the robot, place the cleaning tool back into the storage compartment with the mechanical arm, and then recycle the mechanical arm to the inside of the robot body, and then the robot enters the base station for charging.

[0116] According to the embodiments of the present disclosure, the cleaning tool is stored in the base station of the robot, and the robot is charged, which can make the cleaning work of the robot more systematic and orderly, and further improve the user experience.

[0117] For better understanding of the above skirting line cleaning method, one example of the skirting line cleaning method of the present disclosure is described in detail below with reference to FIGS. 7 and 8, which is applied to a sweeping robot and includes the following steps:

[0118] S701, the user sends a cleaning instruction to the sweeping robot 302 based on the user terminal 301, triggering the skirting line cleaning function;

[0119] S702, the sweeping robot 302 acquires the pre-constructed environment map from the database 303 based on the wireless network, and

[0120] S703, if the skirting line is identified in the current environment based on the environment map, the voice prompt "start cleaning the skirting line".

[0121] If the identification and labeling of the skirting line have not been completed before through mapping or floor cleaning tasks, or it has been identified that there is no skirting line in the environment, a new mapping identification task is started:

[0122] When the skirting line is identified in the environment, the voice prompt "start cleaning the skirting line" is played; and

[0123] When the skirting line is still not identified in the environment, the voice prompt "no skirting line identified" is played.

[0124] The skirting line cleaning method further includes S704, after starting to clean the skirting line, the sweeping robot chassis moves to the vicinity of the base station, the mechanical arm is taken out of the warehouse and clamps the cleaning tool.

[0125] The skirting line cleaning method further includes S705, calculating the skirting line cleaning path, the sweeping robot chassis moves to the vicinity of the starting point of the cleaning path, and the distance between the chassis center and the skirting line and the mechanical arm pose are calculated according to the sensing information.

[0126] As shown in FIG. 8, the mechanical arm includes three mechanical arm joint modules M0, M1 and M2, the M2 mechanical arm joint module is further configured with an end gripper 3 for grabbing the handle 2 of the cleaning tool 4, and the robot chassis 1 is kept at a proper distance from the side of the skirting line so as to change the posture of the mechanical arm. In some embodiments, the end gripper 3 of the mechanical arm can drive the cleaning tool 4 to keep a cleaning posture perpendicular to the top surface of the skirting line, so that the cleaning brush head 5 can clean the top surface 6 of the skirting line when the robot chassis moves, and the mechanical arm can also change the posture to adjust the cleaning height and cleaning angle of the cleaning tool 4. In some embodiments, the height of the end gripper 3 and the inclination angle of the cleaning tool 4 can be adjusted based on the multi-degree-of-freedom rotation of the M0 and M1 mechanical arm joints. As shown in FIG. 8, the cleaning tool can be in a posture parallel to the wall surface to clean the top surface of the skirting line. In other embodiments, the cleaning tool can also be in a posture perpendicular to the wall surface to clean the side surface of the skirting line. In some embodiments, the distance between the center of the robot chassis 1 and the side surface of the skirting line can be adjusted in real time according to the size of the activity space, obstacles, the height of the skirting line, etc.

[0127] In other embodiments, the mechanical arm can also drive the cleaning tool to rotate to clean the skirting line. For example, the mechanical arm can be driven to grab the cleaning tool and drive the cleaning tool to rotate around the handle direction as the rotation axis, so that the robot chassis moves along the cleaning path while the cleaning brush head rotates to clean the skirting line, further improving the cleaning efficiency and user experience.

[0128] The skirting line cleaning method further includes S706, the robot chassis moves along the wall from the starting point, and the mechanical arm adjusts the posture when encountering obstacles or corners during the movement, until the movement to the skirting line cleaning task is completed.

[0129] The skirting line cleaning method further includes S707, the chassis moves to the vicinity of the base station, and the mechanical arm places the cleaning tool in the storage bin of the base station.

[0130] The skirting line cleaning method further includes S708, the robot 302 plays a voice prompt "complete skirting line cleaning" and returns to the base station for charging.

[0131] The embodiments of the present disclosure provide a skirting line cleaning device configured in an automatic cleaning device, and the automatic cleaning device is configured with a mechanical arm. As shown in FIG. 9, the skirting line cleaning device 90 can include a response module 901, an adjustment module 902, and a cleaning module 903.

[0132] In some embodiments, the response module 901 is configured to determine a target skirting line identifier in response to the obtained skirting line cleaning instruction, and drive the mechanical arm to grab a cleaning tool.

[0133] The adjusting module 902 is configured to determine a working path of the automatic cleaning device and a first pose of the mechanical arm according to the corresponding position information and contour information of the target skirting line mark; in some embodiments, the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool.

[0134] The cleaning module 903 is configured to move along the working path, and during the movement, the cleaning tool is used to clean the corresponding skirting line of the target skirting line mark based on the first pose.

[0135] In some embodiments, the target skirting line mark is determined based on the following manner:

[0136] When it is determined that one skirting line mark is obtained, the skirting line mark is taken as the target skirting line mark; and

[0137] When it is determined that at least two skirting line marks are obtained, the target skirting line mark is selected from the at least two skirting line marks. In some embodiments, the distance between the skirting line corresponding to the target skirting line mark and the automatic cleaning device is less than or equal to a preset first distance.

[0138] In some embodiments, when the target skirting line mark is selected from the at least two skirting line marks, the response module 901 is configured to:

[0139] obtain the position information corresponding to each skirting line mark and real-time position information of the automatic cleaning device;

[0140] determine the relative distance between each position information and the real-time position information, respectively;

[0141] obtain the skirting line mark corresponding to the relative distance not greater than the first distance as a candidate mark;

[0142] when the number of candidate marks is 1, the candidate mark is taken as the target skirting line mark; and

[0143] when the number of candidate marks is greater than 1, the relative direction of the position information of each candidate mark and the real-time position information is determined, and the target skirting line mark is selected from the candidate marks based on the relative direction.

[0144] In some embodiments, the automatic cleaning device is provided with an environment information sensor, and the response module 901 is further configured to:

[0145] when it is determined that the preset skirting line mark is not obtained, the environment information is collected based on the environment information sensor; and

[0146] identify the skirting line from the environmental information, and obtain position information and contour information of the skirting line; create a skirting line identifier, and take the position information and the contour information as associated information of the skirting line identifier; and store the skirting line identifier and the associated information corresponding to the skirting line identifier.

[0147] In some embodiments, the cleaning module 903 is further configured to, after cleaning the skirting line corresponding to the target skirting line identifier:

[0148] adjust the working path of the automatic cleaning device and the first pose of the mechanical arm to obtain a secondary working path and a second pose, the second pose being used to determine a cleaning height and a cleaning pose of the cleaning tool; and

[0149] move along the secondary working path, and in the moving process, use the cleaning tool based on the second pose to clean the skirting line corresponding to the target skirting line identifier.

[0150] In some embodiments, the cleaning module 903 is further configured to, when moving along the secondary working path, in the moving process, using the cleaning tool based on the second pose to clean the skirting line corresponding to the target skirting line identifier:

[0151] move along the secondary working path, and in the moving process, perform ground cleaning work, and at the same time, use the cleaning tool based on the second pose to clean the skirting line corresponding to the target skirting line identifier.

[0152] In some embodiments, the automatic cleaning device is further provided with an obstacle sensor, and the cleaning module 903 is further configured to:

[0153] when the automatic cleaning device does not encounter an obstacle in the working path, move along the working path, and in the moving process, use the cleaning tool based on the first pose to clean the skirting line corresponding to the target skirting line identifier;

[0154] when the automatic cleaning device encounters an obstacle in the working path, obtain real-time coordinates of the automatic cleaning device, and obtain obstacle sensing information from the obstacle sensor;

[0155] adjust the working path and the pose of the mechanical arm based on the obstacle sensing information and the real-time coordinates to obtain a corrected working path and a corrected pose of the mechanical arm; and

[0156] move along the corrected working path, and in the moving process, use the cleaning tool based on the corrected pose to clean the skirting line corresponding to the target skirting line identifier.

[0157] In some embodiments, the cleaning module 903 is further configured to, after cleaning the skirting line corresponding to the target skirting line identifier:

[0158] recover the cleaning tool and the mechanical arm; and

[0159] The cleaning work is performed on the ground adjacent to the skirting line.

[0160] In some embodiments, the cleaning module 903 is configured to, when the robotic arm is driven to grab the cleaning tool, drive the robotic arm to grab the cleaning tool from the base station of the automatic cleaning device.

[0161] The cleaning module 902 is configured to, when the cleaning tool and the robotic arm are recycled:

[0162] The cleaning tool is transported and placed in the base station of the automatic cleaning device based on the robotic arm; and

[0163] The robotic arm is recycled to the inside of the automatic cleaning device.

[0164] The apparatuses according to the embodiments of the present disclosure can perform the methods provided by the embodiments of the present disclosure, and the implementation principles are similar. The actions performed by each module in the apparatuses of the embodiments of the present disclosure are corresponding to the steps in the methods of the embodiments of the present disclosure. For the detailed function description of each module of the apparatus, refer to the description of the corresponding method in the foregoing description, and no further description is given here.

[0165] According to the embodiments of the present disclosure, the cleaning of the skirting line is achieved by grabbing the cleaning tool through the robotic arm on the automatic cleaning device. In some embodiments, in response to the skirting line cleaning instruction, the target skirting line identifier is determined, the robotic arm is driven to grab the cleaning tool, and the working path of the automatic cleaning device and the first pose of the robotic arm are determined according to the position information and the contour information corresponding to the target skirting line identifier, so that the automatic cleaning device moves along the working path, and in the moving process, the skirting line is cleaned by the cleaning tool based on the first pose. According to the embodiments of the present disclosure, the targeted cleaning of the skirting line is achieved by adjusting the pose of the robotic arm in combination with the path of the automatic cleaning device. According to the embodiments of the present disclosure, the height and angle of the cleaning tool can be adjusted based on different poses of the robotic arm, the cleaning of the skirting line in multiple directions is achieved, and the cleaning method can also be adapted to skirting lines of different heights, and the cleaning efficiency is effectively improved.

[0166] The embodiment of the present disclosure provides a sweeping robot, which comprises a memory, a processor and a computer program stored in the memory. The processor executes the computer program to realize the steps of the skirting line cleaning method. Compared with the related art, the embodiment of the present disclosure can realize the cleaning of the skirting line by grabbing the cleaning tool through the mechanical arm on the automatic cleaning device. In some embodiments, in response to the skirting line cleaning instruction, the target skirting line identifier is determined, the mechanical arm is driven to grab the cleaning tool, and the working path of the automatic cleaning device and the first pose of the mechanical arm are determined according to the position information and the contour information corresponding to the target skirting line identifier, so that the automatic cleaning device moves along the working path, and in the moving process, the cleaning tool is used to clean the skirting line based on the first pose. According to the embodiment of the present disclosure, the targeted cleaning of the skirting line is realized by adjusting the pose of the mechanical arm in combination with the path of the automatic cleaning device. According to the embodiment of the present disclosure, the height and the angle of the cleaning tool can be adjusted based on different poses of the mechanical arm, the multi-directional cleaning of the skirting line is realized, the cleaning method can also be adapted to the skirting line of different heights, and the cleaning efficiency is effectively improved.

[0167] The embodiment of the present disclosure provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the foregoing method embodiments can be realized.

[0168] According to an aspect of the embodiment of the present disclosure, a skirting line cleaning method is provided, which is applied to an automatic cleaning device comprising a mechanical arm. The method comprises the following steps:

[0169] In response to the obtained skirting line cleaning instruction, a target skirting line identifier is determined, and the mechanical arm is driven to grab a cleaning tool.

[0170] The working path of the automatic cleaning device and the first pose of the mechanical arm are determined according to the position information and the contour information corresponding to the target skirting line identifier. The first pose is used to determine the cleaning height and the cleaning pose of the cleaning tool.

[0171] The working path is moved, and in the moving process, the cleaning tool is used to clean the skirting line corresponding to the target skirting line identifier based on the first pose.

[0172] In one possible implementation, the target skirting line identifier is determined based on the following manner:

[0173] When it is determined that a skirting line identifier is obtained, the skirting line identifier is taken as the target skirting line identifier.

[0174] When it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is screened from the at least two skirting line identifiers; wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance.

[0175] In one possible implementation, the above screening of the target skirting line identifier from the at least two skirting line identifiers comprises:

[0176] The position information corresponding to each skirting line identifier and the real-time position information of the automatic cleaning device are obtained.

[0177] The relative distance between each position information and the real-time position information is determined respectively.

[0178] The skirting line identifier corresponding to the relative distance not greater than the first distance is obtained as a candidate identifier.

[0179] When the number of candidate identifiers is 1, the candidate identifier is taken as the target skirting line identifier; and

[0180] When the number of candidate identifiers is greater than 1, the relative direction between the position information of each candidate identifier and the real-time position information is determined, and the target skirting line identifier is screened from the candidate identifiers based on the relative direction.

[0181] In yet another possible implementation, the above automatic cleaning device further comprises an environment information sensor, and the method further comprises:

[0182] When it is determined that the preset skirting line identifier is not obtained, the environment information is collected based on the environment information sensor; and

[0183] The skirting line is identified from the environment information, and the position information and the contour information of the skirting line are obtained; the skirting line identifier is created, and the position information and the contour information are taken as the associated information of the skirting line identifier; and the skirting line identifier and the associated information corresponding to the skirting line identifier are stored.

[0184] In yet another possible implementation, after the above cleaning of the skirting line corresponding to the target skirting line identifier, the method further comprises:

[0185] The working path of the automatic cleaning device and the first pose of the mechanical arm are adjusted to obtain a secondary working path and a second pose, and the second pose is used to determine the cleaning height and the cleaning pose of the cleaning tool; and

[0186] The target skirting line identifier is screened from the at least two skirting line identifiers; wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance.

[0187] In another possible implementation, the moving along the secondary operation path, during the moving, cleaning the corresponding skirting line based on the second pose using the cleaning tool, includes:

[0188] The moving along the secondary operation path, during the moving, performing ground cleaning work, and cleaning the corresponding skirting line based on the second pose using the cleaning tool.

[0189] In another possible implementation, the automatic cleaning device further includes an obstacle sensor, and the moving along the operation path, during the moving, cleaning the corresponding skirting line based on the first pose using the cleaning tool, includes:

[0190] When the automatic cleaning device does not encounter an obstacle in the operation path, moving along the operation path, during the moving, cleaning the corresponding skirting line based on the first pose using the cleaning tool;

[0191] When the automatic cleaning device encounters an obstacle in the operation path, obtaining real-time coordinates of the automatic cleaning device, and obtaining obstacle sensing information from the obstacle sensor;

[0192] Adjusting the operation path and the pose of the mechanical arm based on the obstacle sensing information and the real-time coordinates to obtain a corrected operation path and a corrected pose of the mechanical arm; and

[0193] Moving along the corrected operation path, during the moving, cleaning the corresponding skirting line based on the corrected pose using the cleaning tool.

[0194] In another possible implementation, after the cleaning of the corresponding skirting line based on the target skirting line, the method further includes:

[0195] Recycling the cleaning tool and the mechanical arm; and

[0196] Performing cleaning work on the ground adjacent to the skirting line.

[0197] In another possible implementation, the driving the mechanical arm to grab the cleaning tool includes:

[0198] The recycling of the cleaning tool and the mechanical arm includes:

[0199] Based on the mechanical arm, transporting and placing the cleaning tool at the base station of the automatic cleaning device; and

[0200] Recycling the mechanical arm to the inside of the automatic cleaning device.

[0201] According to another aspect of the embodiments of the present disclosure, there is provided a skirting line cleaning device configured on an automatic cleaning device, the automatic cleaning device being configured with a mechanical arm, the device comprising:

[0202] a response module configured to determine a target skirting line identifier in response to the obtained skirting line cleaning instruction, and drive the mechanical arm to grab the cleaning tool;

[0203] an adjustment module configured to determine a working path of the automatic cleaning device and a first pose of the mechanical arm according to position information and contour information corresponding to the target skirting line identifier, wherein the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool; and

[0204] a cleaning module configured to move along the working path, and clean the skirting line corresponding to the target skirting line identifier by using the cleaning tool based on the first pose during the movement.

[0205] According to another aspect of the embodiments of the present disclosure, there is provided a sweeping robot, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present disclosure.

[0206] According to another aspect of the embodiments of the present disclosure, there is provided a computer readable storage medium comprising a computer program stored thereon, wherein the computer program is executed by a processor to implement the steps of the method according to the first aspect of the embodiments of the present disclosure.

[0207] The technical solutions provided by the embodiments of the present disclosure have the following beneficial effects:

[0208] According to the embodiments of the present disclosure, the cleaning of the skirting line is achieved by grabbing the cleaning tool by the mechanical arm on the automatic cleaning device, the target skirting line identifier is determined in response to the skirting line cleaning instruction, the mechanical arm is driven to grab the cleaning tool, and the working path of the automatic cleaning device and the first pose of the mechanical arm are determined according to the position information and the contour information corresponding to the target skirting line identifier, so that the automatic cleaning device moves along the working path, and the cleaning tool is used to clean the skirting line based on the first pose during the movement. According to the embodiments of the present disclosure, the cleaning of the skirting line is achieved by adjusting the pose of the mechanical arm in combination with the path of the automatic cleaning device, the height and the angle of the cleaning tool can be adjusted based on different poses of the mechanical arm, the cleaning of the skirting line from multiple directions is achieved, the cleaning method can be adapted to skirting lines of different heights, and the cleaning efficiency is improved.

[0209] In the above description, detailed explanations are not given for the technical details such as the patterning of each layer. However, it will be understood by those skilled in the art that the layer, region, etc. of the desired shape can be formed by various technical means. In addition, a method different from the above-described method can be devised by those skilled in the art in order to form the same structure. In addition, although each embodiment is described above separately, this does not mean that the measures in each embodiment cannot be advantageously used in combination.

[0210] Although preferred embodiments of the present disclosure have been described, those skilled in the art who have the benefit of the present disclosure can make additional changes and modifications to these embodiments once the basic inventive concept is appreciated. Accordingly, it is intended that the appended claims be construed to include all such modifications and changes as fall within the true spirit and scope of the present disclosure.

[0211] Obviously, various modifications and changes can be made to the present disclosure by those skilled in the art without departing from the spirit and scope of the present disclosure. Accordingly, it is intended that the present disclosure include all such modifications and changes as fall within the scope of the claims and their equivalents.

Claims

1. A skirting line cleaning method applied to an automatic cleaning device, the automatic cleaning device comprising a mechanical arm, the method comprising: determining a target skirting line identifier in response to an obtained skirting line cleaning instruction, and driving the mechanical arm to grab a cleaning tool; determining a working path of the automatic cleaning device and a first pose of the mechanical arm according to position information and contour information corresponding to the target skirting line identifier, wherein the first pose is used to determine a cleaning height and a cleaning posture of the cleaning tool; and moving along the working path, and in the moving process, cleaning a skirting line corresponding to the target skirting line identifier by using the cleaning tool based on the first pose. The target skirting line identifier is determined based on the following manners: when it is determined that one skirting line identifier is obtained, the skirting line identifier is taken as the target skirting line identifier; and 2. The method of claim 1, wherein, when it is determined that at least two skirting line identifiers are obtained, a target skirting line identifier is selected from the at least two skirting line identifiers, wherein the distance between the skirting line corresponding to the target skirting line identifier and the automatic cleaning device is less than or equal to a preset first distance. The selection of the target skirting line identifier from the at least two skirting line identifiers comprises: obtaining position information corresponding to each of the skirting line identifiers and real-time position information of the automatic cleaning device; determining a relative distance between each of the position information and the real-time position information, respectively; 3. The method of claim 2, wherein, obtaining a skirting line identifier corresponding to a relative distance not greater than a first distance as a candidate identifier; when the number of the candidate identifiers is 1, the candidate identifier is taken as the target skirting line identifier; and when the number of the candidate identifiers is greater than 1, a relative direction between the position information of each candidate identifier and the real-time position information is determined, and the target skirting line identifier is selected from the candidate identifiers based on the relative direction. The automatic cleaning device further comprises an environment information sensor, and the method further comprises: when it is determined that a preset skirting line identifier is not obtained, collecting environment information based on the environment information sensor; and identifying a skirting line from the environment information, obtaining position information and contour information of the skirting line, creating a skirting line identifier, taking the position information and the contour information as associated information of the skirting line identifier, and storing the skirting line identifier and the associated information corresponding to the skirting line identifier.

4. The method of claim 2, wherein, After the cleaning of the skirting line corresponding to the target skirting line identifier, the method further comprises: adjusting the working path of the automatic cleaning device and the first pose of the mechanical arm to obtain a secondary working path and a second pose, wherein the second pose is used to determine a cleaning height and a cleaning posture of the cleaning tool; and moving along the secondary working path, and in the moving process, cleaning the skirting line corresponding to the target skirting line identifier by using the cleaning tool based on the second pose.

5. The method of claim 1, wherein, The cleaning of the skirting line corresponding to the target skirting line identifier by using the cleaning tool based on the second pose in the moving process along the secondary working path comprises: ​ ​ 6. The method of claim 5, wherein, ​ Moving along the secondary operation path, and in the process of moving, performing ground cleaning work, and at the same time, based on the second pose, using the cleaning tool to clean the corresponding skirting line identified by the target skirting line.

7. The method of claim 1, wherein, The automatic cleaning device further comprises an obstacle sensor, and the moving along the operation path, and in the process of moving, based on the first pose, using the cleaning tool to clean the corresponding skirting line identified by the target skirting line comprises: When the automatic cleaning device does not encounter an obstacle in the operation path, moving along the operation path, and in the process of moving, based on the first pose, using the cleaning tool to clean the corresponding skirting line identified by the target skirting line; When the automatic cleaning device encounters an obstacle in the operation path, obtaining real-time coordinates of the automatic cleaning device, and obtaining obstacle sensing information from the obstacle sensor; Based on the obstacle sensing information and the real-time coordinates, adjusting the operation path and the pose of the mechanical arm to obtain a corrected operation path and a corrected pose of the mechanical arm; and Moving along the corrected operation path, and in the process of moving, based on the corrected pose, using the cleaning tool to clean the corresponding skirting line identified by the skirting line.

8. The method of claim 1, wherein, After the cleaning of the corresponding skirting line identified by the target skirting line, the method further comprises: Recycling the cleaning tool and the mechanical arm; and Performing cleaning work on the ground adjacent to the skirting line.

9. The method of claim 8, wherein, The driving the mechanical arm to grab the cleaning tool comprises driving the mechanical arm to grab the cleaning tool from the automatic cleaning device base station; The recycling the cleaning tool and the mechanical arm comprises: Based on the mechanical arm, transporting and placing the cleaning tool in the automatic cleaning device base station; and Recycling the mechanical arm to the inside of the automatic cleaning device. 10.A skirting line cleaning device configured in an automatic cleaning device, wherein the automatic cleaning device is configured with a mechanical arm, and the skirting line cleaning device comprises: a response module configured to determine a target skirting line identifier in response to the obtained skirting line cleaning instruction, and drive the mechanical arm to grab a cleaning tool; an adjustment module configured to determine an operation path of the automatic cleaning device and a first pose of the mechanical arm according to position information and contour information corresponding to the target skirting line identifier; wherein the first pose is used to determine a cleaning height and a cleaning pose of the cleaning tool; and a cleaning module configured to move along the operation path, and in the process of moving, based on the first pose, use the cleaning tool to clean the corresponding skirting line identified by the target skirting line. A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-9.

11. A robotic vacuum cleaner comprising: 12.A storage medium comprising a computer program stored thereon, wherein the program is executable by a processor to implement the steps of the method of any one of claims 1-9. ​

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