Cleaning device control method and control apparatus, electronic device, storage medium and cleaning device

Abstract

A cleaning device (600) control method and control apparatus (400), an electronic device (500), a storage medium and a cleaning device (600). The cleaning device (600) comprises a robotic arm module (220) and a chassis (210). The robotic arm module (220) comprises a first connection rod (221) and a second connection rod (222), one end of the first connection rod (221) being a grasp end, the other end being movably connected to one end of the second connection rod (222), and the other end of the second connection rod (222) being movably connected to the chassis (210). The method comprises: acquiring an initial grasp point and an end grasp point of a target object to be grasped (230), so as to determine a grasp angle on the basis of the initial grasp point and the end grasp point (S110); and controlling the grasp end to execute, along a straight line and at the grasp angle, a grasp action on the target object to be grasped (230), wherein, in the process of executing the grasp action, the chassis (210) executes a compensation action (S120).

Description

A cleaning device control method and control apparatus, electronic device, storage medium, and cleaning device

[0001] Cross Reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024110748385, 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 more particularly, to a cleaning device control method, a cleaning device control apparatus, an electronic device, a storage medium, and a cleaning device. BACKGROUND

[0004] At present, a housekeeping robot in a cleaning device is a robot having both functions of cleaning a ground and arranging ground articles. The housekeeping robot generally includes two moving parts. One is a traditional sweeping and mopping robot chassis, which can move on a plane, such as walking wheel lifting, rotating movement around a z-axis direction, etc. The other is a mechanical arm module, which has multiple degrees of freedom and can realize the grasping of articles. However, how to accurately and efficiently grasp is a problem to be solved. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present disclosure does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, nor to attempt to determine the protection scope of the claimed technical solutions.

[0006] The present disclosure provides a cleaning device control method and control apparatus, electronic device, storage medium, and cleaning device, which can realize accurate and efficient grasping.

[0007] In a first aspect, the present disclosure provides a cleaning device control method. The cleaning device includes a mechanical arm module and a chassis. The mechanical arm module includes a first connecting rod and a second connecting rod. One end of the first connecting rod is a grasping end, and the other end is movably connected to one end of the second connecting rod. The other end of the second connecting rod is movably connected to the chassis. The method includes: obtaining an initial grasping point and a final grasping point of a target grasping object, to determine a grasping angle based on the initial grasping point and the final grasping point; and controlling the grasping end to perform a grasping action on the target grasping object along a straight line at the grasping angle. During the execution of the grasping action, the chassis performs a compensation action.

[0008] In a second aspect, the present disclosure also provides a cleaning device control apparatus, comprising: a grabbing angle determination unit configured to obtain an initial grabbing point and a final grabbing point of a target grabbing object, and determine a grabbing angle based on the initial grabbing point and the final grabbing point; and a grabbing compensation unit configured to control a grabbing end to perform a grabbing action on the target grabbing object along a straight line at the grabbing angle, and control a chassis to perform a compensation action during the grabbing action.

[0009] In a third aspect, the present disclosure also provides an electronic device comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are executed by the processor to enable the processor to implement the cleaning device control method as described above.

[0010] In a fourth aspect, the present disclosure also provides a storage medium, wherein the storage medium stores program instructions, and the program instructions, when executed by a processor, enable the processor to implement the cleaning device control method as described above.

[0011] In a fifth aspect, the present disclosure also provides a cleaning device, comprising the electronic device as described above.

[0012] The cleaning device control method of the present disclosure, other advantages, objects and features of the present disclosure will be illustrated in part by the following description, and will be understood by those skilled in the art through research and practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings from these drawings without any creative effort.

[0015] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of exemplary embodiments. The accompanying drawings are included to provide a description of exemplary embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used to denote the same components throughout the drawings. In the drawings:

[0016] FIG. 1 shows a schematic flowchart of a cleaning device control method according to an embodiment of the present disclosure;

[0017] FIG. 2 is a schematic diagram of a cleaning device performing a grabbing action according to an embodiment of the present disclosure;

[0018] Fig. 3 is a schematic diagram of a cleaning device performing a grabbing action according to another embodiment of the present disclosure;

[0019] Fig. 4 is a schematic block diagram of a cleaning device control device according to an embodiment of the present disclosure;

[0020] Fig. 5 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure; and

[0021] Fig. 6 is a schematic block diagram of a cleaning device according to an embodiment of the present disclosure.

[0022] The correspondence between the reference signs and the component names in the drawings is as follows:

[0023] 210, chassis; 220, mechanical arm module; 221, first connecting rod; 222, second connecting rod; 230, target grabbed object; 400, device; 410, grabbing angle determining unit; 420, grabbing compensation unit; 500, electronic device; 510, processor; 520, memory; 600, cleaning device. Embodiments of the present application

[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the schemes of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0026] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present application, not all the embodiments.

[0027] Generally, the two moving parts of the chassis and the mechanical arm module of the household robot can cooperate to automatically identify and grasp small obstacles on the ground when performing ground cleaning, lift the ground obstacles and clean the ground under and near the obstacles to reduce missed cleaning, and can also automatically sort and arrange the obstacles on the ground after ground cleaning, such as placing slippers at the door, placing toys in the children's room, and placing paper balls in the trash can, that is, the household robot has an automatic arrangement function. The basis of the two functions of automatically identifying and grasping obstacles and automatically sorting obstacles is accurate grasping action. Generally, there are two grasping methods, one is straight-line grasping along the initial grasping angle direction, and the other is arc grasping by changing the grasping angle. After multiple tests, it is found that the success rate of the first straight-line grasping is higher. Therefore, it is necessary to study how to perform straight-line grasping along the initial angle.

[0028] To solve the above technical problems, according to a first aspect of the present application, a cleaning equipment control method is provided. FIG. 1 is a schematic flow chart of a cleaning equipment control method 100 according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram of a cleaning equipment performing a grasping action according to an embodiment of the present disclosure. As shown in FIG. 2, the cleaning equipment can include a mechanical arm module 220 and a chassis 210. The mechanical arm module 220 includes a first link 221 and a second link 222. The length of the first link 221 is a. The length of the second link is b. One end of the first link 221 is a grasping end. The other end of the first link 221 is movably connected to one end of the second link 222, for example, through node M2 shown in FIG. 2. The other end of the second link 222 is movably connected to the chassis 210, for example, through node M1 shown in FIG. 2. Exemplarily, "movably connected" can mean that the first link 221 and the second link 222 can move relative to each other, and the second link 222 and the chassis 210 can move relative to each other. In some embodiments, the nodes M1 and M2 can represent one or more connecting shafts for realizing the relative movement of the above-mentioned mechanism. The relative movement can include in-plane rotation, for example, the first link 221 can rotate in the plane in which the second link 222 and the node M2 are located with the node M2 as the center; the relative movement can also include circumferential rotation, for example, the second link 222 can perform a circumferential rotation action relative to the chassis 210 with the straight line perpendicular to the chassis 210 on which the node M2 is located as the axis. The "cleaning surface" in FIG. 2 represents the ground on which the cleaning equipment works, and can also represent the ground on which the target grasping object is placed. As shown in FIG. 1, the method 100 can include the following steps S110-S120.

[0029] In step S110, the initial grasping point and the final grasping point of the target grasping object are obtained to determine the grasping angle based on the initial grasping point and the final grasping point.

[0030] For example, the surrounding environment information during the operation of the cleaning device can be acquired by using the information acquisition device arranged on the cleaning device. The surrounding environment information can include the target object information. As shown in FIG. 2, the target object is 230, and in this embodiment, the target object 230 can be a shoe. When the target object is a shoe, it is most easy to grab and hold the shoe by grabbing the shoe from the shoe opening along the direction of the tongue, and thus the initial grabbing point of the shoe can be determined as point A in FIG. 2, and the end grabbing point can be determined according to the depth of the grabbing end and the length of the tongue, for example, point B in FIG. 2. After the initial grabbing point and the end grabbing point are determined, the grabbing path can be determined based on the two points, that is, the line connecting the two points A and B, and the determination of the grabbing path also means the determination of the grabbing angle a. In some embodiments, the grabbing path can represent the motion path of the grabbing end that can extend into the shoe from the initial grabbing point and stop the motion of the grabbing end at the end grabbing point, and during the motion, the angle between the grabbing end and the cleaning surface is the grabbing angle a.

[0031] In step S120, the grabbing end is controlled to perform a grabbing action on the target object along a straight line at the grabbing angle, and during the grabbing action, the chassis performs a compensation action.

[0032] For example, in the case where the grabbing path and the grabbing angle are determined, the grabbing end is controlled to perform a grabbing action on the target object, that is, the shoe in FIG. 2, along a straight line at the grabbing angle a, that is, the first connecting rod 221 moves downward at a fixed angle a toward the direction of the shoe, so that the grabbing end gradually approaches and extends into the shoe. The grabbing end can be a gripper or the like structure, and after reaching the end grabbing end, the gripper is closed to achieve the grabbing of the target object. Since the first connecting rod 221 and the second connecting rod 222 and the second connecting rod 222 and the chassis 210 are respectively connected in a movable manner, during the downward movement of the first connecting rod 221, the second connecting rod 222 and the chassis 210 are affected by the first connecting rod 221 and have different degrees of action. In some embodiments, the second connecting rod 222 can move downward with the first connecting rod 221. During the downward movement of the second connecting rod 222, the angle between the second connecting rod 222 and the chassis, that is, the angle between the second connecting rod 222 and the straight line perpendicular to the chassis 210 and passing through the node M1, also changes. In the case where the lengths of the first connecting rod 221 and the second connecting rod 222 are fixed and known, the chassis can perform a compensation action with corresponding parameters to compensate for the downward movement distance of the grabbing end caused by the grabbing action.

[0033] According to the technical solution, the initial grabbing point and the end grabbing point of the target object are first acquired, the grabbing angle is determined based on the initial grabbing point and the end grabbing point, then the grabbing end is controlled to perform a grabbing action on the target object along a straight line at the grabbing angle, and in the process of performing the grabbing action, the chassis performs a compensation action. Thus, in the case that the freedom degree of the mechanical arm module is not high, the compensation action of the chassis can be used to realize straight line grabbing along a fixed grabbing angle direction.

[0034] In some embodiments, the compensation action can include a plane movement action. In this embodiment, the method can further include determining a plane movement parameter of the performed plane movement action based on the grabbing angle, the length of the first connecting rod, the length of the second connecting rod, and the angle of the included angle between the second connecting rod and the chassis before and after the grabbing action is performed. In some embodiments, the plane movement parameter includes at least one of a movement direction and a distance in at least one direction.

[0035] FIG. 3 is a schematic diagram of a cleaning device performing a grabbing action according to another embodiment of the present disclosure. Referring to FIG. 3, h can represent the height of node M1 above the ground. In the process of performing the grabbing action, the grabbing angle is always unchanged and is always a. Before the grabbing action is performed, the angle of the included angle between the second connecting rod and the chassis is β1. After the grabbing action is performed, the angle of the included angle between the second connecting rod and the chassis is β2. Before and after the grabbing action, nodes M1 and M2 change as shown in FIG. 3, i.e., node M2 moves downward to M2' along the direction of angle a, and node M1 moves to the position of M1' with a movement distance of d. In this embodiment, the height of the chassis is fixed and unchanged. Exemplarily, based on the grabbing angle a, the length of the first connecting rod a, the length of the second connecting rod b, and the angles β1 and β2 of the included angle β between the second connecting rod and the chassis before and after the grabbing action is performed, the action parameters of the plane movement action of the chassis can be calculated by using mathematical knowledge such as trigonometric functions and triangle similarity, in the case that the grabbing end moves downward by, for example, m centimeters. In some embodiments, the action parameters can include a movement direction and a movement distance. In the case that the movement direction has components in the x direction and the y direction along a certain angle, node M1 can move to the position of M1' as shown in FIG. 3. Exemplarily, the movement direction can also be one of the x axis direction or the y axis direction, in which case node M1 can move along the x axis direction or the y axis direction, and the movement components in the x direction and / or the y direction can be further determined according to the movement direction, and then the movement distance can be determined.

[0036] Thus, the distance corresponding to the downward movement of the grabbing end can be compensated by the plane movement of the chassis, and straight line grabbing along a fixed grabbing angle is realized.

[0037] In some embodiments, the compensation action can further include a height adjustment action. In this embodiment, the method can further include determining the action parameter of the height adjustment action based on the grabbing angle, the length of the first link, the length of the second link, and the angle of the included angle between the second link and the chassis before and after the grabbing action is performed.

[0038] Exemplarily, the compensation of the downward moving distance of the grabbing end can also be achieved by the height adjustment action. As described above, during the execution of the grabbing action, the grabbing angle is always unchanged, and is always a. Before the grabbing action is performed, the angle of the included angle between the second link and the chassis is β1, and after the grabbing action is performed, the angle of the included angle between the second link and the chassis is β2. Based on the grabbing angle a, the length of the first link a, the length of the second link b, and the angles β1 and β2 of the included angle β between the second link and the chassis before and after the grabbing action is performed, the action parameter of the height adjustment action of the chassis in the case that the grabbing end is moved downward by, for example, m centimeters can be calculated by using mathematical knowledge such as trigonometric functions and triangle similarity. In some embodiments, the height adjustment action can be an action of adjusting the height of the chassis, and the height of the chassis can be adjusted by, for example, lifting or lowering the walking wheels or a height adjustment device. Therefore, in this embodiment, the action parameter of the height adjustment action can include the distance by which the chassis is lifted or lowered from the ground.

[0039] In this way, the distance corresponding to the downward moving action of the grabbing end can be compensated by the height adjustment action of the chassis, and linear grabbing along a fixed grabbing angle is achieved.

[0040] In some embodiments, the height adjustment action can include a first height adjustment action, and the first height adjustment action includes lifting or lowering the chassis while keeping the horizontal degree of the plane on which the chassis is located unchanged.

[0041] Exemplarily, the chassis can include walking wheels and universal wheels, and the walking wheels and the universal wheels can perform an extending or retracting action. In some embodiments, the extending and retracting actions are both with respect to the chassis, for example, when the walking wheels move away from the chassis, it indicates that the walking wheels perform the extending action; when the walking wheels move towards the chassis, it indicates that the walking wheels perform the retracting action. For example, when the walking wheels and the universal wheels simultaneously perform the extending action, the horizontal degree of the plane on which the chassis is located can be controlled to remain unchanged. In some embodiments, the horizontal degree can represent the included angle between the plane on which the chassis is located and the cleaning surface when the cleaning device is working.

[0042] The height adjustment action can further include a second height adjustment action, which includes lifting or lowering the chassis by changing the level of the plane on which the chassis is located. In some embodiments, the other end of the second connecting rod is movably connected to the chassis at a point located on the central axis of the chassis and in front of the forward direction of the chassis. For example, when one of the walking wheels and the universal wheels performs the extension action and the other performs the retraction action, the chassis can be controlled to be in a state of front high and rear low or front low and rear high. In some embodiments, the state of the chassis can be finally determined by the positions of the walking wheels and the universal wheels on the chassis. In this embodiment, the chassis has an angle with the cleaning surface when the chassis is in the state of front high and rear low or front low and rear high, and the node M1 is caused to have different displacement changes. Therefore, when calculating the action parameters of the height adjustment action, the above-mentioned angle and the displacement change of the node M1 are considered at the same time to obtain the action parameters of the second height adjustment action.

[0043] In this way, the distance of the downward movement of the grabbing end can be compensated by adjusting the chassis to different heights or different inclinations, so as to realize straight-line grabbing at a fixed angle.

[0044] In some embodiments, before the initial grabbing point and the final grabbing point of the target object are obtained in step S110, the method can further include controlling the cleaning device to perform a first action.

[0045] The first action can include the cleaning device performing a cleaning action. The cleaning action can include the cleaning device performing ground cleaning and automatically identifying and grabbing small obstacles on the ground during the cleaning process to lift the obstacles and clean the ground under and around the obstacles. The first action can include a straight-line action, for example, performing the cleaning action during the straight-line forward movement of the cleaning device. In this embodiment, the identified obstacle is located on the forward movement route, in other words, the obstacle is located opposite the cleaning device when the cleaning device moves forward.

[0046] Before the grabbing end performs the grabbing action on the target object at the grabbing angle in step S120, the method can further include determining the forward direction of the forward movement based on the grabbing angle.

[0047] For example, when the cleaning device identifies the obstacle during forward movement and then identifies the initial grabbing point and the final grabbing point of the obstacle to determine the grabbing angle, the forward direction of the forward movement can be determined according to the direction of the grabbing angle. Still taking the shoe in FIG. 2 as an example, when the obstacle is the shoe in FIG. 2, the forward direction of the forward movement can be determined according to the direction of the grabbing angle, i.e., the direction of the tongue of the shoe.

[0048] The step S120 of controlling the grabbing end to perform the grabbing action on the target grabbing object at the grabbing angle along the straight line can include: performing the grabbing action in a case that the cleaning device stops advancing, so as to control the chassis to retreat in a process of performing the grabbing action.

[0049] For example, in a case that the cleaning device advances to a straight-line distance between the cleaning device and the obstacle is less than or equal to a preset distance, the cleaning device stops advancing, and the grabbing action can be performed at this time. Since the obstacle is located in front of the cleaning device, the chassis performs a compensation action by retreating in a process of performing the grabbing action.

[0050] Therefore, when the cleaning device performs the first action including the cleaning action, the cleaning device can be directly opposite to the obstacle by adjusting a travel direction of the advancing action of the cleaning device, the control logic is simplified, multiple three-dimensional internal angle calculations are avoided, logic errors are avoided, and the grabbing action is successfully implemented.

[0051] In some embodiments, before the step S110 of acquiring the initial grabbing point and the final grabbing point of the target grabbing object, the method can further include: controlling the cleaning device to perform a second action.

[0052] For example, the second action can include that the cleaning device performs a tidying action, and the tidying action can include that the cleaning device performs a sorting and tidying action within a range, such as an action of placing slippers in order at a door, an action of throwing paper balls into a garbage can, and an action of putting toys into a tidying box.

[0053] Before the step S120 of controlling the grabbing end to perform the grabbing action on the target grabbing object at the grabbing angle along the straight line, the method can further include: based on the position information of the target grabbing object, controlling the cleaning device to perform an adjusting action. In some embodiments, the adjusting action is used to adjust an orientation of the grabbing end to a direction opposite to the initial grabbing point.

[0054] Exemplarily, during the tidying action performed by the cleaning device, the position information of the target grasped object can be acquired in real time, and the position information of the target grasped object can include position coordinates of the target grasped object and direction information of the target grasped object. In some embodiments, the direction information of the target grasped object can be combined with the initial grasping point and the final grasping point to determine the grasping position, and the initial grasping point is verified. Further, based on the position information of the target grasped object, the cleaning device can be controlled to perform an adjustment action to adjust the orientation of the grasping end to a direction opposite to the line connecting the initial grasping point and the final grasping point. In some implementations, the adjustment action can include a steering action performed by the mechanical arm module relative to the chassis and / or a plane movement action performed by the chassis. For example, in the case of a fixed chassis, the mechanical arm module can be controlled to perform a steering action relative to the chassis around a straight line perpendicular to the chassis where the node M1 is located; in the case of a fixed mechanical arm module, the chassis can be controlled to perform a plane movement action. In some embodiments, the action parameters of the plane movement action are related to the position information of the target grasped object. The adjustment action can be determined according to the position information of the target grasped object, and in one embodiment, the adjustment action can also be the corresponding adjustment action performed by the mechanical arm module and the chassis simultaneously. Thus, the adjustment action can be selected according to the actual situation to ensure that the grasping end is more likely to grasp the target grasped object when performing the grasping action.

[0055] Step S120 controls the grasping end to perform a grasping action on the target grasped object along a straight line at a grasping angle, which can include: in the case that the grasping end is oriented in a direction opposite to the initial grasping point, performing a grasping action, to control the chassis to move in a plane during the execution of the grasping action.

[0056] Exemplarily, the grasping end can first pass through the initial grasping point and then reach the final grasping point from the determined direction described above to perform the grasping action on the target grasped object. During the execution of the grasping action, the chassis can perform a plane movement action to compensate for the downward movement distance of the grasping end.

[0057] Thus, when the cleaning device performs the second action including the tidying action, the cleaning device can be made to face the target grasped object by controlling the cleaning device to perform the adjustment action, which simplifies the control logic, avoids the calculation of multiple three-dimensional internal angles, avoids logical errors, and ensures the smooth implementation of the grasping action.

[0058] In some implementations, the first connecting rod and / or the second connecting rod is an elastic connecting rod mechanism.

[0059] Exemplarily, at least one of the first connecting rod and the second connecting rod can be an elastic connecting rod, i.e., at least one of the first connecting rod and the second connecting rod is an elastic body and can be elastically deformed. In this embodiment, in the case that the chassis performs the compensation action when the mechanical arm module performs the grabbing action, the action parameter of the compensation action can be adjusted in correspondence with the deformation amount of the elastic body.

[0060] In this way, not only can the downward movement distance of the grabbing end be compensated for, but also the action amplitude of the compensation action of the chassis can be reduced, so as to avoid the case that the compensation of the downward movement distance of the grabbing end is insufficient in the case that the movement of the chassis is limited, and the compensation effect is ensured.

[0061] According to a second aspect of the present disclosure, the present disclosure further provides a cleaning device control apparatus. FIG. 4 is a schematic block diagram of a cleaning device control apparatus 400 according to an embodiment of the present disclosure. As shown in FIG. 4, the apparatus 400 can include:

[0062] a grabbing angle determination unit 410, configured to acquire an initial grabbing point and a final grabbing point of a target grabbing object, and determine a grabbing angle based on the initial grabbing point and the final grabbing point;

[0063] a grabbing compensation unit 420, configured to control the grabbing end to perform a grabbing action on the target grabbing object along a straight line at the grabbing angle, and control the chassis to perform a compensation action in the process of performing the grabbing action.

[0064] According to a third aspect of the present disclosure, the present disclosure further provides an electronic device. FIG. 5 is a schematic block diagram of an electronic device 500 according to an embodiment of the present disclosure. As shown in FIG. 5, the electronic device 500 can include a processor 510 and a memory 520. The memory 520 stores computer program instructions. The computer program instructions, when executed by the processor 510, cause the processor 510 to implement the cleaning device control method 100 as described above.

[0065] According to a fourth aspect of the present disclosure, the present disclosure further provides a storage medium on which program instructions are stored. The program instructions, when executed by a processor, implement the cleaning device control method as described above. The storage medium may, for example, include a storage component of a tablet computer, a hard disk of a computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage media.

[0066] According to a fifth aspect of the present disclosure, the present disclosure further provides a cleaning device. FIG. 6 is a schematic block diagram of a cleaning device 600 according to an embodiment of the present disclosure. As shown in FIG. 6, the cleaning device 600 can include the electronic device 500.

[0067] The specific details and advantages of the cleaning device control apparatus, the electronic device, the storage medium, and the cleaning device can be understood by those of ordinary skill in the art through reading the above description of the cleaning device control method. For brevity, the details are not repeated here.

[0068] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and / or device can be implemented in other manners. For example, the division of the above-described apparatus embodiments is merely a logical function division, and there can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units can be indirect couplings or communication connections through some interfaces, devices, or units, and can be electrical, mechanical, or in other forms.

[0069] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0070] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of software functional units.

[0071] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0072] The present disclosure provides a cleaning device control method, a cleaning device control apparatus, an electronic device, a storage medium, and a cleaning device, which are used to solve the problem of how to achieve accurate and efficient grabbing of a household robot.

[0073] In a first aspect, the present disclosure provides a cleaning device control method. The cleaning device includes a mechanical arm module and a chassis. The mechanical arm module includes a first link and a second link. One end of the first link is a grabbing end, and the other end is movably connected to one end of the second link. The other end of the second link is movably connected to the chassis. The method includes: obtaining an initial grabbing point and a final grabbing point of a target grabbing object, to determine a grabbing angle based on the initial grabbing point and the final grabbing point; and controlling the grabbing end to perform a grabbing action on the target grabbing object along a straight line at the grabbing angle. During the execution of the grabbing action, the chassis performs a compensation action.

[0074] In some embodiments, the compensation action includes a plane movement action.

[0075] The method further includes:

[0076] Based on the grabbing angle, the length of the first link, the length of the second link, and the angle of the included angle between the second link and the chassis before and after the execution of the grabbing action, a plane movement parameter of the executed plane movement action is determined. The plane movement parameter includes at least one of a movement direction and a distance in at least one direction.

[0077] In some embodiments, the compensation action includes a height adjustment action.

[0078] The method further includes:

[0079] Based on the grabbing angle, the length of the first link, the length of the second link, and the angle of the included angle between the second link and the chassis before and after the execution of the grabbing action, an action parameter of the height adjustment action is determined.

[0080] In some embodiments, the height adjusting action comprises: a first height adjusting action, the first height adjusting action comprising lifting or lowering the chassis without changing the levelness of the plane on which the chassis is located;

[0081] The height adjusting action further comprises: a second height adjusting action, the second height adjusting action comprising lifting or lowering the chassis by changing the levelness of the plane on which the chassis is located, wherein the connection point at which the other end of the second connecting rod is movably connected to the chassis is located at the front of the chassis in the forward direction of the chassis and on the central axis of the chassis.

[0082] In some embodiments, before obtaining the initial grabbing point and the final grabbing point of the target object to be grabbed, the method further comprises:

[0083] controlling the cleaning device to perform the first action;

[0084] Before controlling the grabbing end to perform the grabbing action on the target object to be grabbed at the grabbing angle along the straight line, the method further comprises:

[0085] Based on the grabbing angle, determining the travel direction of the advancing action;

[0086] controlling the grabbing end to perform the grabbing action on the target object to be grabbed at the grabbing angle along the straight line, comprising:

[0087] In the case that the cleaning device stops advancing, the grabbing action is performed to control the chassis to move backward during the execution of the grabbing action.

[0088] In some embodiments, before obtaining the initial grabbing point and the final grabbing point of the target object to be grabbed, the method further comprises:

[0089] controlling the cleaning device to perform the second action;

[0090] Before controlling the grabbing end to perform the grabbing action on the target object to be grabbed at the grabbing angle along the straight line, the method further comprises:

[0091] Based on the position information of the target object to be grabbed, controlling the cleaning device to perform an adjusting action, wherein the adjusting action is used to adjust the orientation of the grabbing end to be opposite to the initial grabbing point;

[0092] controlling the grabbing end to perform the grabbing action on the target object to be grabbed at the grabbing angle along the straight line, comprising:

[0093] In the case that the orientation of the grabbing end is opposite to the initial grabbing point, the grabbing action is performed to control the chassis to move during the execution of the grabbing action.

[0094] In some embodiments, the adjusting action comprises a steering action performed by the mechanical arm module relative to the chassis and / or a plane moving action performed by the chassis.

[0095] In some embodiments, the first link and / or the second link is an elastic linkage.

[0096] In a second aspect, the present disclosure further provides a cleaning device control apparatus, comprising: a grabbing angle determination unit configured to obtain an initial grabbing point and a final grabbing point of a target grabbing object, and determine a grabbing angle based on the initial grabbing point and the final grabbing point; and a grabbing compensation unit configured to control a grabbing end to perform a grabbing action on the target grabbing object along a straight line at the grabbing angle, and control a chassis to perform a compensation action during the performance of the grabbing action.

[0097] In a third aspect, the present disclosure further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are executed by the processor to enable the processor to implement the cleaning device control method as described above.

[0098] In a fourth aspect, the present disclosure further provides a storage medium, wherein the storage medium stores program instructions, and the program instructions, when executed by a processor, enable the processor to implement the cleaning device control method as described above.

[0099] In a fifth aspect, the present disclosure further provides a cleaning device, comprising the electronic device as described above.

[0100] According to the above technical solution, first, the initial grabbing point and the final grabbing point of the target grabbing object are obtained, and the grabbing angle is determined based on the initial grabbing point and the final grabbing point. Then, the grabbing end is controlled to perform a grabbing action on the target grabbing object along a straight line at the grabbing angle, and the chassis is controlled to perform a compensation action during the performance of the grabbing action. Thus, in the case that the degree of freedom of the mechanical arm module is not high, the compensation action of the chassis can be used to achieve straight-line grabbing in the direction of the fixed grabbing angle.

[0101] The above, the above examples are only to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a robotic arm module and a chassis, the robotic arm module comprising a first link and a second link, one end of the first link being a gripping end, the other end of the first link being movably connected to one end of the second link, and the other end of the second link being movably connected to the chassis; The method includes: Obtain the initial gripping point and the final gripping point of the target object, and determine the gripping angle based on the initial gripping point and the final gripping point; as well as The gripping end is controlled to perform a gripping action on the target object along a straight line at the gripping angle, and the chassis performs a compensation action during the gripping action.

2. The cleaning equipment control method as described in claim 1, wherein, The compensation action includes planar movement action; The method further includes: Based on the grasping angle, the length of the first link, the length of the second link, and the angle between the second link and the chassis before and after performing the grasping action, the planar movement parameters of the performed planar movement action are determined, wherein the planar movement parameters include at least one of the movement direction and at least one distance in at least one direction.

3. The cleaning equipment control method as described in claim 1, wherein, The compensation action includes a height adjustment action; The method further includes: The motion parameters for the height adjustment action are determined based on the gripping angle, the length of the first link, the length of the second link, and the angle between the second link and the chassis before and after performing the gripping action.

4. The cleaning equipment control method as described in claim 3, wherein, The height adjustment action includes: a first height adjustment action, which includes raising or lowering the chassis while keeping the plane on which the chassis is located level. The height adjustment action further includes a second height adjustment action, which includes raising or lowering the chassis by changing the levelness of the plane on which the chassis is located, wherein the connection point where the other end of the second link is movably connected to the chassis is located on the central axis of the chassis and at the front of the chassis in the forward direction.

5. The cleaning equipment control method as described in claim 2, wherein, Before obtaining the initial and final gripping points of the target object, the method further includes: Control the cleaning equipment to perform the first action; Before controlling the gripping end to perform a gripping action on the target object along a straight line at the gripping angle, the method further includes: Based on the grasping angle, the direction of travel of the forward motion is determined; The control of the gripping end to perform a gripping action on the target object along a straight line at the gripping angle includes: When the cleaning equipment stops moving forward, the gripping action is performed to control the chassis to move backward during the gripping action.

6. The cleaning equipment control method as described in claim 2, wherein, Before obtaining the initial and final gripping points of the target object, the method further includes: Control the cleaning equipment to perform the second action; Before controlling the gripping end to perform a gripping action on the target object along a straight line at the gripping angle, the method further includes: Based on the position information of the target object, the cleaning device is controlled to perform an adjustment action, wherein the adjustment action is used to adjust the orientation of the gripping end to a direction opposite to the initial gripping point; The control of the gripping end to perform a gripping action on the target object along a straight line at the gripping angle includes: When the gripping end is oriented in a direction opposite to the initial gripping point, the gripping action is performed to control the movement of the chassis plane during the gripping action.

7. The cleaning equipment control method as described in claim 6, wherein, The adjustment actions include the robotic arm module performing a steering action relative to the chassis and / or the chassis performing the planar movement action.

8. The cleaning equipment control method as described in claim 1, wherein, The first link and / or the second link are elastic linkage mechanisms.

9. A cleaning equipment control device, comprising: A grasping angle determination unit is used to acquire the initial grasping point and the final grasping point of the target object, so as to determine the grasping angle based on the initial grasping point and the final grasping point; and The gripping compensation unit is used to control the gripping end to perform a gripping action on the target object along a straight line at the gripping angle, and the chassis performs a compensation action during the gripping action.

10. An electronic device comprising a processor and a memory, wherein, The memory stores computer program instructions executable by the processor, which, when executed by the processor, cause the processor to implement the cleaning equipment control method according to any one of claims 1 to 8.

11. A storage medium comprising program instructions stored thereon, the program instructions, when executed by a processor, implementing the cleaning equipment control method according to any one of claims 1 to 8.

12. A cleaning device, comprising the electronic device as claimed in claim 10.

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