Intelligent cleaning method and apparatus, automatic cleaning device and storage medium

Abstract

An intelligent cleaning method and apparatus, an automatic cleaning device and a storage medium, relating to the technical field of intelligent robots. The method comprises: receiving a control instruction for automatically searching for a target object and placing the target object at a designated position; analyzing and executing the control instruction, and automatically searching for the target object on the basis of a preset search algorithm; when the target object is found, grabbing the target object; and after the grabbing is completed, carrying the grabbed target object and automatically moving to the designated position, and placing the target object at the designated position. The method realizes automatic searching and carrying of target objects, can effectively clean target objects without manual intervention, can adapt to changing working conditions and requirements, achieves good flexibility and adaptability, and improves cleaning efficiency.

Description

Intelligent cleaning method and device, automatic cleaning device and storage medium RELATED APPLICATION

[0001] The present disclosure claims priority to and the benefit of Chinese Patent Application No. 202411320744.1, filed on September 20, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of intelligent robots, and in particular to an intelligent cleaning method and device, an automatic cleaning device and a storage medium. BACKGROUND

[0003] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hot spot in the field of modern robot research. Among them, the automatic cleaning device as the most practical one in intelligent robots, can automatically complete the cleaning work of the ground by relying on certain artificial intelligence. SUMMARY

[0004] The present disclosure provides an intelligent cleaning method and device, an automatic cleaning device and a storage medium.

[0005] In a first aspect, an intelligent cleaning method is provided, applied to an automatic cleaning device, the method comprising: receiving a control instruction for automatically searching for a target object and placing the target object at a specified location; parsing and executing the control instruction, automatically searching for the target object according to a preset search algorithm; when the target object is found, grabbing the target object; after completing the grabbing, automatically going to the specified location carrying the grabbed target object, and placing the target object at the specified location.

[0006] In a possible implementation manner, the receiving the control instruction for automatically searching for the target object and placing the target object at the specified location comprises: receiving the control instruction for automatically searching for the target object and placing the target object at the specified location sent by a remote control device.

[0007] In a possible implementation manner, the receiving the control instruction for automatically searching for the target object and placing the target object at the specified location comprises: collecting a voice signal for automatically searching for the target object and placing the target object at the specified location; and generating the control instruction for automatically searching for the target object and placing the target object at the specified location according to the collected voice signal.

[0008] In a possible implementation, if the control instruction carries a specified search area of the environment to be cleaned, the control instruction is parsed and executed to automatically search for the target object according to a preset search algorithm, including: the control instruction is parsed and executed to detect the specified search area of the environment to be cleaned according to the preset search algorithm, in the detection process, image information of the specified search area of the environment to be cleaned is collected by the camera, and whether the image information contains the target object is analyzed; if the image information contains the target object, it is determined that the target object is searched.

[0009] In a possible implementation, if the control instruction does not carry a specified search area of the environment to be cleaned, the control instruction is parsed and executed to automatically search for the target object according to a preset search algorithm, including: the control instruction is parsed and executed to detect all areas of the environment to be cleaned according to the preset search algorithm, in the detection process, image information of all areas of the environment to be cleaned is collected by the camera, and whether the image information contains the target object is analyzed; if the image information contains the target object, it is determined that the target object is searched.

[0010] In a possible implementation, the automatic cleaning device includes a multi-degree-of-freedom mechanical arm; and the target object is grabbed when the target object is searched, including: the mechanical arm is controlled to extend when the target object is searched; the target object to be grabbed is analyzed according to a perception module carried at an end of the mechanical arm to obtain a feasible grabbing point; and the target object is grabbed by the mechanical arm in combination with the feasible grabbing point.

[0011] In a possible implementation, the method further includes: in the process of grabbing the target object by the mechanical arm, if it is identified that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a failure of grabbing, prompt information indicating that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a failure of grabbing, is generated, and a current position of the target object is marked in a map corresponding to the preset search algorithm.

[0012] In a possible implementation, before the mechanical arm is controlled to extend, the method further includes: judging a spatial area of the current position of the target object; determining whether the mechanical arm can extend according to the spatial area of the current position of the target object; if it is determined that the mechanical arm cannot extend, prompt information indicating that the mechanical arm cannot extend, resulting in a failure of grabbing, is generated, and the current position of the target object is marked in a map corresponding to the preset search algorithm.

[0013] In a possible implementation, after the target object is picked up, before the target object is carried to the designated position, the method further includes: determining whether the designated position is an unreachable position; if yes, determining an alternative position of the designated position, and carrying the picked-up target object to the alternative position; and placing the target object at the alternative position.

[0014] In a possible implementation, the alternative position includes a position closest to the designated position and reachable, or the starting position of the target object is searched automatically according to a preset search algorithm.

[0015] In a possible implementation, before the target object is placed at the designated position, the method further includes: determining a suitable placement area corresponding to the designated position according to the perception module of the device body of the automatic cleaning device and / or the category of the target object; and placing the target object at the suitable placement area corresponding to the designated position.

[0016] In a possible implementation, after the target object is placed at the designated position, the method further includes: returning to the position where the target object is picked up, and continuing to search for the next target object according to a preset search algorithm; picking up the next target object when the next target object is found; carrying the picked-up next target object to the designated position after the picking up is completed; and placing the next target object at the designated position; and the above process is repeated until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the number of times of searching for the target object is reached.

[0017] In a possible implementation, the method further includes: collecting video data of the process of searching for the target object automatically, picking up the target object, carrying the picked-up target object to the designated position, and placing the target object at the designated position, to obtain cleaning process video data; and sending the cleaning process video data to a remote control device, so that the remote control device remotely views the process of searching for the target object automatically, picking up the target object, carrying the picked-up target object to the designated position, and placing the target object at the designated position according to the cleaning process video data.

[0018] In a possible implementation, the method further includes: receiving a control instruction sent by the remote control device and indicating to pause cleaning; and pausing the intelligent cleaning according to the control instruction indicating to pause cleaning.

[0019] In a possible implementation, the method further includes: collecting a voice signal indicating to pause cleaning; generating a control instruction indicating to pause cleaning according to the collected voice signal indicating to pause cleaning; and pausing the intelligent cleaning according to the control instruction indicating to pause cleaning.

[0020] In a second aspect, an intelligent cleaning device is provided for an automatic cleaning apparatus, the device comprising a receiving unit, a searching unit, a grabbing unit, a carrying unit and a placing unit. The receiving unit is configured to receive a control instruction for searching a target object automatically and placing the target object to a designated position. The searching unit is configured to analyze and execute the control instruction, and search the target object automatically according to a preset searching algorithm. The grabbing unit is configured to grab the target object when the target object is found. The carrying unit is configured to carry the grabbed target object to the designated position automatically after the grabbing is completed. The placing unit is configured to place the target object to the designated position.

[0021] In a third aspect, an automatic cleaning apparatus is provided, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the intelligent cleaning method according to any one of the above aspects.

[0022] In a fourth aspect, a storage medium is provided, which stores a computer program, wherein the computer program is configured to execute the intelligent cleaning method according to any one of the above aspects when running. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced.

[0024] FIG. 1 shows a flowchart of an intelligent cleaning method according to an embodiment of the present disclosure;

[0025] FIG. 2 shows a flowchart of an intelligent cleaning method according to another embodiment of the present disclosure;

[0026] FIG. 3 shows a flowchart of an intelligent cleaning method according to yet another embodiment of the present disclosure;

[0027] FIG. 4 shows a structural diagram of an intelligent cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0029] It should be noted that the terms "first", "second", and the like in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that such use can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "comprising" and its variants are to be interpreted as meaning "including but not limited to" an open term.

[0030] The current automatic cleaning device mainly cleans the ground, and objects such as shoes, clothes, socks, paper balls, toys and the like at positions such as the ground, sofas or tables cannot be effectively cleaned, and this technical problem needs to be solved.

[0031] In order to solve the above technical problems, the embodiments of the present disclosure provide an intelligent cleaning method which can be applied to an automatic cleaning device, as shown in FIG. 1, the intelligent cleaning method can include the following steps S101-S104.

[0032] Step S101, receiving a control instruction for automatically searching for a target object and placing the target object at a specified position.

[0033] Step S102, parsing and executing the control instruction, and automatically searching for the target object according to a preset search algorithm.

[0034] Step S103, when the target object is found, the target object is grabbed.

[0035] Step S104, after completing the grabbing, the target object grabbed is automatically carried to the specified position, and the target object is placed at the specified position.

[0036] In the embodiments, the target object can be shoes, clothes, socks, paper balls, toys and the like, and the embodiments are not limited thereto.

[0037] The embodiments can search for the target object according to the control instruction, and can use the grabbing capability of the automatic cleaning device to grab the target object, and then after completing the grabbing, the target object grabbed is automatically carried to the specified position, and the target object is placed at the specified position, so as to realize the automatic searching and carrying of the target object, and effectively clean the target object without manual intervention, adapt to changing working conditions and requirements, have good flexibility and adaptability, and improve the cleaning efficiency.

[0038] In the embodiment of the present disclosure, a possible implementation is provided. The control instruction for automatically searching for the target object and placing the target object at the specified position received in step S101 can be specifically a control instruction for automatically searching for the target object and placing the target object at the specified position sent by a remote control device. The remote control device can be a smart phone, a tablet computer, a smart watch or the like, and the embodiment is not limited in this regard.

[0039] For example, the user can set the target object to be searched and the specified position to be placed through an APP (application program) on the smart phone; the APP generates the control instruction for automatically searching for the target object and placing the target object at the specified position; and the smart phone sends the control instruction to the automatic cleaning device.

[0040] It can be seen that the embodiment allows the user to send the control instruction through the remote control device to achieve the automatic searching and carrying of the target object, and provides the remote nature and convenience of operation.

[0041] In the embodiment of the present disclosure, a possible implementation is provided. The control instruction for automatically searching for the target object and placing the target object at the specified position received in step S101 can be specifically a voice signal for automatically searching for the target object and placing the target object at the specified position, and then the control instruction for automatically searching for the target object and placing the target object at the specified position is generated according to the collected voice signal. Here, the automatic cleaning device has a microphone, which can collect the voice signal for automatically searching for the target object and placing the target object at the specified position from the user, convert the collected voice signal into an electrical signal, and generate the control instruction for automatically searching for the target object and placing the target object at the specified position.

[0042] It can be seen that the embodiment allows the user to quickly issue the instruction through the voice control, reduces the time of manual operation, and improves the cleaning efficiency.

[0043] In the embodiment of the present disclosure, a possible implementation is provided. If the control instruction carries the specified search area of the environment to be cleaned, the control instruction is parsed and executed in step S102 to automatically search for the target object according to the preset search algorithm, which can specifically include the following steps A1 and A2.

[0044] Step A1, the control instruction is parsed and executed to detect the specified search area of the environment to be cleaned according to the preset search algorithm. In the detection process, the image information of the specified search area of the environment to be cleaned is collected through the camera, and whether the target object is included in the image information is analyzed.

[0045] Step A2, if the target object is included in the image information, it is determined that the target object is searched.

[0046] The to-be-cleaned environment in this embodiment can be a home environment, an office environment, etc., and the embodiment does not limit this. In this embodiment, if the control instruction carries a specified search area of the to-be-cleaned environment, the specified search area of the to-be-cleaned environment is detected according to a preset search algorithm, and automatic detection and target object identification help improve the efficiency of cleaning work and reduce the time for manual inspection and positioning.

[0047] In the embodiment of the present disclosure, a possible implementation is provided. If the control instruction does not carry a specified search area of the to-be-cleaned environment, the control instruction is parsed and executed in step S102 above, and the target object is automatically searched according to a preset search algorithm, which can specifically include the following steps B1 and B2.

[0048] In step B1, the control instruction is parsed and executed, and the entire area of the to-be-cleaned environment is detected according to a preset search algorithm. In the detection process, the camera collects image information of the entire area of the to-be-cleaned environment, and analyzes whether the image information contains a target object.

[0049] In step B2, if the image information contains a target object, it is determined that the target object is searched.

[0050] The to-be-cleaned environment in this embodiment can be a home environment, an office environment, etc., and the embodiment does not limit this. In this embodiment, if the control instruction does not carry a specified search area of the to-be-cleaned environment, the entire area of the to-be-cleaned environment is detected according to a preset search algorithm, and automatic detection and target object identification help improve the efficiency of cleaning work and reduce the time for manual inspection and positioning.

[0051] In the embodiment of the present disclosure, a possible implementation is provided. The automatic cleaning device can include a multi-degree-of-freedom mechanical arm, which is an automated mechanical device with multiple rotating joints and moving axes, capable of simulating the complex movements of human arms. Such a multi-degree-of-freedom mechanical arm is usually composed of multiple links and joints, each joint can independently rotate or move, thereby realizing multi-directional and multi-angle operation. The number of degrees of freedom can be expanded as needed, and the embodiment does not limit this. When the target object is searched in step S103 above, the target object is grasped, which can specifically include the following steps C1 to C3.

[0052] In step C1, when the target object is searched, the mechanical arm is controlled to extend.

[0053] In step C2, the target object to be grasped is analyzed according to the perception module carried by the end of the mechanical arm, and a feasible grasping point is obtained.

[0054] In step C3, the mechanical arm is controlled to grasp the target object in combination with the feasible grasping point.

[0055] The embodiment can adapt to different target objects and cleaning environments through mechanical arm grabbing, and shows good adaptability and flexibility.

[0056] In the embodiment of the present disclosure, a possible implementation is provided. In the above embodiment, during the process of the mechanical arm grabbing the target object, if it is identified that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, causing the grabbing to fail, prompt information indicating that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, causing the grabbing to fail, is generated, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0057] It can be seen that the embodiment can identify whether the weight of the target object exceeds the maximum weight that can be grabbed by the mechanical arm, and can reduce the risk of damage or accidents caused by overloading; and the prompt information indicating that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, causing the grabbing to fail, can inform the user of the reason for the grabbing failure, improving the interactivity and user experience; in addition, the current position of the target object is marked on the map, which helps to re-plan the grabbing strategy or perform manual intervention.

[0058] In the embodiment of the present disclosure, a possible implementation is provided. Before the above step C1 controls the mechanical arm to extend, the following steps C11 to C13 can be further included.

[0059] Step C11, judging the spatial region of the current position of the target object.

[0060] Step C12, determining whether the mechanical arm can extend according to the spatial region of the current position of the target object.

[0061] Step C13, if it is determined that the mechanical arm cannot extend, generating prompt information indicating that the mechanical arm cannot extend, causing the grabbing to fail, and marking the current position of the target object in the map corresponding to the preset search algorithm.

[0062] It can be seen that the embodiment can avoid invalid or dangerous actions by pre-judging the extendability of the mechanical arm, improving the safety and efficiency of the operation; and when it is determined that the mechanical arm cannot extend, prompt information can be generated, which helps the user to understand the state and limitations of the current operation; in addition, the current position of the target object is marked on the map, providing a reference for subsequent operations or manual intervention.

[0063] In the embodiment of the present disclosure, a possible implementation is provided. After the above step S104 completes the grabbing, before the mechanical arm carrying the grabbed target object automatically goes to the specified position, the following steps D1 to D3 can be further included.

[0064] Step D1, judging whether the specified position is an unreachable position.

[0065] Step D2, if yes, determine an alternative position of the specified position, and automatically navigate to the alternative position with the grabbed target object.

[0066] Step D3, place the target object to the alternative position.

[0067] It can be seen that the embodiment can determine whether the specified position is reachable before navigating to the specified position, and when the specified position is not reachable, an alternative position can be determined and automatically navigated to, which has high adaptability and flexibility.

[0068] In the embodiment of the present disclosure, a possible implementation is provided, and the alternative position mentioned in the above embodiment can include a position closest to the specified position and reachable, or a starting position of the target object searched by the automatic cleaning device according to a preset search algorithm. It can be seen that the embodiment simplifies the operation process by automatic selection of the alternative position, so that the entire cleaning task is more smooth.

[0069] In the embodiment of the present disclosure, a possible implementation is provided, and the above step S104 can further include the following steps E1 and E2 before placing the target object to the specified position.

[0070] Step E1, determine a suitable placement area corresponding to the specified position by the perception module of the device body and / or the category of the target object.

[0071] Step E2, place the target object to the suitable placement area corresponding to the specified position.

[0072] Here, the suitable placement area can satisfy the following partial or all conditions: (1) the area should not be a low area, in which the mechanical arm of the automatic cleaning device can not be fully unfolded; (2) the area should not be a dangerous area such as a cliff; (3) the area should not be a threshold or an extended area before and after the threshold, which can affect the passage of the automatic cleaning device body; (4) the area should not be a forbidden area added by the user; (5) the area should not be a region passed through by the automatic cleaning device to reach the specified position; (6) the area should not be a path that the automatic cleaning device must pass through to return to its base station; (7) the area should not be a carpet.

[0073] Meanwhile, the area determination can also satisfy the following partial or all conditions according to the category of the grabbed target object: 1) if the grabbed target object is a shoe, the target object cannot be stacked on other objects, including objects of the same category; 2) if the grabbed target object is a fabric or a mass object, the target object can be stacked on objects of the same type.

[0074] It can be seen that the embodiment can place the target object in the most suitable area by determining the suitable placement area of the specified position, improve the accuracy of placement, and ensure that the target object is placed in a safe and correct position, thereby reducing the potential risks caused by improper placement.

[0075] The embodiment of the present disclosure provides a possible implementation, and after the step S104 of placing the target object to the specified position, the following steps F1 to F4 can be further included.

[0076] Step F1, automatically return to the position of grabbing the target object, and continue to automatically search for the next target object according to the preset search algorithm.

[0077] Step F2, when the next target object is searched, the next target object is grabbed.

[0078] Step F3, after the grabbing is completed, the next target object is carried to the specified position, and the next target object is placed to the specified position.

[0079] Step F4, the above process is analogized until the search of the specified search area or the whole area of the environment to be cleaned is completed, or the number of specified search target objects is reached.

[0080] The embodiment can automatically return to the position of grabbing the target object and continue to search for the next target object, realizing an automatic cyclic operation mode; through the automatic returning and searching mechanism, the time of manual resetting or navigation is reduced, and the efficiency of cleaning operation is improved.

[0081] The embodiment of the present disclosure provides a possible implementation, and the process of automatically searching for the target object, grabbing the target object, carrying the grabbed target object to the specified position, and placing the target object to the specified position in the above steps S102 to S104 can be collected for video data, to obtain cleaning process video data; and then, the cleaning process video data is sent to the remote control device, so that the remote control device remotely views the process of automatically searching for the target object, grabbing the target object, carrying the grabbed target object to the specified position, and placing the target object to the specified position according to the cleaning process video data.

[0082] It can be seen that the embodiment realizes real-time monitoring of the cleaning process through the collection of video data, sends the video data to the remote control device, so that the user can remotely view the cleaning process at different locations, and enhances the flexibility of operation.

[0083] The embodiment of the present disclosure provides a possible implementation manner, and a control instruction indicating pausing cleaning can also be received from the remote control device, and then the smart cleaning is paused according to the control instruction indicating pausing cleaning. It can be seen that in the embodiment, the user can pause the cleaning process at any time according to needs, and flexibility and convenience of operation are provided.

[0084] The embodiment of the present disclosure provides a possible implementation manner, and a voice signal indicating pausing cleaning can also be collected, a control instruction indicating pausing cleaning is generated according to the collected voice signal indicating pausing cleaning, and the smart cleaning is paused according to the control instruction indicating pausing cleaning. It can be seen that in the embodiment, the voice signal can be collected and recognized, the function of the device is controlled through the voice instruction, and the user can pause the cleaning process at any time according to needs, and flexibility and convenience of operation are provided.

[0085] The above introduces various implementation manners of each link of the embodiment shown in FIG. 1, and the smart cleaning method of the embodiment of the present disclosure will be further described through specific embodiments.

[0086] In one specific embodiment, the user controls the automatic cleaning device through the APP on the smart phone, sets the target object to be grabbed by the automatic cleaning device and the specified position through the APP, and views the task result. The automatic cleaning device can include an automatic cleaning device main body and a multi-degree-of-freedom mechanical arm configured on the main body, and the mechanical arm is configured with a grabbing mechanism.

[0087] As shown in FIG. 2, the smart cleaning method is applied to the automatic cleaning device, and specifically can include the following steps S201 to S206.

[0088] Step S201, receiving the control instruction of automatically searching for the target object and placing the target object at the specified position sent by the smart phone.

[0089] In this step, the user can set the target object to be searched and the specified position to be placed through the APP on the smart phone, the APP generates the control instruction of automatically searching for the target object and placing the target object at the specified position, and the smart phone sends the control instruction to the automatic cleaning device.

[0090] In some embodiments, the user can set the specified search area of the cleaning environment on the APP, and can mark the area to be searched as the specified search area on the map page of the cleaning environment, or can select one or more rooms as the specified search area on the map page of the cleaning environment, and the like, and the present embodiment is not limited in this regard.

[0091] Step S202, parsing and executing the control instruction, and automatically searching for the target object according to a preset search algorithm.

[0092] If the control instruction carries the designated search area of the environment to be cleaned, steps A1 and A2 introduced above can be used to search for the target object; if the control instruction does not carry the designated search area of the environment to be cleaned, steps B1 and B2 introduced above can be used to search for the target object, which will not be described in detail here.

[0093] In step S203, when the target object is found, the mechanical arm is controlled to extend, the target object to be grasped is analyzed according to the perception module carried by the end of the mechanical arm, a feasible grasping point is obtained, and then the mechanical arm is controlled to grasp the target object in combination with the feasible grasping point.

[0094] In some embodiments, during the grasping of the target object by the mechanical arm, if it is identified that the target object exceeds the maximum weight that can be grasped by the mechanical arm, resulting in a failed grasping, prompt information indicating that the target object exceeds the maximum weight that can be grasped by the mechanical arm, resulting in a failed grasping, is generated, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0095] In some embodiments, before the mechanical arm is controlled to extend, the spatial region of the current position of the target object can also be judged, and it is determined whether the mechanical arm can extend according to the spatial region of the current position of the target object. If it is determined that the mechanical arm cannot extend, prompt information indicating that the mechanical arm cannot extend, resulting in a failed grasping, is generated, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0096] In some embodiments, the spatial region of the current position of the target object is a low region, such as the bottom of a sofa, and it is determined that the mechanical arm cannot extend.

[0097] In step S204, after the grasping is completed, the grasped target object is automatically taken to the designated position.

[0098] In some embodiments, before the grasped target object is automatically taken to the designated position after the grasping is completed, it can also be judged whether the designated position is an unreachable position. If it is, an alternative position of the designated position is determined, the grasped target object is automatically taken to the alternative position, and then the target object is placed in the alternative position.

[0099] In step S205, the target object is placed in the designated position.

[0100] In some embodiments, before the target object is placed in the designated position, the appropriate placement region corresponding to the designated position can also be determined through the perception module of the device body of the automatic cleaning device and / or the category of the target object, and the target object is placed in the appropriate placement region corresponding to the designated position. Here, the conditions that the appropriate placement region satisfies can be referred to the foregoing description, which will not be described in detail here.

[0101] In step S206, the robot automatically returns to the position of the target object, continues to search for the next target object according to the preset search algorithm, and when the next target object is found, the robot captures the next target object. After capturing the next target object, the robot automatically carries the captured next target object to the designated position and places the next target object on the designated position. In this way, the robot continues to search for the next target object until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the number of times of searching for the target object is reached.

[0102] In some embodiments, the user can set a pause cleaning through the APP, and the smart phone sends a control instruction indicating the pause cleaning to the automatic cleaning device. The user can also set the number of times of searching for the target object through the APP, and the smart phone sends the number of times of searching for the target object to the automatic cleaning device.

[0103] In some embodiments, during the above-mentioned process of searching for the target object, capturing the target object, automatically carrying the captured target object to the designated position, and placing the target object on the designated position, the user can collect video data through the camera carried by the device body of the automatic cleaning device or the camera carried by the mechanical arm, and remotely view the above-mentioned process in the APP. The camera can be an RGB (Red Green Blue) camera, and the present embodiment does not limit the camera.

[0104] The present embodiment can search for the target object according to the control instruction sent by the smart phone, and can capture the target object by using the mechanical arm of the automatic cleaning device, and then automatically carry the captured target object to the designated position and place the target object on the designated position after capturing the target object. In this way, the automatic searching and carrying of the target object are realized, the effective cleaning of the target object can be realized without manual intervention, the changing working conditions and requirements can be adapted, the flexibility and adaptability are good, and the cleaning efficiency is improved.

[0105] In another embodiment, the user can control the automatic cleaning device to search for the target object in the environment to be cleaned through voice, and capture the target object through the mechanical arm and place it on the designated position. The automatic cleaning device can include a device body of the automatic cleaning device and a multi-degree-of-freedom mechanical arm configured on the device body, and the mechanical arm is configured with a capturing mechanism. The automatic cleaning device also has a microphone and a loudspeaker, which can collect user voice instructions and analyze the instructions.

[0106] As shown in FIG. 3, the intelligent cleaning method is applied to the automatic cleaning device, and can specifically include the following steps S301 to S306.

[0107] Step S301, collect the voice signal of automatically searching for the target object and placing the target object at the designated position, and then generate a control instruction of automatically searching for the target object and placing the target object at the designated position according to the collected voice signal.

[0108] In some embodiments, if the search range is not included in the control instruction, the automatic cleaning device will perform a global search.

[0109] In some embodiments, if the search times are not included in the control instruction, the automatic cleaning device will not limit the search and grabbing times until the search of the entire area is completed.

[0110] Step S302, parse and execute the control instruction, and automatically search for the target object according to the preset search algorithm.

[0111] In this step, if the designated search area of the environment to be cleaned is carried in the control instruction, the target object can be searched by using the steps A1 and A2 introduced in the foregoing; if the designated search area of the environment to be cleaned is not carried in the control instruction, the target object can be searched by using the steps B1 and B2 introduced in the foregoing, which will not be described in detail here.

[0112] Step S303, when the target object is searched, the mechanical arm is controlled to extend, the sensing module carried at the end of the mechanical arm is used to analyze the target object to be grabbed, a feasible grabbing point is obtained, and then the mechanical arm is controlled to grab the target object in combination with the feasible grabbing point.

[0113] In some embodiments, during the process of grabbing the target object by the mechanical arm, if it is identified that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a failure of grabbing, a prompt information indicating that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a failure of grabbing, is generated, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0114] In some embodiments, before the mechanical arm is controlled to extend, the spatial region of the current position of the target object can also be judged, whether the mechanical arm can extend is determined according to the spatial region of the current position of the target object, if it is determined that the mechanical arm cannot extend, a prompt information indicating that the mechanical arm cannot extend, resulting in a failure of grabbing, is generated, and the current position of the target object is marked in the map corresponding to the preset search algorithm.

[0115] In some embodiments, the spatial region of the current position of the target object is a low region, such as the bottom of a sofa, and it is determined that the mechanical arm cannot extend.

[0116] Step S304, after the grabbing is completed, the target object grabbed is automatically sent to the designated position.

[0117] In some embodiments, after the target object is picked up, the robot can determine whether the specified position is an unreachable position before automatically moving to the specified position to carry the picked-up target object. If the specified position is an unreachable position, the robot can determine an alternative position of the specified position, and then automatically move to the alternative position to carry the picked-up target object, and then place the target object in the alternative position.

[0118] In step S305, the target object is placed in the specified position.

[0119] In some embodiments, before the target object is placed in the specified position, the device body can determine a suitable placement area corresponding to the specified position according to the perception module of the device body and / or the category of the target object, and then place the target object in the suitable placement area corresponding to the specified position. The conditions that the suitable placement area satisfies can be found in the foregoing description, and will not be described in detail here.

[0120] In step S306, the robot automatically returns to the position where the target object is picked up, and continues to automatically search for the next target object according to a preset search algorithm. When the next target object is found, the robot picks up the next target object. After the picking up is completed, the robot automatically moves to the specified position to carry the picked-up next target object, and then places the next target object in the specified position. This process is repeated until the search of the specified search area or the entire area of the environment to be cleaned is completed, or the number of target objects to be searched is reached.

[0121] In some embodiments, the voice signal indicating the pause of cleaning can be collected, and a control instruction indicating the pause of cleaning can be generated according to the collected voice signal. The robot can pause the cleaning according to the control instruction indicating the pause of cleaning.

[0122] In some embodiments, the user can control the pause, continue, and stop of the picking up task of the robot through voice.

[0123] The robot can search for the target object according to the voice control instruction, pick up the target object by using the mechanical arm of the robot, and then automatically move to the specified position to carry the picked-up target object and place the target object in the specified position after the picking up is completed. In this way, the automatic searching and carrying of the target object are realized, the effective cleaning of the target object is achieved, the human intervention is not required, the robot can adapt to the changing working conditions and requirements, has good flexibility and adaptability, and the cleaning efficiency is improved.

[0124] It should be noted that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. In actual application, all possible implementation manners described above can be combined in any combination to form possible embodiments of the present disclosure, which will not be repeated here.

[0125] Based on the intelligent cleaning method provided in each of the above embodiments, based on the same inventive concept, the present disclosure further provides an intelligent cleaning device.

[0126] FIG. 4 is a structural diagram of an intelligent cleaning device provided by the embodiments of the present disclosure. As shown in FIG. 4, the intelligent cleaning device is applied to an automatic cleaning equipment, and specifically can include a receiving unit 410, a searching unit 420, a grabbing unit 430, a conveying unit 440, and a placing unit 450.

[0127] The receiving unit 410 is configured to receive a control instruction for automatically searching a target object and placing the target object to a designated position.

[0128] The searching unit 420 is configured to parse and execute the control instruction, and automatically search the target object according to a preset search algorithm.

[0129] The grabbing unit 430 is configured to grab the target object when the target object is searched.

[0130] The conveying unit 440 is configured to automatically go to the designated position carrying the grabbed target object after completing the grabbing.

[0131] The placing unit 450 is configured to place the target object to the designated position.

[0132] In a possible implementation manner provided in the embodiments of the present disclosure, the receiving unit 410 is further configured to receive a control instruction for automatically searching a target object and placing the target object to a designated position sent by a remote control device.

[0133] In a possible implementation manner provided in the embodiments of the present disclosure, the receiving unit 410 is further configured to collect a voice signal for automatically searching a target object and placing the target object to a designated position; and generate a control instruction for automatically searching the target object and placing the target object to the designated position according to the collected voice signal.

[0134] In an embodiment of the present disclosure, a possible implementation is provided. If the control instruction carries a specified search area of the environment to be cleaned, the searching unit 420 is further configured to: parse and execute the control instruction, detect the specified search area of the environment to be cleaned according to a preset search algorithm, in the detection process, collect image information of the specified search area of the environment to be cleaned through the camera, and analyze whether the image information contains the target object; and if the image information contains the target object, it is determined that the target object is found.

[0135] In an embodiment of the present disclosure, a possible implementation is provided. If the control instruction does not carry a specified search area of the environment to be cleaned, the searching unit 420 is further configured to: parse and execute the control instruction, detect all areas of the environment to be cleaned according to a preset search algorithm, in the detection process, collect image information of all areas of the environment to be cleaned through the camera, and analyze whether the image information contains the target object; and if the image information contains the target object, it is determined that the target object is found.

[0136] In an embodiment of the present disclosure, a possible implementation is provided. The automatic cleaning device includes a multi-degree-of-freedom mechanical arm; and the grabbing unit 430 is further configured to: when the target object is found, control the mechanical arm to extend; analyze the target object to be grabbed according to a perception module carried at the end of the mechanical arm, and obtain a feasible grabbing point; and control the mechanical arm to grab the target object in combination with the feasible grabbing point.

[0137] In an embodiment of the present disclosure, a possible implementation is provided. The grabbing unit 430 is further configured to: in the process of grabbing the target object by the mechanical arm, if it is identified that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a grabbing failure, generate prompt information indicating that the target object exceeds the maximum weight that can be grabbed by the mechanical arm, resulting in a grabbing failure, and mark the current position of the target object in a map corresponding to the preset search algorithm.

[0138] In an embodiment of the present disclosure, a possible implementation is provided. The grabbing unit 430 is further configured to: before controlling the mechanical arm to extend, judge a spatial area of the current position of the target object; determine whether the mechanical arm can extend according to the spatial area of the current position of the target object; if it is determined that the mechanical arm cannot extend, generate prompt information indicating that the mechanical arm cannot extend, resulting in a grabbing failure, and mark the current position of the target object in a map corresponding to the preset search algorithm.

[0139] In an embodiment of the present disclosure, the delivery unit 440 is further configured to: after the picking up is completed, before automatically going to the designated position with the picked up target object, determine whether the designated position is an unreachable position; if yes, determine an alternative position of the designated position, and automatically go to the alternative position with the picked up target object; and place the target object at the alternative position.

[0140] In an embodiment of the present disclosure, the alternative position includes a position closest to the designated position and reachable, or the starting position of the automatic cleaning device is automatically searched according to a preset search algorithm.

[0141] In an embodiment of the present disclosure, the delivery unit 440 is further configured to: before placing the target object at the designated position, determine a suitable placement area corresponding to the designated position according to the perception module of the device body and / or the category of the target object; and place the target object at the suitable placement area corresponding to the designated position.

[0142] In an embodiment of the present disclosure, the search unit 420 is further configured to: after the placing unit 450 places the target object at the designated position, automatically return to the position of picking up the target object, and continue to automatically search for the next target object according to the preset search algorithm.

[0143] The picking up unit 430 is further configured to: when the next target object is searched, pick up the next target object.

[0144] The delivery unit 440 is further configured to: after the picking up is completed, automatically go to the designated position with the picked up next target object.

[0145] The placing unit 450 is further configured to: place the next target object at the designated position.

[0146] The above process is similar until the search of the designated search area or the entire area of the environment to be cleaned is completed, or the number of searching for the target object is reached.

[0147] In the embodiments of the present disclosure, a possible implementation is provided, and the device shown in FIG. 4 can further include a control unit (not shown in the figure), which is further configured to: collect video data of the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated position, and placing the target object at the designated position, to obtain cleaning process video data; and send the cleaning process video data to the remote control device, so that the remote control device remotely views the process of automatically searching for the target object, grabbing the target object, automatically carrying the grabbed target object to the designated position, and placing the target object at the designated position according to the cleaning process video data.

[0148] In the embodiments of the present disclosure, a possible implementation is provided, and the control unit is further configured to: receive the control instruction indicating to pause cleaning sent by the remote control device; and pause the intelligent cleaning according to the control instruction indicating to pause cleaning.

[0149] In the embodiments of the present disclosure, a possible implementation is provided, and the control unit is further configured to: collect a voice signal indicating to pause cleaning; generate a control instruction indicating to pause cleaning according to the collected voice signal indicating to pause cleaning; and pause the intelligent cleaning according to the control instruction indicating to pause cleaning.

[0150] Based on the same inventive concept, the embodiments of the present disclosure further provide an automatic cleaning device, which includes a processor and a memory, the memory stores a computer program, and the processor is configured to run the computer program to execute the intelligent cleaning method of any one of the above-mentioned embodiments.

[0151] Based on the same inventive concept, the embodiments of the present disclosure further provide a storage medium, which stores a computer program, and the computer program is configured to execute the intelligent cleaning method of any one of the above-mentioned embodiments when running.

[0152] Those skilled in the art can clearly understand the specific working process of the above-mentioned system, device, and module, and can refer to the corresponding process in the foregoing method embodiments. For the sake of brevity, no further description is given here.

[0153] Those skilled in the art can understand that the technical solutions of the present disclosure can be embodied in the form of a software product in essence or in whole or part of the technical solutions. The computer software product is stored in a storage medium, and includes a plurality of program instructions for causing an electronic device (such as a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure when running the program instructions. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0154] Alternatively, all or part of the steps of implementing the foregoing method embodiments can be completed by program instruction related hardware (such as electronic devices of personal computers, servers, or network devices, etc.), which can be stored in a computer readable storage medium, and when the program instruction is executed by a processor of the electronic device, the electronic device executes all or part of the steps of the method described in the embodiments of the present disclosure.

[0155] By means of the above technical solutions, the intelligent cleaning method and device, the automatic cleaning device and the storage medium provided by the embodiments of the present disclosure can receive a control instruction for automatically searching for a target object and placing the target object at a specified position; analyze and execute the control instruction, automatically search for the target object according to a preset search algorithm; when the target object is found, the target object is grabbed; after the grabbing is completed, the target object is carried to the specified position automatically, and the target object is placed at the specified position. It can be seen that the embodiments can search for the target object according to the control instruction, and the target object can be grabbed by using the grabbing capability of the automatic cleaning device, and then after the grabbing is completed, the target object is carried to the specified position automatically, and the target object is placed at the specified position. In this way, the automatic searching and carrying of the target object are realized, the effective cleaning of the target object can be realized, manual intervention is not required, the changing working conditions and requirements can be adapted, good flexibility and adaptability are achieved, and the cleaning efficiency is improved.

[0156] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that within the spirit and principle of the present disclosure, the technical solutions recorded in the foregoing embodiments can still be modified, or part or all of the technical features can be replaced equivalently; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the protection scope of the present disclosure.

Claims

1. An intelligent cleaning method, characterized by, The method is applied to an automatic cleaning device, and comprises the following steps: receiving a control instruction for automatically searching for a target object and placing the target object at a specified position; analyzing and executing the control instruction to automatically search for the target object according to a preset search algorithm; when the target object is found, grasping the target object; after the grasping is completed, automatically going to the specified position with the grasped target object and placing the target object at the specified position.

2. The method of claim 1, wherein, The receiving of the control instruction for automatically searching for the target object and placing the target object at the specified position comprises the following steps: receiving the control instruction for automatically searching for the target object and placing the target object at the specified position sent by a remote control device.

3. The method of claim 1, wherein, The receiving of the control instruction for automatically searching for the target object and placing the target object at the specified position comprises the following steps: collecting a voice signal for automatically searching for the target object and placing the target object at the specified position; generating the control instruction for automatically searching for the target object and placing the target object at the specified position according to the collected voice signal.

4. The method according to any one of claims 1 to 3, characterized in that, If the control instruction carries a specified search area of a cleaning environment, the analyzing and executing of the control instruction to automatically search for the target object according to a preset search algorithm comprises the following steps: analyzing and executing the control instruction to detect the specified search area of the cleaning environment according to the preset search algorithm, and in the detection process, collecting image information of the specified search area of the cleaning environment by using a camera and analyzing whether the image information contains the target object; if the image information contains the target object, it is determined that the target object is found.

5. The method according to any one of claims 1 to 3, characterized in that, If the control instruction does not carry a specified search area of a cleaning environment, the analyzing and executing of the control instruction to automatically search for the target object according to a preset search algorithm comprises the following steps: analyzing and executing the control instruction to detect all areas of the cleaning environment according to the preset search algorithm, and in the detection process, collecting image information of all areas of the cleaning environment by using a camera and analyzing whether the image information contains the target object; if the image information contains the target object, it is determined that the target object is found.

6. The method according to any one of claims 1 to 5, characterized in that, The automatic cleaning device comprises a multi-degree-of-freedom mechanical arm, and the grasping of the target object when the target object is found comprises the following steps: when the target object is found, controlling the mechanical arm to extend; analyzing the target object to be grasped according to a sensing module carried at a terminal end of the mechanical arm to obtain a feasible grasping point; controlling the mechanical arm to grasp the target object in combination with the feasible grasping point.

7. The method of claim 6, wherein, The method further comprises the following steps: in the process of grasping the target object by using the mechanical arm, if it is identified that the target object exceeds a maximum weight that can be grasped by the mechanical arm and causes the grasping to fail, generating prompt information indicating that the target object exceeds the maximum weight that can be grasped by the mechanical arm and causes the grasping to fail, and marking a current position of the target object in a map corresponding to the preset search algorithm.

8. The method of claim 6, wherein, Before the mechanical arm is controlled to extend, the method further comprises: judging a spatial region of a current position where the target object is located; determining whether the mechanical arm can extend according to the spatial region of the current position where the target object is located; if it is determined that the mechanical arm cannot extend, generating prompt information indicating that the mechanical arm cannot extend, resulting in a failure in grabbing, and marking the current position where the target object is located in a map corresponding to the preset search algorithm.

9. The method according to any one of claims 1 to 8, characterized in that, Before the method further comprises: judging whether the specified position is an unreachable position; if yes, determining an alternative position of the specified position, and automatically going to the alternative position with the grabbed target object; placing the target object at the alternative position.

10. The method of claim 9, wherein, The alternative position includes a position closest to the specified position and reachable, or a starting position of the target object searched automatically by the automatic cleaning device according to the preset search algorithm.

11. The method according to any one of claims 1 to 10, characterized in that, Before the method further comprises: determining a suitable placement region corresponding to the specified position according to a perception module of a device body of the automatic cleaning device and / or a category of the target object; placing the target object at the suitable placement region corresponding to the specified position.

12. The method according to any one of claims 1 to 11, characterized in that, After the method further comprises: automatically returning to a position where the target object is grabbed, and continuing to automatically search for a next target object according to the preset search algorithm; when the next target object is searched, grabbing the next target object; after the grabbing is completed, automatically going to the specified position with the grabbed next target object, and placing the next target object at the specified position; the above process is repeated until a specified search region or all regions of an environment to be cleaned are searched, or a specified number of times of searching for the target object is reached.

13. The method of claim 2, wherein, The method further comprises: collecting video data of a process of automatically searching for the target object, grabbing the target object, automatically going to the specified position with the grabbed target object, and placing the target object at the specified position, to obtain cleaning process video data; sending the cleaning process video data to the remote control device, so that the remote control device remotely views the process of automatically searching for the target object, grabbing the target object, automatically going to the specified position with the grabbed target object, and placing the target object at the specified position according to the cleaning process video data.

14. The method of claim 2, wherein, The method further comprises: receiving a control instruction indicating pausing cleaning sent by the remote control device; pausing intelligent cleaning according to the control instruction indicating pausing cleaning.

15. The method of claim 3, wherein, The method further comprises: collecting a voice signal indicating pausing cleaning; generating a control instruction indicating pausing cleaning according to the collected voice signal indicating pausing cleaning; pausing intelligent cleaning according to the control instruction indicating pausing cleaning.

16. An intelligent cleaning device, characterized by The device is applied to an automatic cleaning device, and comprises: a receiving unit configured to receive a control instruction for automatically searching for a target object and placing the target object at a designated position; a searching unit configured to analyze and execute the control instruction and automatically search for the target object according to a preset search algorithm; a grabbing unit configured to grab the target object when the target object is searched for; a carrying unit configured to automatically go to the designated position with the grabbed target object after the grabbing is completed; a placing unit configured to place the target object at the designated position.

17. An automatic cleaning device, characterized in that A processor and a memory are included, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the intelligent cleaning method in any one of claims 1 to 15.

18. A storage medium, characterized by The storage medium stores a computer program, wherein the computer program is configured to execute the intelligent cleaning method in any one of claims 1 to 15 when running.

Images