Cleaning device control method and related device

Abstract

Provided is a cleaning device control method. A cleaning device (400) comprises a grabbing robotic arm (500). The method comprises: receiving grabbing parameter information sent by a control device (400) associated with the cleaning device (400), wherein the grabbing parameter information comprises angle information between different grabbing robotic arm links (501) and / or clamping state information of a clamping mechanism; and on the basis of the grabbing parameter information, controlling the grabbing robotic arm (500) to perform a grabbing operation on an object to be grabbed.

Description

Cleaning device control method and related device

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024113207102, filed on September 20, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of cleaning device control, and more particularly to a cleaning device control method and related device. BACKGROUND

[0004] In recent years, with the rapid development of smart home and artificial intelligence technology, intelligent cleaning robots have become increasingly popular as an auxiliary tool in family life. Such devices can automatically complete the cleaning of the floor, helping users reduce the burden of daily cleaning.

[0005] However, the mainstream cleaning devices on the current market mainly focus on floor cleaning tasks, and existing cleaning devices cannot effectively identify, grasp, and organize scattered items such as shoes, clothes, and paper balls on the floor. This results in users still needing to manually organize these items, failing to achieve comprehensive automated cleaning and organization. In addition, some existing cleaning devices have simple obstacle avoidance functions, but lack the ability to classify and autonomously organize objects, failing to meet users' demand for higher home cleanliness. SUMMARY

[0006] The present disclosure provides a cleaning device control method and related device, aiming to at least solve one of the technical problems existing in the prior art or related art.

[0007] In a first aspect, the embodiments of the present disclosure provide a cleaning device control method, the cleaning device comprising a grasping manipulator, the grasping manipulator comprising at least two grasping manipulator links, and a clamping mechanism being arranged at the end of the grasping manipulator link away from the cleaning device, the cleaning device control method comprising:

[0008] receiving grasping parameter information sent by a control device associated with the cleaning device, wherein the grasping parameter information comprises angle information between different grasping manipulator links and / or clamping state information of the clamping mechanism; and

[0009] controlling the grasping manipulator to perform a grasping operation on a to-be-grasped object based on the grasping parameter information.

[0010] In a second aspect, the embodiments of the present disclosure further provide a cleaning device control apparatus for a cleaning device, the cleaning device comprising a grabbing manipulator, the grabbing manipulator comprising at least two grabbing manipulator links and being provided with a gripping mechanism at a distal end of the grabbing manipulator links away from the cleaning device, the cleaning device control apparatus comprising:

[0011] a receiving unit configured to receive grabbing parameter information transmitted by a control device associated with the cleaning device, the grabbing parameter information comprising angle information between different grabbing manipulator links and / or gripping state information of the gripping mechanism; and

[0012] a control unit configured to control the grabbing manipulator to perform a grabbing operation on an object to be grabbed based on the grabbing parameter information.

[0013] In a third aspect, the embodiments of the present disclosure further provide an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being configured to implement the steps of the cleaning device control method of any one of the first aspect when executing the computer program stored in the memory.

[0014] In a fourth aspect, the embodiments of the present disclosure further provide a computer-readable storage medium comprising a computer program stored thereon, the computer program being configured to implement the cleaning device control method of any one of the first aspect when executed by a processor.

[0015] In a fifth aspect, the embodiments of the present disclosure further provide a cleaning device comprising the electronic device of the third aspect. BRIEF DESCRIPTION OF DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a better understanding of the preferred embodiments, and are not to be considered as restrictive of the disclosure. Moreover, in the drawings, like reference numerals refer to similar components throughout the several views.

[0017] FIG. 1 is a flowchart of a cleaning device control method according to an embodiment of the present disclosure.

[0018] FIG. 2 is a schematic diagram of an operation interface of a control device associated with a cleaning device according to an embodiment of the present disclosure.

[0019] FIG. 3 is a schematic diagram of an operation interface of another control device associated with a cleaning device according to an embodiment of the present disclosure.

[0020] FIG. 4 is a schematic diagram of a structure of a cleaning device control apparatus according to an embodiment of the present disclosure.

[0021] Fig. 5 is a structural schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0022] Fig. 6 is a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure.

[0023] Brief Description of the Drawings

[0024] cleaning device control device 200; receiving unit 201; control unit 202; electronic device 300; memory 310; computer program 311; processor 320; cleaning device 400; grabbing mechanical arm 500; grabbing mechanical arm link 501. Embodiments of the present application

[0025] The terms "first", "second", "third", "fourth" and the like in the description and claims of the present disclosure and above drawings, if any, are used for distinguishing between similar objects, and do not necessarily have a particular order or sequence. It should be understood that data thus designated are interchangeable, so that embodiments described herein can operate in other sequences than illustrated or described herein. Furthermore, the terms "comprise" and "have", and their conjugates, as used herein, are used in their inclusive sense, i.e., that they will be understood to imply the inclusion of a non-exclusive list of elements in such processes, methods, systems, products or devices recited by the claims. The following will describe the technical solutions in the embodiments of the present disclosure in a clear and complete manner with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, not all the embodiments.

[0026] The cleaning device of the present disclosure is composed of a cleaning device main body (i.e., a chassis) and a grabbing mechanical arm module installed on the chassis. The grabbing mechanical arm module can have multiple degrees of freedom, including telescopic function, rotation function around different joints, and horizontal rotation around the chassis, which can flexibly cope with complex operating environments. The end of the grabbing mechanical arm is equipped with a precise gripper, which can perform actions such as grabbing, carrying, and placing according to different task requirements, and has precise rotation capability to ensure the completion of various complex operation tasks in limited space. In addition, the gripper can be self-adapted according to the shape, size and weight of the object to ensure stable grabbing, and can also protect fragile objects by adjusting the force.

[0027] The chassis of the cleaning device integrates a high-performance drive wheel system and cleaning components. The drive wheels support multiple motion modes, including straight-line motion, turning, acceleration, and deceleration, enabling the device to flexibly navigate different cleaning environments. The cleaning components on the chassis are designed to efficiently handle dust, stains, and other debris on the ground, and can adapt to different floor materials such as ceramic tiles, wooden floors, and carpets. The cleaning mode can be adjusted according to specific cleaning tasks. The chassis also has strong load-carrying capacity, which can stably carry the grabbing manipulator and other equipment, ensuring smooth movement during operation.

[0028] In addition to the grabbing and cleaning functions, the device has autonomous navigation and environmental perception capabilities. The chassis can be equipped with various advanced sensors: a depth camera to obtain three-dimensional spatial information around the device, helping it identify obstacles and navigation paths; a TOF (Time of Flight) sensor to provide accurate distance measurement data by measuring light reflection time; a laser radar to scan the surrounding environment and generate real-time maps, supporting autonomous navigation and obstacle avoidance; and an RGB camera to capture color images of the environment, assisting in identifying objects and paths around it. These sensors work together to ensure that the cleaning device can perceive and adapt to environmental changes in real time, avoid collisions and stalls, and successfully complete cleaning tasks.

[0029] The end gripper not only has the ability to perform operations, but also is equipped with high-precision RGB cameras to obtain image information of the objects to be grabbed. Through real-time image analysis, the grabbing manipulator can identify the shape, color, material, and other information of the object, further adjust the grabbing parameters, and improve the accuracy and success rate of grabbing. In addition, these cameras can also be used to monitor the grabbing process to ensure that the grabbing manipulator operates safely and efficiently. In some complex environments, the image acquisition module of the grabbing manipulator can assist in detailed object classification, placement, and other operations.

[0030] To ensure the coordinated work of the device, the chassis and the grabbing manipulator can move independently or work together. After grabbing an object, the grabbing manipulator can move to the designated location with the chassis and place the object. During this process, the two work smoothly, enabling the device to perform both cleaning and object handling tasks. In more complex task scenarios, the control system can dynamically adjust the motion mode of the grabbing manipulator and the chassis according to task requirements, enabling them to perform tasks independently or coordinate to complete more complex operations according to actual needs.

[0031] The cleaning device can also support remote control and automation operation by the user. The user can monitor the device through a mobile application, set cleaning paths, grabbing tasks, and placement areas, etc. The intelligent algorithm built-in the device can automatically adjust the action strategy based on the environment and tasks, so that it can still complete the task efficiently and intelligently in complex environment. At the same time, the device supports real-time state feedback, and when encountering obstacles or being unable to complete the task, the device can feedback to the user and wait for further instructions to ensure the safety and reliability of the operation.

[0032] Referring to FIG. 1, a flowchart of a cleaning device control method according to an embodiment of the present disclosure is shown, which can include:

[0033] S110, receiving grabbing parameter information sent by a control device associated with the cleaning device, the grabbing parameter information including angle information between different grabbing mechanical arm links and / or clamping mechanism clamping state information.

[0034] For example, the cleaning device receives grabbing parameter information sent by the associated control device (such as the user's mobile phone APP or other control terminal). The grabbing parameter information contains the key data required by the device when performing the grabbing operation, including but not limited to:

[0035] Angle information between different grabbing mechanical arm links: refers to the angle value between each link of the grabbing mechanical arm. Through these angle information, the device can accurately control each joint of the grabbing mechanical arm to ensure that the grabbing mechanical arm can reach the best grabbing posture.

[0036] The clamping state information of the clamping mechanism refers to the state information of the clamping mechanism in the grabbing operation, usually including the opening or closing state of the clamping device. These information are used to determine whether the clamping mechanism is ready to perform the grabbing operation or whether it needs to be adjusted.

[0037] The cleaning device control method further includes S120, controlling the grabbing mechanical arm to perform grabbing operation on the object to be grabbed based on the grabbing parameter information.

[0038] For example, after receiving the grabbing parameter information, the cleaning device will control the grabbing mechanical arm to perform the actual grabbing operation based on these information. This can include:

[0039] Adjusting the angle of the grabbing mechanical arm: the cleaning device will adjust each joint of the grabbing mechanical arm according to the angle information between different grabbing mechanical arm links received, so that it is in the best grabbing position. Ensuring that the grabbing mechanical arm can accurately reach the position of the object to be grabbed.

[0040] Control the gripping mechanism: according to the gripping state information, the device will control the gripping mechanism to open or close action, in order to firmly grasp the object to be grabbed. If the gripping mechanism needs to be adjusted, the cleaning device will also operate accordingly according to the state information.

[0041] As shown in Figure 2, it is the operation interface diagram of the control device associated with a cleaning device according to the present disclosure. The user can adjust the angle information of M1~M5 different mechanical links in the operation interface by inputting numbers or by adjusting the angle button to control the movement of the grabbing mechanical arm of the cleaning device. When the grabbing mechanical arm moves to the specified position and can grab the object, the user can select the clamping by clamping the corresponding area on the operation interface. After clamping, the cleaning device can be controlled to move forward and backward and rotate itself to change the movement direction. After reaching the specified position, the object can be dropped by selecting the release on the operation interface.

[0042] As shown in Figure 3, it is the operation interface diagram of the control device associated with another cleaning device according to the present disclosure. A camera unit is provided at the front end of the cleaning device body or the grabbing mechanical arm during manual grabbing. The camera unit captures the current picture in real time and transmits it to the control device associated with the cleaning device to display on the operation interface of the control device. The user can control the grabbing mechanical arm of the cleaning device in real time by watching the real-time captured current picture, thereby helping the user to realize remote observation and remote control.

[0043] In summary, the traditional cleaning device mainly focuses on ground cleaning, and cannot effectively handle scattered items on the ground, such as shoes, clothes, paper balls, etc. The embodiments of the present disclosure introduce a grabbing manipulator and a corresponding control method, so that the cleaning device can automatically identify, grab and arrange these scattered items. This not only improves the functional range of the cleaning device, but also reduces the workload of manual arrangement by the user, achieving more comprehensive automatic cleaning and arrangement. The embodiments of the present disclosure receive and use detailed grabbing parameter information, including angle information between different grabbing manipulator links and clamping state information of the clamping mechanism, so that the cleaning device can be more accurate when performing the grabbing operation. Traditional cleaning devices often lack precise grabbing ability when dealing with obstacles, while the embodiments of the present disclosure precisely control the grabbing manipulator and the clamping mechanism to ensure that the grabbing manipulator can operate at the best angle and state, thereby improving the success rate and safety of the grabbing operation. Existing cleaning devices usually only have simple obstacle avoidance function and cannot classify and handle objects according to their types. The grabbing control method of the embodiments of the present disclosure can intelligently adjust the grabbing manipulator and the clamping mechanism according to the grabbing parameter information, thereby realizing effective grabbing and placing of different types of objects. This not only improves the intelligent level of the cleaning device, but also better meets the high standard needs of the user for the cleanliness of the home. Traditional cleaning devices still require manual intervention for arrangement when encountering scattered items on the ground, while the embodiments of the present disclosure reduce the user's participation demand through intelligent grabbing and processing mechanism. The user can complete complex cleaning and arrangement tasks through simple APP operation, thereby further simplifying daily chores and improving the quality of life. With the popularization of smart home, the user's demand for cleaning devices is not limited to ground cleaning. The grabbing function of the embodiments of the present disclosure enables the device to handle more complex household cleaning tasks, such as arranging ground litter, and even expand to more household scenarios in the future, such as kitchen or bedroom item arrangement. This opens up new application scenarios for smart cleaning devices and improves their market competitiveness. The embodiments of the present disclosure provide a more comprehensive and intelligent cleaning solution compared to related art, greatly improving the practicality and user experience of the device, and promoting the evolution of smart cleaning devices to a higher functional level.

[0044] In some examples, the above cleaning device control method further includes:

[0045] In the process of performing the grabbing operation, distance information between the grabbing manipulator and surrounding objects is obtained; and

[0046] In the case where the distance information is less than the preset distance information, the grabbing operation is temporarily determined, and feedback information is sent to the control device associated with the cleaning device.

[0047] Exemplarily, during the execution of the grabbing operation, the cleaning device continuously monitors the distance between the grabbing manipulator and the surrounding objects through sensors. This distance information is important data for the device to determine whether the grabbing manipulator can safely perform the grabbing operation.

[0048] It should be noted that the distance information can be obtained by, but not limited to, the following ways:

[0049] Ultrasonic sensor method: the ultrasonic sensor measures the reflection time of the sound wave from the sensor to the target object by emitting and receiving the sound wave to calculate the distance;

[0050] Infrared sensor method: the infrared sensor measures the distance of the object by emitting infrared light and detecting its reflection intensity; and

[0051] Camera and depth sensor method: by using a stereo vision camera or a camera equipped with a depth sensor, the device can calculate the distance between the object and the grabbing manipulator based on the depth information of the image.

[0052] The cleaning device will compare the real-time distance information with the preset safe distance. If the distance information is less than the preset distance information, it means that the distance between the grabbing manipulator and the surrounding objects is too close, and there is a potential risk of collision.

[0053] In the case of determining that the distance information is less than the preset distance information, the cleaning device will immediately suspend the current grabbing operation to avoid possible collision or misoperation. At the same time, the device will send feedback information to the associated control device (such as the user's mobile phone APP). This feedback information usually includes the current operation state and the reason for suspension, prompting the user that the device has suspended the grabbing operation and may need further intervention or adjustment.

[0054] According to the embodiments of the present disclosure, the safety and accuracy of the grabbing operation are ensured, and the potential risks in the operation process are reduced. At the same time, the real-time feedback mechanism enables the user to timely understand the running status of the device, increasing the controllability and reliability of the device use

[0055] In some examples, the above cleaning device control method further comprises:

[0056] obtaining grabbing force feedback information; and

[0057] In the case that the change rate information of the grabbing force feedback information in the current monitoring period is greater than a preset threshold, it is determined that the grabbing operation has been completed.

[0058] Exemplarily, during the execution of the grabbing operation, the cleaning device will monitor and obtain the grabbing force feedback information in real time. The grabbing force feedback information refers to the change of the force felt by the grabbing manipulator or the clamping mechanism during the grabbing operation.

[0059] It should be noted that the force feedback information can be obtained by, but not limited to, the following ways:

[0060] Force sensor method: Force sensors directly measure the force acting on the gripping robot or clamping mechanism. These sensors are based on the principle of strain gauges. When force acts on the sensor, it will cause the internal material to produce a slight deformation. The sensor converts this deformation into an electrical signal, and then calculates the size of the force;

[0061] Torque sensor method: Torque sensors are used to measure rotational force or torque, especially suitable for components with rotational motion. By measuring the torque generated on the rotating parts of the gripping robot, the force exerted on the object during clamping can be inferred; and

[0062] Motor current feedback method: The size of the force is calculated by monitoring the change of the motor current driving the gripping robot or clamping mechanism. When clamping an object, the load of the motor increases, which will cause the current to increase. Through the relationship between current and force, the force feedback information can be indirectly obtained.

[0063] The device not only obtains the gripping force feedback information, but also calculates the rate of change of the information within the current monitoring period. The rate of change information reflects the speed of change of the gripping force, i.e. the rate of increase or decrease of the force. This indicator can help the device determine whether the gripping operation is proceeding smoothly.

[0064] In the case where the rate of change of the gripping force feedback information is greater than the preset threshold, the device will determine that the gripping operation has been completed. The preset threshold is a standard value set by the device, representing a key point for the rate of change of the gripping force. When the rate of change exceeds this threshold, it usually means that the gripping robot has successfully gripped the object and completed the gripping action, so the device can determine that the gripping operation has been completed.

[0065] This embodiment can accurately determine the completion state of the gripping operation and ensure the success rate of the gripping action. This judgment mechanism based on the gripping force feedback information increases the intelligent level of the gripping operation and can perform well in complex gripping scenarios, while reducing the necessity of human intervention.

[0066] In some examples, the above cleaning device control method further comprises:

[0067] Obtaining type information of the object to be gripped;

[0068] Determining a target gripping force based on the type information and a correspondence table between type information and target gripping forces; and

[0069] In the case where the difference between the gripping force feedback information and the target gripping force is within a preset range, it is determined that the gripping operation has been completed.

[0070] Exemplarily, before performing the grasping operation, the cleaning device can obtain type information of the object to be grasped according to the image collected by the image collection device. The type information refers to specific attributes or classifications of the object, such as the material, size, or shape of the object.

[0071] The cleaning device determines the target grasping force by referring to a pre-set type information-target grasping force correspondence table according to the obtained type information. This correspondence table matches different types of objects with their suitable grasping force values. For example, soft objects may require smaller grasping force, while hard or heavier objects may require larger grasping force. Through this matching mechanism, the device can select appropriate grasping force for different types of objects, thereby ensuring the success rate and safety of the grasping operation.

[0072] During the grasping operation, the device obtains grasping force feedback information in real time and compares it with the determined target grasping force. In some embodiments, the device calculates the difference between the grasping force feedback information and the target grasping force.

[0073] If the above difference is within a pre-set range, the device will determine that the grasping operation has been completed. The pre-set range is a tolerance range set internally by the device to judge whether the grasping operation has achieved the expected effect. When the difference between the grasping force feedback information and the target grasping force is within this range, it usually means that the device has successfully grasped the object, and the grasping operation has been successfully completed.

[0074] This embodiment can intelligently adjust and judge the grasping operation, ensuring that the grasping force is suitable for the type of object grasped each time. This adjustment mechanism based on type information and target grasping force makes the device more flexible and accurate when handling different types of objects, significantly improving the success rate of the grasping operation and the overall intelligent level of the device.

[0075] In some examples, the above cleaning device control method further comprises:

[0076] In the case where the weight information of the object to be grasped is greater than the grasping weight limit information of the grasping manipulator and / or the number of grasping operation failures is greater than a pre-set number, the cleaning device sends grasping failure feedback information to the control device associated with the cleaning device.

[0077] Exemplarily, after the cleaning device analyzes the type information and volume information of the object to be grasped, it calculates or estimates the weight information of the object. The cleaning device compares the weight information of the object to be grasped with the grasping weight limit information of the grasping manipulator. The grasping weight limit information refers to the maximum weight that the grasping manipulator can grasp within the safe operating range. If the weight information of the object to be grasped is greater than this limit value, there is a risk of grasping failure.

[0078] During the grabbing operation, the device also monitors the success of the grabbing in real time. If the grabbing operation fails, the device records a failure count. When the failure count accumulates to a preset number, the device will determine that the difficulty of the grabbing task exceeds the capability range of the grabbing robot arm.

[0079] When the device detects that the weight information of the object to be grabbed exceeds the grabbing weight limit information of the grabbing robot arm, or the number of grabbing operation failures is greater than the preset number, the device will send a grabbing failure feedback information to the control device associated with the cleaning device (such as the user's mobile phone APP). This feedback information usually contains the reason for the failure (such as weight overrun or multiple failures) so that the user can timely understand the status of the grabbing operation and make corresponding adjustments or interventions.

[0080] In some examples, the above cleaning device control method further comprises:

[0081] obtaining image information of the object to be grabbed; and

[0082] sending the image information to the control device associated with the cleaning device, so that the operator of the control device adjusts the grabbing parameter information based on the image information, and the control device includes a remote controller and / or a mobile terminal associated with the cleaning device.

[0083] For example, before the grabbing operation starts, the cleaning device obtains image information of the object to be grabbed through its camera or other image acquisition module. The image information includes visual features such as the appearance, shape, color, size, etc. of the object.

[0084] After obtaining the image information, the cleaning device sends the image information to the associated control device, such as the user's mobile phone APP or other control terminal. In this way, the user can view the real-time object image on the control device.

[0085] After the user of the control device receives the image information, the user can adjust the grabbing parameter information based on the image information. For example, the user can adjust the angle of the grabbing robot arm, the opening and closing state of the gripper, or other grabbing-related parameters to ensure that the device can more accurately perform the grabbing operation. This adjustment process is based on the user's intuitive judgment and understanding of the image information, and aims to improve the success rate of the grabbing operation.

[0086] In some examples, before the above step of receiving the grabbing parameter information sent by the control device associated with the cleaning device, the cleaning device control method further comprises:

[0087] In response to the mobile remote control instruction sent by the control device associated with the cleaning device, the cleaning device is controlled to reach the first target area.

[0088] Exemplarily, the cleaning device is associated with a control device (such as a mobile phone APP). The user sends a mobile remote control instruction through the control device, instructing the cleaning device to go to a specified first target area. This instruction can be sent in the form of manual input, voice instruction or user selection of the target area on the map.

[0089] After receiving the mobile remote control instruction, the cleaning device will plan a path according to the instruction and move to the specified first target area. The navigation system inside the device (such as a system based on the SLAM algorithm) will ensure that the device can accurately reach the target position. During the movement, the device will use its own sensors to avoid obstacles and ensure safe arrival at the destination.

[0090] Once the cleaning device reaches the first target area, it will start the perception module to obtain the perception image information of the area. These information are used to determine whether there are objects that can be grabbed in the target area, and to provide basic data for subsequent grabbing operations.

[0091] This process ensures that the cleaning device can perform cleaning and grabbing operations at the location specified by the user. Through the user's remote control instruction, the device can flexibly move between different locations, increasing the convenience and applicability of the device operation.

[0092] It can be understood that during the above process of remotely instructing the robot to go to the specified target point and grab, the user can remotely view the above process in the APP through the camera carried by the main body or the camera carried by the grabbing manipulator.

[0093] In some embodiments, after the grabbing manipulator completes the grabbing operation on the object to be grabbed, the cleaning device control method further comprises:

[0094] In response to the drop remote control instruction sent by the control device associated with the cleaning device, controlling the cleaning device to reach a second target area;

[0095] In the case where the cleaning device reaches the drop waiting area corresponding to the second target area, receiving the drop parameter information sent by the control device associated with the cleaning device, the drop parameter information including angle information between different grabbing manipulator links and / or clamping state information of the clamping mechanism; and

[0096] Based on the drop parameter information, controlling the grabbing manipulator to perform a drop operation on the object to be dropped.

[0097] Exemplarily, after the grabbing manipulator completes the grabbing operation on the object to be grabbed, the user can continue to control the cleaning device through the control device, and the cleaning device receives a "drop remote control instruction" sent by the control device (such as a remote controller or a mobile terminal). At this time, the cleaning device moves to a second target area (i.e., an area where the object needs to be dropped) according to the instruction.

[0098] When the cleaning device reaches the specified drop area or the corresponding drop waiting area, the cleaning device receives drop parameter information input by the user through the control device. The drop parameter information includes detailed operation parameters of the grabbing manipulator, and includes angle information between links of the grabbing manipulator and clamping state information of the clamping mechanism. These information are used to guide the grabbing manipulator how to deploy and how to release the object, to ensure that the drop operation is completed at the correct position and posture.

[0099] In some embodiments, after the grabbing manipulator completes the grabbing operation on the object to be grabbed, the cleaning device control method further includes:

[0100] In response to a drop remote control instruction sent by the control device associated with the cleaning device, the cleaning device is controlled to reach a second target area;

[0101] In the case where the cleaning device reaches a drop waiting area corresponding to the second target area, an automatic drop instruction sent by the control device associated with the cleaning device is received; and

[0102] Based on the automatic drop instruction, a drop operation is performed on the object to be dropped.

[0103] Exemplarily, after the grabbing manipulator completes the grabbing operation on the object to be grabbed, the cleaning device responds to a drop remote control instruction sent by the control device to go to a second target area. When the cleaning device reaches a drop waiting area of the second target area, the cleaning device will receive an automatic drop instruction from the control device. In this operation instruction, the automatic drop instruction is a more simplified instruction, and no longer includes specific grabbing manipulator operation details (such as angle and clamping state of the grabbing manipulator). This means that the cleaning device has preset how to perform the drop operation inside, and the control device only needs to issue a simple drop instruction. After receiving the automatic drop instruction, the cleaning device will automatically perform the drop operation according to its built-in logic and perception module.

[0104] In some examples, the cleaning device control method further includes:

[0105] In the case where the second target area is an area that the cleaning device can reach, the drop waiting area corresponding to the second target area is within the area range of the second target area; or

[0106] In the case that the second target region is a region that the cleaning device cannot reach, the drop waiting region corresponding to the second target region is set in a region range adjacent to the second target region.

[0107] For example, the user can directly control the cleaning device through a remote control device (such as a mobile phone APP) or select a specific target point in the map interface provided by the device. This target point is the position where the user wants the device to drop the captured object.

[0108] If the target point is a region that the device can reach, the drop waiting region will be set in the region range of the target point, i.e., the device can smoothly enter the region and perform the drop operation.

[0109] If the target point is a region that the device cannot reach, the drop waiting region will be set in a region range adjacent to the target point. The device will stay in this drop waiting region and perform the drop operation to place the object as close to the target point as possible.

[0110] After determining the drop waiting region, the device will control the grabbing manipulator to perform the drop operation to safely and accurately place the object in the specified region.

[0111] This operation process ensures that the user can flexibly control the device to move and drop the captured object to the specified position, even if the device cannot completely reach the target point, ensuring that the object is placed in the appropriate position.

[0112] In some examples, the target drop region is determined based on one or more of a cleaning device movement limitation condition, a grabbing manipulator deployment limitation condition, a special region limitation condition, a user-set limitation condition, a region material limitation condition, and an object stacking limitation condition.

[0113] For example, the cleaning device movement limitation condition ensures that the cleaning device is not restricted during movement and operation. For example, the target drop region should not be located in a low area or a region with dense obstacles that the device cannot pass through, to avoid collisions or getting stuck during movement of the device.

[0114] The grabbing manipulator deployment limitation condition ensures that the grabbing manipulator can fully deploy during the placement operation. The target drop region should not be located in a region where the grabbing manipulator cannot normally deploy, such as near a wall or other obstacles, so as to avoid limitations or normal operation of the grabbing manipulator during the placement operation.

[0115] The special area restriction condition ensures that the target drop area does not negatively affect the safety or operational efficiency of the device. For example, the target drop area should not be a dangerous area such as a cliff to avoid objects falling or accidents occurring; nor should it be a threshold or the extended area in front of and behind the threshold, which may affect the passage of the device.

[0116] The user-set restriction condition can set certain forbidden areas through the APP, and the device will avoid these areas when selecting the target drop area. For example, the user may set some areas as cleaning forbidden areas, and the device will automatically avoid these areas when placing objects.

[0117] The area material restriction condition selects the target drop area based on the material properties of the area. The target drop area should not be a material area such as a carpet, which may affect the stable placement of objects or cause objects to fall over after being placed.

[0118] The object stacking restriction condition also affects the selection of the target drop area based on the type of the object being grasped. For example:

[0119] For shoe-type objects, the target drop area should be selected to a position that does not allow stacking of shoes to avoid deformation or damage; and

[0120] For fabric-type or bulk-type objects, they can be stacked on similar objects, so the target drop area can be selected to a position that meets this stacking condition.

[0121] By considering one or more of the above conditions, the cleaning device can intelligently select the optimal target drop area to ensure that objects are placed in a safe and appropriate location. This design not only improves the operational efficiency of the device, but also increases the adaptability of the device in complex environments, allowing it to meet the diverse needs of users.

[0122] Please refer to FIG. 4, which is a structural schematic diagram of a cleaning device control apparatus 200 according to an embodiment of the present disclosure, which can include:

[0123] A receiving unit 201 for receiving grasping parameter information sent by a control device associated with the cleaning device, the grasping parameter information including angle information between different grasping mechanical arms and / or clamping state information of a clamping mechanism; and

[0124] A control unit 202 for controlling the grasping mechanical arm to perform a grasping operation on the object to be grasped based on the grasping parameter information.

[0125] As shown in FIG. 5, the embodiments of the present disclosure further provide an electronic device 300, which comprises a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and capable of running on the processor. The processor 320 implements the steps of any of the above-mentioned cleaning device control methods when executing the computer program 311.

[0126] Since the electronic device introduced in the embodiments is the device used to implement the cleaning device in the embodiments of the present disclosure, the specific implementation of the electronic device and its various forms can be understood by those skilled in the art based on the methods introduced in the embodiments of the present disclosure. Therefore, how the electronic device implements the methods in the embodiments of the present disclosure will not be described in detail here, as long as the device used by those skilled in the art to implement the methods in the embodiments of the present disclosure belongs to the scope of the present disclosure.

[0127] In the implementation process, the computer program 311 can implement any of the embodiments of the first aspect when executed by the processor.

[0128] As shown in FIG. 6, the embodiments of the present disclosure further provide a cleaning device 400, which comprises the electronic device 300 shown in FIG. 5.

[0129] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0130] In the first aspect, the embodiments of the present disclosure provide a cleaning device control method, the cleaning device comprising a grabbing mechanical arm, the grabbing mechanical arm comprising at least two grabbing mechanical arm links, and a clamping mechanism being arranged at the end of the grabbing mechanical arm link away from the cleaning device, the cleaning device control method comprising:

[0131] receiving grabbing parameter information sent by a control device associated with the cleaning device, the grabbing parameter information comprising angle information between different grabbing mechanical arm links and / or clamping state information of the clamping mechanism; and

[0132] controlling the grabbing mechanical arm to perform a grabbing operation on a to-be-grabbed object based on the grabbing parameter information.

[0133] In some embodiments, the cleaning device control method further comprises:

[0134] In the process of performing the grabbing operation, distance information between the grabbing mechanical arm and surrounding objects is obtained; and

[0135] In the case where the distance information is less than preset distance information, the grabbing operation is temporarily determined, and feedback information is sent to the control device associated with the cleaning device.

[0136] In some embodiments, the cleaning device control method further comprises:

[0137] obtaining the grasping force feedback information; and

[0138] in a case where a change rate of the grasping force feedback information in a current monitoring period is greater than a preset threshold, determining that the grasping operation has been completed.

[0139] In some embodiments, the cleaning device control method further comprises:

[0140] obtaining type information of the object to be grasped;

[0141] determining a target grasping force based on the type information and a type information-target grasping force correspondence table; and

[0142] in a case where a difference between the grasping force feedback information and the target grasping force is within a preset range, determining that the grasping operation has been completed.

[0143] In some embodiments, the cleaning device control method further comprises:

[0144] in a case where weight information of the object to be grasped is greater than grasping mechanical arm grasping weight limit information and / or the number of grasping operation failures is greater than a preset number, sending grasping failure feedback information to a control device associated with the cleaning device.

[0145] In some embodiments, the cleaning device control method further comprises:

[0146] obtaining image information of the object to be grasped; and

[0147] sending the image information to a control device associated with the cleaning device, so that an operator of the control device adjusts the grasping parameter information based on the image information, the control device including a remote controller and / or a mobile terminal associated with the cleaning device.

[0148] In some embodiments, before the step of receiving the grasping parameter information sent by the control device associated with the cleaning device, the cleaning device control method further comprises:

[0149] in response to a movement remote control instruction sent by the control device associated with the cleaning device, controlling the cleaning device to reach a first target area.

[0150] In some embodiments, after the grasping mechanical arm completes the grasping operation on the object to be grasped, the cleaning device control method further comprises:

[0151] In response to the drop remote control instruction sent by the control device associated with the cleaning device, the cleaning device is controlled to reach the second target area;

[0152] In the case where the cleaning device reaches the drop waiting area corresponding to the second target area, drop parameter information sent by the control device associated with the cleaning device is received, and the drop parameter information includes angle information between different grabbing arm links and / or clamping state information of the clamping mechanism; and

[0153] Based on the drop parameter information, the grabbing arm is controlled to perform a drop operation on the object to be dropped.

[0154] In some embodiments, after the grabbing arm completes the grabbing operation on the object to be grabbed, the cleaning device control method further includes:

[0155] In response to the drop remote control instruction sent by the control device associated with the cleaning device, the cleaning device is controlled to reach the second target area;

[0156] In the case where the cleaning device reaches the drop waiting area corresponding to the second target area, an automatic drop instruction sent by the control device associated with the cleaning device is received; and

[0157] Based on the automatic drop instruction, a drop operation is performed on the object to be dropped.

[0158] In some embodiments, the cleaning device control method further includes:

[0159] In the case where the second target area is a region that the cleaning device can reach, the drop waiting area corresponding to the second target area is within the region range of the second target area; or

[0160] In the case where the second target area is a region that the cleaning device cannot reach, the drop waiting area corresponding to the second target area is within the region range adjacent to the second target area.

[0161] In some embodiments, the target drop area is determined based on one or more of a cleaning device movement restriction condition, a grabbing arm deployment restriction condition, a special region restriction condition, a user-set restriction condition, a region material restriction condition, and an object stacking restriction condition.

[0162] In a second aspect, the embodiments of the present disclosure also provide a cleaning device control apparatus for a cleaning device, the cleaning device including a grabbing arm, the grabbing arm including at least two grabbing arm links and being provided with a clamping mechanism at the end of the grabbing arm link away from the cleaning device, and the cleaning device control apparatus including:

[0163] receive a grabbing parameter information sent by a control device associated with the cleaning device, the grabbing parameter information comprising angle information between different grabbing mechanical arms and / or grabbing state information of a grabbing mechanism; and

[0164] control a grabbing mechanical arm to perform a grabbing operation on an object to be grabbed based on the grabbing parameter information.

[0165] In a third aspect, the embodiments of the present disclosure also provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being configured to implement the steps of the cleaning device control method of any one of the first aspect when executing the computer program stored in the memory.

[0166] In a fourth aspect, the embodiments of the present disclosure also provide a computer readable storage medium comprising a computer program stored thereon, the computer program being executable by a processor to implement the cleaning device control method of any one of the first aspect.

[0167] In a fifth aspect, the embodiments of the present disclosure also provide a cleaning device comprising the electronic device of the third aspect.

[0168] In summary, the cleaning device control method of the embodiments of the present disclosure includes: receiving the grabbing parameter information sent by the control device associated with the cleaning device, the grabbing parameter information including angle information between different grabbing mechanical arms and / or clamping state information of the clamping mechanism; and controlling the grabbing mechanical arm to perform a grabbing operation on the object to be grabbed based on the grabbing parameter information. Traditional cleaning devices mainly focus on ground cleaning, and cannot effectively handle scattered items on the ground, such as shoes, clothes, paper balls, etc. The embodiments of the present disclosure introduce grabbing mechanical arms and corresponding control methods, so that the cleaning device can automatically identify, grab and arrange these scattered items. In this way, not only the functional range of the cleaning device is improved, but also the workload of manual arrangement by the user is reduced, and more comprehensive automatic cleaning and arrangement is realized. By receiving and using detailed grabbing parameter information, including angle information between different grabbing mechanical arms and clamping state information of the clamping mechanism, the cleaning device can be more accurate when performing a grabbing operation. Traditional cleaning devices often lack precise grabbing ability when dealing with obstacles, while the embodiments of the present disclosure precisely control the grabbing mechanical arm and the clamping mechanism to ensure that the grabbing mechanical arm can operate at the best angle and state, thereby improving the success rate and safety of the grabbing operation. Existing cleaning devices usually only have a simple obstacle avoidance function and cannot classify and handle objects according to their types. The grabbing control method of the embodiments of the present disclosure can intelligently adjust the grabbing mechanical arm and the clamping mechanism according to the grabbing parameter information, thereby realizing effective grabbing and placing of different types of objects. In this way, not only the intelligent level of the cleaning device is improved, but also the high standard demand of the user for the cleanliness of the home is better met. Traditional cleaning devices still require manual intervention for arrangement when encountering scattered items on the ground, while the embodiments of the present disclosure reduce the user's participation demand through intelligent grabbing and processing mechanism. The user can complete complex cleaning and arrangement tasks through simple APP operation, thereby further simplifying daily chores and improving the quality of life. With the popularity of smart homes, the demand of users for cleaning devices is not limited to ground cleaning. The grabbing function of the embodiments of the present disclosure enables the device to handle more complex household cleaning tasks, such as arranging items on the ground, and even expand to more household scenarios in the future, such as kitchen or bedroom item arrangement. This opens up new application scenarios for smart cleaning devices and improves their market competitiveness. The embodiments of the present disclosure provide a more comprehensive and intelligent cleaning solution compared to related technologies, greatly improving the practicality and user experience of the device, and promoting the evolution of smart cleaning devices to a higher functional level.

[0169] According to the cleaning device control method of the present disclosure, other advantages, objects and features of the present disclosure will be embodied in part by the above description, and will be understood by those skilled in the art through research and practice of the present disclosure.

[0170] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, systems, or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0171] The present disclosure is described in reference to the flow diagrams and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flow diagrams and / or block diagrams, and combinations of flows and / or blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagram flow or flows and / or block diagram block or blocks.

[0172] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions means which implement the function specified in the flow diagram flow or flows and / or block diagram block or blocks.

[0173] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagram flow or flows and / or block diagram block or blocks.

[0174] Embodiments of the present disclosure also provide a computer program product including computer software instructions, which, when running on a processing device, cause the processing device to perform the flow of the intelligent drinking water service method.

[0175] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present disclosure are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that the computer can store or be integrated into a data storage device such as a server, data center, etc. containing one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0176] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0177] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices, apparatuses and methods can be implemented by other means. For example, the apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical function division, and actual implementation can have another division manner, 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 coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0178] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0179] In addition, each functional unit in the various embodiments of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0180] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure, essentially or in part, or all 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 several 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 methods in the various embodiments of the present disclosure. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0181] In the present disclosure, the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood or implied to indicate or imply relative importance. The term "multiple" refers to two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connect", "fix" and the like should be broadly understood, for example, "connect" can be fixed connection, or detachable connection, or integral connection. "Connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0182] In the description of the present disclosure, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0183] The above is only the preferred embodiment of the present disclosure, and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

A cleaning device control method, the cleaning device comprising a grabbing manipulator, the grabbing manipulator comprising at least two grabbing manipulator links and being provided with a clamping mechanism at the end of the grabbing manipulator link away from the cleaning device, the method comprising: receiving grabbing parameter information sent by a control device associated with the cleaning device, wherein the grabbing parameter information comprises angle information between different grabbing manipulator links and / or clamping state information of the clamping mechanism; and controlling the grabbing manipulator to perform a grabbing operation on a to-be-grabbed object based on the grabbing parameter information. The cleaning device control method according to claim 1, further comprising: acquiring distance information between the grabbing manipulator and surrounding objects during the execution of the grabbing operation; in the case where the distance information is less than preset distance information, temporarily determining the grabbing operation, and sending feedback information to the control device associated with the cleaning device. The cleaning device control method according to claim 1, further comprising: acquiring grabbing force feedback information; and in the case where the change rate information of the grabbing force feedback information in the current monitoring period is greater than a preset threshold, determining that the grabbing operation has been completed. The cleaning device control method according to claim 1, further comprising: acquiring type information of the to-be-grabbed object; determining a target grabbing force based on the type information and a type information-target grabbing force correspondence table; and in the case where the difference between the grabbing force feedback information and the target grabbing force is within a preset range, determining that the grabbing operation has been completed. The cleaning device control method according to any one of claims 1 to 4, further comprising: in the case where the weight information of the to-be-grabbed object is greater than grabbing manipulator weight limit information and / or the number of grabbing operation failures is greater than a preset number, sending grabbing failure feedback information to the control device associated with the cleaning device. The cleaning device control method according to claim 1, further comprising: acquiring image information of the to-be-grabbed object; and sending the image information to the control device associated with the cleaning device, so that an operator of the control device adjusts the grabbing parameter information based on the image information, wherein the control device comprises a remote controller and / or a mobile terminal associated with the cleaning device. Before the step of receiving the grabbing parameter information sent by the control device associated with the cleaning device, the method further comprises: in response to a moving remote control instruction sent by the control device associated with the cleaning device, controlling the cleaning device to reach a first target area. After the grabbing manipulator completes the grabbing operation on the to-be-grabbed object, the method further comprises: The cleaning device control method according to claim 1, wherein in response to a dropping remote control instruction sent by the control device associated with the cleaning device, controlling the cleaning device to reach a second target area; in the case where the cleaning device reaches a dropping waiting area corresponding to the second target area, receiving dropping parameter information sent by the control device associated with the cleaning device, wherein the dropping parameter information comprises angle information between different grabbing manipulator links and / or clamping state information of the clamping mechanism; and The cleaning device control method according to claim 1, wherein ​ ​ ​ The method further comprises: The cleaning device control method according to claim 1, wherein After the grabbing mechanical arm completes the grabbing operation on the object to be grabbed, the method further comprises: In response to a drop remote control instruction sent by a control device associated with the cleaning device, controlling the cleaning device to reach a second target area; In a case where the cleaning device reaches a drop waiting area corresponding to the second target area, receiving an automatic drop instruction sent by the control device associated with the cleaning device; and Based on the automatic drop instruction, performing a drop operation on the object to be dropped. The cleaning device control method according to claim 8 or 9, further comprising: In a case where the second target area is an area that the cleaning device can reach, a drop waiting area corresponding to the second target area is within the area range of the second target area; Or In a case where the second target area is an area that the cleaning device cannot reach, a drop waiting area corresponding to the second target area is within an area range adjacent to the second target area. The cleaning device control method according to claim 8 or 9, wherein The target drop area is determined based on one or more of a cleaning device movement restriction condition, a grabbing mechanical arm deployment restriction condition, a special area restriction condition, a user-set restriction condition, an area material restriction condition, and an object stacking restriction condition. A cleaning device control device for a cleaning device, the cleaning device comprising a gripping robot arm, the gripping robot arm comprising at least two gripping robot arm links and being provided with a gripping mechanism at a distal end of the gripping robot arm links, wherein, The cleaning device control apparatus comprises: a receiving unit configured to receive grabbing parameter information sent by a control device associated with the cleaning device, wherein the grabbing parameter information comprises angle information between different links of a grabbing mechanical arm and / or clamping state information of a clamping mechanism; and a control unit configured to control a grabbing mechanical arm to perform a grabbing operation on an object to be grabbed based on the grabbing parameter information. An electronic device, comprising: a memory and a processor, wherein the processor is configured to implement the steps of the cleaning device control method according to any one of claims 1-11 when executing a computer program stored in the memory. A computer-readable storage medium comprising: a computer program stored thereon, which, when executed by a processor, implements the steps of the cleaning device control method according to any one of claims 1-11. A cleaning device comprising the electronic device according to claim 13.

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