Cleaning method and apparatus, and self-moving cleaning device and storage medium

Abstract

Provided are a cleaning method and apparatus, and a self-moving cleaning device and a computer-readable storage medium. The cleaning method comprises: acquiring environmental sensing information of the environment where a self-moving cleaning device which is engaged in floor cleaning operation is located, and on the basis of the environmental sensing information, identifying an obstacle in the environment and the type of the obstacle (S101); if the type of the obstacle matches preset obstacle database data, determining a carrying mode of a robotic arm for the obstacle, and on the basis of the carrying mode, performing a carrying operation on the obstacle (S102); and cleaning a floor region that was covered by the obstacle before the carrying operation, and / or a target region which surrounds the outside of the floor region that was covered by the obstacle before the carrying operation and is smaller than a preset area (S103).

Description

Cleaning method and device, self-moving cleaning device, and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024110887994, filed on August 8, 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 cleaning method, device, self-moving cleaning device, and storage medium. BACKGROUND

[0004] With the development of people's demand for high-quality home appliances and smart home, intelligent home appliances, as an important part of smart home, have developed rapidly. Intelligent home appliances are home appliances formed by introducing microprocessors, sensor technology, and network communication technology into home appliances, which have the functions of automatically sensing the state of the residence space and the state of the home appliances and the state of the home appliance service, and can automatically control and receive control instructions from the residence user in the residence or remotely. In intelligent home appliances, the sweeping robot, as a small household appliance, is increasingly popular with users.

[0005] The sweeping robot generally uses brushing and vacuuming to absorb the ground debris into its own garbage collection 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, and straight-line cleaning, and is assisted by side brushes, central main brushes, and mops to enhance the cleaning effect and achieve the effect of humanized home cleaning.

[0006] In related technologies, when the sweeping robot encounters an obstacle during cleaning, it will avoid the obstacle, i.e., the operation path will bypass the obstacle to successfully complete the overall ground cleaning, but it cannot clean the ground area covered by the obstacle, resulting in low ground cleaning coverage. SUMMARY

[0007] The present disclosure provides a cleaning method, device, self-moving cleaning device, and storage medium to solve the problem of low ground cleaning coverage of cleaning devices in related technologies.

[0008] According to a first aspect of the present disclosure, a cleaning method is provided, which can be applied to a self-cleaning device configured with a mechanical arm, and the method comprises: obtaining environmental sensing information of an environment in which a self-moving cleaning device is located in a ground cleaning operation, and identifying an obstacle in the environment and a type of the obstacle according to the environmental sensing information; if the type of the obstacle matches preset obstacle database data, determining a carrying mode of the mechanical arm for the obstacle, and performing a carrying operation on the obstacle based on the carrying mode; and cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation.

[0009] According to a second aspect of the present disclosure, a cleaning device is provided, which is applied to a self-moving cleaning device configured with a mechanical arm, and the device comprises: an identification module configured to obtain environmental sensing information of an environment in which a self-moving cleaning device is located in a ground cleaning operation, and identify an obstacle in the environment and a type of the obstacle according to the environmental sensing information; a carrying module configured to determine a carrying mode of the mechanical arm for the obstacle if the type of the obstacle matches preset obstacle database data, and perform a carrying operation on the obstacle based on the carrying mode; and a cleaning module configured to clean a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation.

[0010] According to a third aspect of the present disclosure, a self-moving cleaning device is provided, which comprises: 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 shown in the first aspect of the present disclosure.

[0011] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method shown in the first aspect of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0012] 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. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] FIG. 1 is a structural schematic diagram of a self-moving cleaning device according to some embodiments of the present disclosure;

[0014] FIG. 2 is a flowchart of a cleaning method according to some embodiments of the present disclosure;

[0015] FIG. 3 is a schematic diagram of sensing identification in a cleaning method according to some embodiments of the present disclosure;

[0016] FIG. 4 is a schematic diagram of a target area in a cleaning method according to some embodiments of the present disclosure;

[0017] FIG. 5 is a schematic diagram of a transfer mode in a cleaning method according to some embodiments of the present disclosure;

[0018] FIG. 6 is a schematic diagram of a push mode in a cleaning method according to some embodiments of the present disclosure;

[0019] FIG. 7 is a flowchart of a cleaning method according to some other embodiments of the present disclosure;

[0020] FIG. 8 is a schematic diagram of a cleaning device according to some embodiments of the present disclosure. Embodiments of the present disclosure

[0021] 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. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present disclosure.

[0022] In the drawings, various schematic 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 sizes and positional relationships between them shown in the drawings are merely exemplary, and in actuality can deviate due to manufacturing tolerances or technical limitations, and regions / layers having different shapes, sizes, and relative positions can be additionally designed by those skilled in the art as needed.

[0023] In the context of the present disclosure, when a layer / element is referred to as being located "on" another layer / element, the layer / element can be directly on the other layer / element, or an intervening layer / element can be present therebetween. In addition, if a layer / element is located "on" another layer / element in one orientation, it can be located "under" the other layer / element when the orientation is reversed.

[0024] First, the terms involved in the present disclosure are explained:

[0025] Self-moving cleaning device: a robot developed based on a conventional sweeping and mopping robot chassis and a mechanical arm, which can clean the floor, arrange floor items, and clean the skirting line. As shown in FIG. 1, the self-moving cleaning device can include two moving parts:

[0026] (1) The lower part is a chassis with a walking mechanism that can move along a plane, move up and down relative to the plane, and turn in the plane. The walking mechanism can be wheeled or tracked, etc.

[0027] (2) The upper part is a multi-degree-of-freedom mechanical arm module. For example, the mechanical arm module shown in FIG. 1 includes M0, M1, M2, and M3 four mechanical joints, which are configured on the chassis.

[0028] The two moving parts cooperate to achieve the function of the self-moving cleaning device. The cleaning method of the present disclosure can be applied to the self-moving cleaning device.

[0029] When a traditional sweeping and mopping robot performs a ground cleaning task, it often encounters many obstacles on the moving route. A sweeping and mopping robot with an obstacle avoidance function will actively avoid obstacles and maintain a certain distance while moving, reducing collisions and scratches. However, this will result in missed sweeping of the bottom and surrounding ground of the obstacles, resulting in low cleaning coverage of the sweeping and mopping robot in a complex environment with many obstacles.

[0030] Based on the above technical problems, some embodiments of the present disclosure use a mechanical arm configured on a self-moving cleaning device to perform a carrying operation on an obstacle, thereby completing the cleaning of the ground area covered by the obstacle before the carrying operation. This effectively improves the cleaning coverage and enhances the user experience.

[0031] In the following, the technical solutions of the present disclosure and how the technical solutions 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 may not be described again in some embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0032] A cleaning method is provided in the embodiments of the present disclosure, as shown in FIG. 2, which can be applied to a self-moving cleaning device. The method includes steps S101 to S103.

[0033] In step S101, environmental sensing information of an environment in which a self-moving cleaning device is located is obtained, and an obstacle in the environment and the type of the obstacle are identified according to the environmental sensing information.

[0034] In some embodiments, the self-moving cleaning device described above can include a sweeping robot, a sweeping and mopping robot, a mopping robot, etc. The following will be described in detail with a sweeping robot as an example. The above-mentioned environmental sensing information can be environmental sensing information within a predetermined range of the moving direction of the self-moving cleaning device;

[0035] In some embodiments, the self-moving cleaning device can acquire environmental sensing information of the environment in which the self-moving cleaning device is located based on the acquired mechanical arm assisted cleaning instruction, and identify obstacles in the environment and the types of the obstacles according to the environmental sensing information. In some embodiments, the identified obstacles include, but are not limited to, obstacles located in the cleaning path of the self-moving cleaning device. The identified obstacles can include all objects placed on the ground within a preset range of the moving orientation of the self-moving cleaning device. As shown in FIG. 3, region B is the sensing and identifying range of the moving orientation of the self-moving cleaning device; region A is the cleaning range of the cleaning path; region B includes, but is not limited to, region A; the objects placed on the ground within the preset range of the moving orientation of the self-moving cleaning device; and the objects placed on the ground include obstacle 1 and obstacle 2.

[0036] In some embodiments, the above-mentioned mechanical arm assisted cleaning instruction can be sent from a user terminal, can also be triggered by a user voice message, and can also be automatically generated by the self-moving cleaning device based on the identification of signal obstruction by the environmental sensor. The above-mentioned environmental sensor can be a laser sensor, an infrared sensor, an image sensor, etc., which is not specifically limited in the embodiments of the present disclosure.

[0037] In step S102, if the type of the above-mentioned obstacle matches the preset obstacle database data, the carrying mode of the mechanical arm for the obstacle is determined, and the carrying operation is performed on the obstacle based on the carrying mode.

[0038] In some embodiments, the preset obstacle database can be constructed by the user based on the home environment. The data contained in the database can be movable obstacles on the ground of the user's home. The self-moving cleaning device can carry the movable obstacles based on the mechanical arm to clean the ground area covered by the obstacles before the obstacles are carried.

[0039] In some embodiments, the user can construct a personalized obstacle database based on the home environment. When the user's home has children, the obstacle database can include toy data; when the user's home has a collector, the data of the collectible figurine on the ground can be entered into the obstacle database.

[0040] In step S103, the ground area covered by the obstacle before the carrying operation, and / or the target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation is cleaned.

[0041] In some embodiments, the above-mentioned preset area can be determined based on the side brush, the body diameter or the cleaning range of the sweeping robot, etc. The inner edge of the target area of the preset area can be as close as possible to the ground area covered by the obstacle before the carrying operation, so as to achieve a larger cleaning coverage.

[0042] As shown in FIG. 4, when the obstacle is a circular vase, the ground area covered by the obstacle before the carrying operation is a circular area 1, and the corresponding target area is an annular shaded area surrounding the area 1.

[0043] In the embodiments of the present disclosure, the carrying operation of the obstacle by the mechanical arm includes: acquiring environmental sensing information of an environment in which the self-moving cleaning device is located in a ground cleaning operation, and identifying the obstacle and the type of the obstacle in the environment according to the environmental sensing information; if the type of the obstacle matches the preset obstacle database data, determining a carrying mode of the mechanical arm for the obstacle, and performing a carrying operation on the obstacle based on the carrying mode; and then cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area surrounding the ground area covered by the obstacle before the carrying operation. In the embodiments of the present disclosure, the mechanical arm arranged on the self-moving cleaning device is used to perform the carrying operation on the obstacle, so as to complete the cleaning work of the ground area covered by the obstacle before the carrying operation, thereby effectively improving the cleaning coverage and improving the user experience.

[0044] In the embodiments of the present disclosure, a possible implementation is provided, and if the type of the obstacle matches the preset obstacle database data, the carrying mode of the mechanical arm for the obstacle includes steps S201 to S202.

[0045] In step S201, if the type of the obstacle matches the preset obstacle database data, the contour information of the obstacle is acquired.

[0046] In some embodiments, if the identified type of the obstacle exists in the preset obstacle database, the type of the obstacle matches the obstacle database data, and the contour information of the obstacle can be acquired from the environmental sensing information.

[0047] In step S202, when it is determined based on the contour information that the obstacle has no circuit and waterway connection, the carrying mode of the mechanical arm for the obstacle is determined.

[0048] In the embodiments of the present disclosure, when it is determined based on the contour information that the obstacle has no circuit and waterway connection, the carrying mode of the mechanical arm for the obstacle is determined so as to perform the carrying operation on the obstacle. In some embodiments, the carrying mode can be determined based on the weight, type or covered ground area of the obstacle. Different obstacles can match different carrying modes, and the same type of obstacle can also match different carrying modes in different situations. The carrying mode will be described in detail below.

[0049] In some embodiments, when the circuit or water connection of the obstacle is determined based on the contour information, the robot cleaner can clean a target area smaller than a preset area outside the ground area covered by the obstacle; for example, a toy placed on the ground is being charged, and the robot cleaner can clean the toy by obstacle avoidance without moving the toy.

[0050] In the embodiments of the present disclosure, the contour information of the obstacle is analyzed, and when it is determined that the obstacle has no circuit or water connection, the moving mode of the robot arm for the obstacle is determined to drive the robot arm to move the obstacle. When it is determined that the obstacle has a circuit or water connection, the obstacle is not moved to avoid affecting the water and electricity connection of the obstacle, thereby ensuring the effectiveness and safety of the self-moving cleaning device during cleaning.

[0051] In the embodiments of the present disclosure, a possible implementation is provided, and the moving mode of the robot arm for the obstacle includes steps S301-S303.

[0052] In step S301, the weight information corresponding to the obstacle is obtained from the obstacle database.

[0053] In some embodiments, the weight information can be a weight label of the obstacle; for example, when the obstacle is a cloth doll, the corresponding weight information can be "loadable obstacle"; when the obstacle is a metal statue, the corresponding weight information can be "overload obstacle".

[0054] In some embodiments, the weight information can also be a weight range of the obstacle; for example, when the obstacle is identified as a sandal, the general weight range of the sandal is 200-300g, and the weight information of the sandal can be "200-300g"; when the obstacle is identified as a cotton boot, the general weight range of the cotton boot is 500-600g, and the weight information of the cotton boot can be "500-600g".

[0055] In step S302, when the weight information is within the load range of the robot arm, the robot arm is driven to clamp the obstacle.

[0056] In some embodiments, the upper limit of the load of the robot arm can be set to 500g, when the obstacle is identified as a sandal, the weight information of the sandal can be "200-300g", and the weight of the sandal is within the load range of the robot arm, and the sandal can be clamped; when the obstacle is identified as a cotton boot, the weight information of the cotton boot can be "500-600g", and the weight of the cotton boot exceeds the load range of the robot arm, and the cotton boot is not clamped.

[0057] In step S303, when no motor overcurrent occurs in the mechanical arm during the clamping process, the position coordinates of the obstacle are obtained, and the carrying mode of the mechanical arm is determined based on the position coordinates of the obstacle.

[0058] In the embodiments of the present disclosure, the self-moving cleaning device can first obtain the weight information corresponding to the obstacle from the obstacle database. When it is determined based on the weight information that the obstacle is within the load range of the mechanical arm, the mechanical arm can be driven to attempt to clamp the obstacle. When motor overcurrent occurs in the mechanical arm during the clamping process, it is proved that the mechanical arm cannot successfully grasp the obstacle, for example, a toy within the load range is glued to the ground by a child. When no motor overcurrent occurs in the mechanical arm during the clamping process, the carrying operation can be further performed based on the position of the obstacle, and the confirmation of the carrying mode will be specifically described below.

[0059] The embodiments of the present disclosure determine whether the obstacle can be carried by the weight information of the obstacle and the motor state during clamping of the obstacle in steps, further improve the reliability and stability of the obstacle carrying of the mechanical arm, and effectively improve the user experience.

[0060] In the embodiments of the present disclosure, a possible implementation manner is provided, and the determination of the carrying mode of the mechanical arm based on the position coordinates of the obstacle can include:

[0061] When the position coordinates are in the working path of the self-moving cleaning device, the carrying mode is determined as a moving mode.

[0062] The carrying operation of the obstacle based on the carrying mode includes:

[0063] According to the determined moving mode, the mechanical arm is driven to lift and move the obstacle to the recorded cleaned ground area.

[0064] As shown in FIG. 5, when the obstacle is a toy car, the clamping jaw at the end of the mechanical arm can change the direction and length, grasp and lift the toy car, and then move it to the recorded cleaned ground area.

[0065] In the embodiments of the present disclosure, the carrying mode of the mechanical arm is determined based on the position coordinates of the obstacle. When the position coordinates of the obstacle are in the working path of the self-moving cleaning device, the obstacle can be lifted and moved to the recorded cleaned ground area based on the moving mode, and then the self-moving cleaning device can return to the working path to continue the cleaning task, so that the self-moving cleaning device cleans the target area not less than the preset area outside the ground covered before the obstacle is carried and the area covered by the obstacle before the obstacle is carried in the original planned working path. The above cleaning method does not affect the working path planning of the self-moving cleaning device, and effectively improves the ground cleaning efficiency.

[0066] The present disclosure provides a possible implementation manner, and the carrying mode of the robot arm is determined based on the position coordinates of the obstacle, which can include:

[0067] When the position coordinates are not in the working path of the self-moving cleaning device, the carrying mode is determined as the lifting mode.

[0068] The carrying operation on the obstacle based on the carrying mode can include:

[0069] According to the lifting mode, the robot arm is driven to lift the obstacle.

[0070] In some embodiments, the robot arm can perform cleaning work while lifting the obstacle, and the obstacle is placed back to the original position after the bottom and the surrounding ground are cleaned before the obstacle is carried. Details will be described below.

[0071] The present disclosure provides a possible implementation manner, and the present disclosure provides a possible implementation manner, and the ground area covered by the obstacle before the carrying operation, and / or the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation can be cleaned after the carrying operation.

[0072] The robot arm is driven to place the obstacle back to the ground area covered before the carrying operation.

[0073] In other embodiments, after the obstacle is placed back, the self-moving cleaning device can continue to complete the cleaning task based on the working path.

[0074] The present disclosure sets the lifting mode to lift the obstacle that is not in the working path of the self-moving cleaning device, and after the obstacle is lifted, the ground area covered by the obstacle before the carrying operation, and / or the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation can be cleaned, that is, the present disclosure can clean the ground covered by the obstacle and the surrounding ground while lifting the obstacle, and after the cleaning is completed, the obstacle is placed back to the original position, and the subsequent self-moving cleaning device can continue the cleaning task of the original working path. Since the obstacle does not affect the working path of the self-moving cleaning device, it can be lifted and cleaned for a short time and then placed down, so that the area that cannot be covered by the original working path is cleaned, and the obstacle ground is avoided to be missed.

[0075] The present disclosure provides a possible implementation manner, and when the weight information is within the load range of the robot arm, the cleaning method can further include:

[0076] When motor overcurrent occurs in the clamping process of the robot arm, the carrying mode is determined as the pushing mode.

[0077] The carrying operation on the obstacle based on the carrying mode can include:

[0078] According to the determined pushing mode, the driving mechanical arm pushes the obstacle to the recorded clean ground area.

[0079] As shown in FIG. 6, when the obstacle is a Christmas tree model toy, but is filled with water, the mechanical arm will cause motor overcurrent during the clamping process, and the mechanical arm can be driven to push the Christmas tree model toy to the clean ground area.

[0080] In some embodiments, after driving the mechanical arm to push the obstacle to the recorded clean ground area, the self-moving cleaning device can perform cleaning on the ground area covered by the obstacle before the carrying operation and / or on a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation based on the cleaning task of the original working path and in a subsequent cleaning task.

[0081] After the cleaning task is completed, the self-moving cleaning device can also return to the vicinity of the obstacle and push the obstacle back to the ground area covered by the obstacle before the carrying operation.

[0082] The present disclosure can further improve the coverage rate of ground cleaning by setting the pushing mode of the obstacle, which can handle obstacles with greater weight, unlike the simple obstacle avoidance cleaning mode in the prior art.

[0083] In an embodiment of the present disclosure, a possible implementation is provided. After identifying the obstacle in the environmental sensing information, the above cleaning method can further include:

[0084] If the type of the obstacle does not match the preset obstacle database data, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area around the ground area covered by the obstacle.

[0085] In some embodiments, when the type of the obstacle does not match the obstacle database data, for example, the obstacle is a sock which is not entered into the obstacle database by the user, the robot cleaner can issue a data mismatch voice prompt and perform obstacle avoidance cleaning on the sock. When the user receives the voice prompt, the user can put away the sock or enter the data of the sock into the obstacle database to facilitate subsequent cleaning operations of the robot cleaner.

[0086] In an embodiment of the present disclosure, a possible implementation is provided. The cleaning on the ground area covered by the obstacle before the carrying operation and / or on a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation can include:

[0087] When the carrying operation is successfully executed, the ground area covered by the obstacle before the carrying operation and a target area smaller than a preset area outside the ground area covered by the obstacle before the carrying operation are cleaned;

[0088] When the carrying operation is not successfully executed, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area outside the ground area covered by the obstacle.

[0089] In the embodiments of the present disclosure, the carrying operation can fail due to the state of the obstacle. For example, when a sandal is carried, the carrying operation fails due to an iron block placed in the sandal, which causes the sandal to be overweight. The self-moving cleaning device can be driven to bypass the obstacle to perform obstacle avoidance cleaning, and then continue the cleaning task of the original work path. In addition, the weight information of the sandal can be set to be greater than 500 g based on the execution result of the carrying operation. Therefore, the carrying mode of the obstacle can be changed or the obstacle can be directly not carried during the next cleaning, so as to improve the cleaning efficiency.

[0090] In other embodiments, the carrying operation can also fail due to mechanical failure or power saving mode. When the carrying operation fails to be executed, the self-moving cleaning device can be driven to bypass the obstacle to perform obstacle avoidance cleaning, and then continue the cleaning task of the original work path. When the carrying operation is successfully executed, the ground and surrounding area before the carrying of the obstacle can be cleaned, and then the cleaning task of the original work path is continued. The present disclosure determines different ground cleaning modes based on the execution result of the carrying operation, so as to further improve the efficiency of ground cleaning.

[0091] In order to better understand the above cleaning method, an example of a cleaning method of the present disclosure is described in detail below in combination with FIG. 7. The method includes the following steps S401-S407.

[0092] In step S401, the robot 702 starts the ground cleaning work along the planned work path, and the user terminal 701 sends a robotic arm assisted cleaning instruction.

[0093] In step S402, in response to the robotic arm assisted cleaning instruction, the environment sensing information of the moving position of the robot 602 in the ground cleaning work is acquired, and the obstacle and the type of the obstacle are identified according to the environment sensing information.

[0094] In step S403, if the type of the obstacle matches the preset obstacle database data, i.e., the obstacle is an identifiable obstacle, the weight information corresponding to the obstacle is obtained from the obstacle database.

[0095] If the obstacle is not an identifiable obstacle, the obstacle is cleaned by obstacle avoidance.

[0096] In step S404, when the weight information is within the load range of the mechanical arm, the mechanical arm is driven to pick up the obstacle;

[0097] When the weight information is not within the load range of the mechanical arm, it is determined that the carrying mode of the mechanical arm for the obstacle is a pushing mode; according to the determined pushing mode, the mechanical arm is driven to push the obstacle to the recorded clean ground area.

[0098] In step S405, when the motor overload occurs when the mechanical arm picks up the obstacle, it is determined that the carrying mode of the mechanical arm for the obstacle is a pushing mode; according to the determined pushing mode, the mechanical arm is driven to push the obstacle to the recorded clean ground area.

[0099] When no motor overload occurs when the mechanical arm picks up the obstacle, the position coordinates of the obstacle are obtained.

[0100] In step S406, when the position coordinates are in the working path of the self-moving cleaning device, it is determined that the carrying mode is a moving mode; according to the determined moving mode, the mechanical arm is driven to lift and move the obstacle to the recorded clean ground area.

[0101] When the position coordinates are not in the working path of the self-moving cleaning device, it is determined that the carrying mode is a lifting mode; according to the lifting mode, the mechanical arm is driven to lift the obstacle. The ground area covered by the obstacle before the carrying operation and the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation are cleaned in the lifting state; then the mechanical arm is driven to put the obstacle back to the ground area covered before the carrying operation.

[0102] In step S407, when the above carrying operation is successfully executed, the cleaning work is continued based on the original working path;

[0103] When the above carrying operation is not successfully executed, the self-moving cleaning device is driven to bypass the obstacle and continue the cleaning work based on the original working path.

[0104] The embodiments of the present disclosure provide a cleaning device, which can be configured in a self-moving cleaning device, and the self-moving cleaning device is provided with a mechanical arm. As shown in FIG. 8, the cleaning device 80 can include an identification module 801, a carrying module 802 and a cleaning module 803.

[0105] In some embodiments, the identification module 801 is configured to obtain environmental sensing information of an environment in which a self-moving cleaning device is located in a ground cleaning operation, and identify an obstacle in the environment and a type of the obstacle according to the environmental sensing information.

[0106] The carrying module 802 is configured to determine a carrying mode of the robot arm for the obstacle if the type of the obstacle matches the preset obstacle database data, and perform a carrying operation on the obstacle based on the carrying mode.

[0107] The cleaning module 803 is configured to clean a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area outside the ground area covered by the obstacle before the carrying operation.

[0108] In an embodiment of the present disclosure, a possible implementation manner of the carrying module 802 is provided. When the carrying module 802 determines the carrying mode of the robot arm for the obstacle if the type of the obstacle matches the preset obstacle database data, the carrying module 802 is configured to:

[0109] If the type of the obstacle matches the preset obstacle database data, the carrying module 802 is configured to acquire contour information of the obstacle.

[0110] When it is determined that the obstacle has no circuit and waterway connection based on the contour information, the carrying module 802 is configured to determine the carrying mode of the robot arm for the obstacle.

[0111] In an embodiment of the present disclosure, a possible implementation manner of the carrying module 802 is provided. When the carrying module 802 determines the carrying mode of the robot arm for the obstacle, the carrying module 802 is configured to:

[0112] The carrying module 802 is configured to acquire weight information corresponding to the obstacle from an obstacle database.

[0113] When the weight information is within a load range of the robot arm, the carrying module 802 is configured to drive the robot arm to pick up the obstacle.

[0114] When no motor overcurrent occurs in the robot arm during the picking-up process, the carrying module 802 is configured to acquire position coordinates of the obstacle, and determine the carrying mode of the robot arm based on the position coordinates of the obstacle.

[0115] In an embodiment of the present disclosure, a possible implementation manner of the carrying module 802 is provided. When the carrying module 802 determines the carrying mode of the robot arm based on the position coordinates of the obstacle, the carrying module 802 is configured to:

[0116] When the position coordinates are in a working path of the self-moving cleaning device, the carrying module 802 is configured to determine that the carrying mode is a transfer mode.

[0117] When the carrying module 802 performs the carrying operation on the obstacle based on the carrying mode, the carrying module 802 is configured to:

[0118] According to the determined moving mode, the carrying module 802 is configured to drive the robot arm to lift the obstacle and transfer the obstacle to a recorded cleaned ground area.

[0119] In an embodiment of the present disclosure, a possible implementation is provided. The carrying module 802 is configured to:

[0120] When the position coordinate is not in the working path of the self-moving cleaning device, the carrying mode is determined as the lifting mode.

[0121] The carrying module 802 is configured to:

[0122] According to the lifting mode, the robot arm is driven to lift the obstacle.

[0123] In an embodiment of the present disclosure, a possible implementation is provided. The cleaning module 803 is configured to:

[0124] The robot arm is driven to put the obstacle back to the ground area covered by the obstacle before the carrying operation.

[0125] In an embodiment of the present disclosure, a possible implementation is provided. The carrying module 802 is configured to:

[0126] When the motor overcurrent occurs in the clamping process of the robot arm, the carrying mode is determined as the pushing mode.

[0127] The carrying module 802 is configured to:

[0128] According to the determined pushing mode, the robot arm is driven to push the obstacle to the recorded cleaned ground area.

[0129] In an embodiment of the present disclosure, a possible implementation is provided. The carrying module 802 is further configured to:

[0130] If the type of the obstacle does not match the preset obstacle database data, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area around the ground area covered by the obstacle.

[0131] In an embodiment of the present disclosure, a possible implementation is provided. The cleaning module 803 is configured to:

[0132] When the carrying operation is successfully executed, the ground area covered by the obstacle before the carrying operation and a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation are cleaned;

[0133] When the carrying operation is not successfully executed, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area around the ground area covered by the obstacle.

[0134] The apparatuses of 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 correspond 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, which will not be repeated here.

[0135] The embodiments of the present disclosure achieve the carrying operation of the obstacle by the mechanical arm: environmental sensing information of an environment in which a self-moving cleaning device is located is acquired, and an obstacle in the environment and a type of the obstacle are identified according to the environmental sensing information; if the type of the obstacle matches preset obstacle database data, a carrying mode of the mechanical arm for the obstacle is determined, and a carrying operation of the obstacle is performed based on the carrying mode; then, a ground area covered by the obstacle before the carrying operation and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation are cleaned. The embodiments of the present disclosure perform the carrying operation of the obstacle by the mechanical arm configured on the self-moving cleaning device, to complete the cleaning work of the ground area covered by the obstacle before the carrying operation, effectively improve the cleaning coverage, and improve the user experience.

[0136] The embodiments of the present disclosure provide a movable cleaning device, including 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 cleaning method, which can realize the following compared with the related art: the embodiments of the present disclosure realize the carrying operation on the obstacle through the mechanical arm, the carrying operation is: obtaining environmental sensing information of an environment in which a self-moving cleaning device is located in a ground cleaning operation, and identifying the obstacle and the type of the obstacle in the environment according to the environmental sensing information; if the type of the obstacle matches the preset obstacle database data, a carrying mode of the mechanical arm for the obstacle is determined, and the carrying operation is performed on the obstacle based on the carrying mode; and then the ground area covered by the obstacle before the carrying operation and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation is cleaned. The embodiments of the present disclosure realize the carrying operation on the obstacle through the mechanical arm arranged on the self-moving cleaning device, so as to complete the cleaning work of the ground area covered by the obstacle before the carrying operation, effectively improve the cleaning coverage, and improve the user experience.

[0137] The embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program, 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.

[0138] In the above description, the technical details such as the composition of each layer are not described in detail. However, those skilled in the art should understand that the layers, regions and the like with the required shape can be formed by various technical means. In addition, those skilled in the art can also design methods that are not exactly the same as the methods described above in order to form the same structure. In addition, although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination.

[0139] According to some embodiments of the present disclosure, a cleaning method, device, self-moving cleaning device and storage medium are provided to solve the problem of low ground cleaning coverage of the cleaning device in the prior art.

[0140] According to an aspect of the present application, a cleaning method is provided, which can be applied to a self-cleaning device configured with a mechanical arm, and the method comprises:

[0141] Obtaining environmental sensing information of an environment in which a self-moving cleaning device is located in a ground cleaning operation, and identifying the obstacle and the type of the obstacle in the environment according to the environmental sensing information;

[0142] If the type of the obstacle matches the preset obstacle database data, a carrying mode of the mechanical arm for the obstacle is determined, and the carrying operation is performed on the obstacle based on the carrying mode;

[0143] cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area outside the ground area covered by the obstacle before the carrying operation.

[0144] In a possible implementation, the carrying mode of the robot arm for the obstacle is determined if the category of the obstacle matches the preset obstacle database data, including:

[0145] If the category of the obstacle matches the preset obstacle database data, the contour information of the obstacle is obtained.

[0146] When it is determined based on the contour information that the obstacle has no circuit and waterway connection, the carrying mode of the robot arm for the obstacle is determined.

[0147] In a possible implementation, the carrying mode of the robot arm for the obstacle is determined, including:

[0148] The weight information corresponding to the obstacle is obtained from the obstacle database.

[0149] When the weight information is within the load range of the robot arm, the robot arm is driven to clamp the obstacle.

[0150] When no motor overcurrent occurs in the clamping process of the robot arm, the position coordinates of the obstacle are obtained, and the carrying mode of the robot arm is determined based on the position coordinates of the obstacle.

[0151] In another possible implementation, the carrying mode of the robot arm is determined based on the position coordinates of the obstacle, including:

[0152] When the position coordinates are in the working path of the self-moving cleaning device, the carrying mode is determined as a transfer mode.

[0153] The carrying operation on the obstacle is performed based on the carrying mode, including:

[0154] According to the determined moving mode, the robot arm is driven to lift the obstacle and transfer it to the recorded cleaned ground area.

[0155] In another possible implementation, the carrying mode of the robot arm is determined based on the position coordinates of the obstacle, including:

[0156] When the position coordinates are not in the working path of the self-moving cleaning device, the carrying mode is determined as a lifting mode.

[0157] The carrying operation on the obstacle is performed based on the carrying mode, including:

[0158] According to the lifting mode, the robot arm is driven to lift the obstacle.

[0159] In another possible implementation, after the ground area covered by the obstacle before the carrying operation and / or the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation is cleaned, the method comprises:

[0160] driving the mechanical arm to put the obstacle back to the ground area covered before the carrying operation.

[0161] In another possible implementation, after the driving of the mechanical arm to pick up the obstacle when the weight information is within the load range of the mechanical arm, the cleaning method further comprises:

[0162] when motor overcurrent occurs in the picking-up process of the mechanical arm, determining that the carrying mode is the pushing mode;

[0163] carrying the obstacle according to the carrying mode, comprising:

[0164] according to the determined pushing mode, driving the mechanical arm to push the obstacle to the recorded cleaned ground area.

[0165] In another possible implementation, after the obstacle is identified in the environment sensing information, the cleaning method further comprises:

[0166] if the type of the obstacle does not match the preset obstacle database data, driving the self-moving cleaning device to bypass the obstacle and clean the target area smaller than the preset area around the ground area covered by the obstacle.

[0167] In another possible implementation, after the ground area covered by the obstacle before the carrying operation and / or the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation is cleaned, the method comprises:

[0168] when the carrying operation is successfully executed, the ground area covered by the obstacle before the carrying operation and the target area smaller than the preset area around the ground area covered by the obstacle before the carrying operation are cleaned;

[0169] when the carrying operation is not successfully executed, driving the self-moving cleaning device to bypass the obstacle and clean the target area smaller than the preset area around the ground area covered by the obstacle.

[0170] According to another aspect of the embodiments of the present application, a cleaning device is provided, which is applied to a self-moving cleaning device configured with a mechanical arm, and the device comprises:

[0171] The identification module is configured to acquire environmental sensing information of an environment in which the self-moving cleaning device is located in a ground cleaning operation, and identify an obstacle in the environment and a type of the obstacle according to the environmental sensing information.

[0172] The carrying module is configured to determine a carrying mode of the mechanical arm for the obstacle if the type of the obstacle matches the preset obstacle database data, and perform a carrying operation on the obstacle based on the carrying mode.

[0173] The cleaning module is configured to clean a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation.

[0174] According to another aspect of the present application, a self-moving cleaning device is provided, which comprises a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method according to the first aspect of the present application.

[0175] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method according to the first aspect of the present application.

[0176] The technical scheme provided by the present application has the following beneficial effects:

[0177] The cleaning method, device, self-moving cleaning device, and storage medium provided by the present application can realize carrying operation on the obstacle by the mechanical arm, specifically: acquiring environmental sensing information of an environment in which the self-moving cleaning device is located in a ground cleaning operation, and identifying an obstacle in the environment and a type of the obstacle according to the environmental sensing information; if the type of the obstacle matches the preset obstacle database data, determining a carrying mode of the mechanical arm for the obstacle, and performing a carrying operation on the obstacle based on the carrying mode; and then cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation. The present application realizes carrying operation on the obstacle by the mechanical arm configured on the self-moving cleaning device, to complete the cleaning work of the ground area covered by the obstacle before the carrying operation, effectively improves the cleaning coverage, and improves the user experience.

[0178] Although the preferred embodiments of the present disclosure have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all changes and modifications falling within the scope of the present disclosure.

[0179] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed embodiments without departing from the spirit or scope of the disclosure. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided they come within the scope of the appended claims and their equivalents.

Claims

1. A cleaning method applied to a self-moving cleaning device, the self-moving cleaning device being configured with a mechanical arm, the cleaning method comprising: obtaining environmental sensing information of an environment in which the self-moving cleaning device is located in a ground cleaning operation, and identifying an obstacle in the environment and a type of the obstacle according to the environmental sensing information; if the type of the obstacle matches preset obstacle database data, determining a carrying mode of the mechanical arm for the obstacle, and performing a carrying operation on the obstacle based on the carrying mode; and cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation. The if the type of the obstacle matches preset obstacle database data, determining a carrying mode of the mechanical arm for the obstacle, comprises:

2. The method of claim 1, wherein, if the type of the obstacle matches preset obstacle database data, obtaining contour information of the obstacle; and when it is determined that the obstacle has no circuit and water connection based on the contour information, determining the carrying mode of the mechanical arm for the obstacle. The determining a carrying mode of the mechanical arm for the obstacle, comprises:

3. The method of claim 1, wherein, obtaining weight information corresponding to the obstacle from the obstacle database; when the weight information is within a load range of the mechanical arm, driving the mechanical arm to clamp the obstacle; and when no motor overcurrent occurs in the clamping process of the mechanical arm, obtaining position coordinates of the obstacle, and determining the carrying mode of the mechanical arm based on the position coordinates of the obstacle. The determining the carrying mode of the mechanical arm based on the position coordinates of the obstacle, comprises:

4. The method of claim 3, wherein, when the position coordinates are in a working path of the self-moving cleaning device, determining the carrying mode as a moving mode; The performing a carrying operation on the obstacle based on the carrying mode, comprises: driving the mechanical arm to lift and move the obstacle to a recorded cleaned ground area according to the determined moving mode. The determining the carrying mode of the mechanical arm based on the position coordinates of the obstacle, comprises:

5. The method of claim 3, wherein, when the position coordinates are not in the working path of the self-moving cleaning device, determining the carrying mode as a lifting mode; The performing a carrying operation on the obstacle based on the carrying mode, comprises: driving the mechanical arm to lift the obstacle according to the lifting mode. The cleaning a ground area covered by the obstacle before the carrying operation, and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation, comprises:

6. The method of claim 1, wherein, driving the mechanical arm to return the obstacle to the ground area covered before the carrying operation. After the when the weight information is within a load range of the mechanical arm, driving the mechanical arm to clamp the obstacle, the cleaning method further comprises:

7. The method of claim 3, wherein, when motor overcurrent occurs in the clamping process of the mechanical arm, determining the carrying mode as a pushing mode; ​ The carrying operation on the obstacle based on the carrying mode comprises: According to the determined pushing mode, the mechanical arm is driven to push the obstacle to the recorded clean ground area.

8. The method of any one of claims 1-7, wherein, After the obstacle is identified in the environment sensing information, the method further comprises: If the category of the obstacle does not match the preset obstacle database data, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area around the ground area covered by the obstacle.

9. The method of any one of claims 1-7, wherein, The cleaning of the ground area covered by the obstacle before the carrying operation and / or the target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation comprises: When the carrying operation is successfully executed, the ground area covered by the obstacle before the carrying operation and the target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation are cleaned; and When the carrying operation is not successfully executed, the self-moving cleaning device is driven to bypass the obstacle and clean a target area smaller than a preset area around the ground area covered by the obstacle.

10. A cleaning device configured in a self-moving cleaning device, the self-moving cleaning device being configured with a mechanical arm, the cleaning device comprising: an identification module configured to acquire environment sensing information of an environment in which the self-moving cleaning device is located in a ground cleaning operation, and identify an obstacle in the environment and a category of the obstacle according to the environment sensing information; a carrying module configured to determine a carrying mode of the mechanical arm for the obstacle if the category of the obstacle matches preset obstacle database data, and perform a carrying operation on the obstacle based on the carrying mode; and a cleaning module configured to clean a ground area covered by the obstacle before the carrying operation and / or a target area smaller than a preset area around the ground area covered by the obstacle before the carrying operation.

11. A self-moving cleaning device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1-9 when executing the computer program.

12. A computer readable storage medium comprising a computer program thereon, wherein the computer program is executable by a processor to implement the steps of the method of any one of claims 1-9.

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