Cleaning device control method and apparatus, and device, medium and program product

Abstract

A cleaning device control method and apparatus, and a device, a medium and a program product. The method comprises: on the basis of an actual pose of a robotic arm and the motion state of a self-moving cleaning device, determining a target early-warning space corresponding to the self-moving cleaning device; detecting whether there is an obstacle in the target early-warning space; and when there is an obstacle in the target early-warning space, controlling the self-moving cleaning device to execute an avoidance action.

Description

A cleaning device control method, device, apparatus, medium and program product Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 2024113207070, 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 cleaning devices, and particularly relates to a cleaning device control method, device, apparatus, medium and program product. BACKGROUND

[0003] With the improvement of people's requirements for life quality and the acceleration of life rhythm, people's demand for automatic cleaning products is increasing, and the requirements for automatic cleaning products are also increasing.

[0004] Traditional automatic cleaning products can clean dust and garbage on the ground in some set modes. Some upgraded automatic cleaning products can not only clean dust and garbage on the ground, but also use mechanical arms to store and arrange small objects such as small toys and socks on the ground. However, during the use of the mechanical arm by the automatic cleaning product, how to improve the use safety of the mechanical arm is a problem to be solved at present. SUMMARY

[0005] The present disclosure provides a cleaning device control method, device, apparatus, medium and program product, which solves the technical problem of low use safety of the mechanical arm by the automatic cleaning product in the prior art, and achieves the technical effect of improving the safety of the mechanical arm by the automatic cleaning product.

[0006] In a first aspect, the present disclosure provides a cleaning device control method applied to a self-moving cleaning device, wherein the self-moving cleaning device is provided with a mechanical arm, and the method comprises: determining a target warning space corresponding to the self-moving cleaning device according to an actual posture of the mechanical arm and a motion state of the self-moving cleaning device; monitoring whether an obstacle exists in the target warning space; and controlling the self-moving cleaning device to perform an avoidance action in the case that the obstacle exists in the target warning space.

[0007] In one possible implementation, the above determining the target warning space corresponding to the self-moving cleaning device according to the actual posture of the mechanical arm and the motion state of the self-moving cleaning device comprises:

[0008] In the case that the motion state of the self-moving cleaning device is a stop state, a basic space containing the mechanical arm is determined according to the actual posture of the mechanical arm.

[0009] determining the target early warning space corresponding to the self-moving cleaning device according to the base space.

[0010] In yet another possible implementation, the above determining the target early warning space corresponding to the self-moving cleaning device according to the base space comprises:

[0011] extending edges of the base space outward by a preset safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0012] In yet another possible implementation, the above determining the target early warning space corresponding to the self-moving cleaning device according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device comprises:

[0013] in a case where the motion state of the self-moving cleaning device is a walking state, determining a base space containing the mechanical arm according to the actual pose of the mechanical arm;

[0014] determining a superimposed safety distance corresponding to the self-moving cleaning device according to a first preset time length and a walking speed of the self-moving cleaning device;

[0015] extending edges of the base space outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0016] In yet another possible implementation, the above extending edges of the base space outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device comprises:

[0017] extending edges of the base space located in a direction of travel of the self-moving cleaning device outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0018] In yet another possible implementation, the above determining the target early warning space corresponding to the self-moving cleaning device according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device comprises:

[0019] in a case where the motion state of the self-moving cleaning device is a rotating state, determining a base space containing the mechanical arm according to the actual pose of the mechanical arm;

[0020] determining a superimposed safety arc length according to a second preset time length, a rotating angular velocity of the self-moving cleaning device, and a radius parameter corresponding to the base space;

[0021] The edge of the base space in the rotation direction of the self-moving cleaning device is extended in the rotation direction by the superimposed safety arc length, to obtain the target early warning space corresponding to the self-moving cleaning device.

[0022] In yet another possible implementation, the above determining, according to the actual pose of the mechanical arm, a base space containing the mechanical arm, comprises:

[0023] According to the actual pose of the mechanical arm, a spherical sector space or a spherical cap space containing the mechanical arm is determined as the base space.

[0024] In yet another possible implementation, the above controlling, in the case where the target early warning space contains the obstacle, the self-moving cleaning device to perform an avoidance action, comprises:

[0025] In the case where the target early warning space contains the obstacle, the self-moving cleaning device is controlled to perform a movement-prohibited avoidance action, or the self-moving cleaning device and the mechanical arm are controlled to perform a movement-prohibited avoidance action.

[0026] In yet another possible implementation, after controlling the self-moving cleaning device to perform a movement-prohibited avoidance action, or after controlling the self-moving cleaning device and the mechanical arm to perform a movement-prohibited avoidance action, the method further comprises:

[0027] Monitoring whether the obstacle moves within a third preset time length;

[0028] In the case where the obstacle moves within the third preset time length, monitoring whether the obstacle disappears from the target early warning space;

[0029] In the case where the obstacle disappears from the target early warning space, monitoring whether a time length for the obstacle to disappear from the target early warning space reaches a fourth preset time length;

[0030] In the case where the time length for the obstacle to disappear from the target early warning space reaches the fourth preset time length, the self-moving cleaning device and / or the mechanical arm are controlled to continue to perform a task corresponding to before the movement prohibition;

[0031] In the case where the time length for the obstacle to disappear from the target early warning space does not reach the fourth preset time length, returning to the step of monitoring whether the obstacle disappears from the target early warning space.

[0032] In yet another possible implementation, the above monitoring whether the obstacle moves within a third preset time length, comprises:

[0033] in a case where the obstacle does not move in the third preset time length, determining whether a number of times of execution of the step of monitoring whether the obstacle moves in the third preset time length exceeds a first preset number of times;

[0034] in a case where the number of times of execution does not exceed the first preset number of times, returning to execute the step of monitoring whether the obstacle moves in the third preset time length.

[0035] In yet another possible implementation, the above-mentioned monitoring whether the obstacle moves in the third preset time length comprises:

[0036] in a case where the number of times of execution exceeds the first preset number of times, determining whether the obstacle hinders the action of the robotic arm being retracted into the self-moving cleaning device;

[0037] in a case where the obstacle does not hinder the action of the robotic arm being retracted into the self-moving cleaning device, controlling the robotic arm to be retracted into the self-moving cleaning device;

[0038] determining whether the obstacle hinders the movement of the self-moving cleaning device;

[0039] in a case where the obstacle does not hinder the movement of the self-moving cleaning device, controlling the self-moving cleaning device to bypass the obstacle and controlling the robotic arm to be extended from the self-moving cleaning device to continue to execute the corresponding task before the movement is prohibited.

[0040] In yet another possible implementation, the above-mentioned monitoring whether the obstacle moves in the third preset time length comprises:

[0041] in a case where the obstacle hinders the action of the robotic arm being retracted into the self-moving cleaning device, controlling the self-moving cleaning device to enter a dormant state;

[0042] in a case where the obstacle hinders the movement of the self-moving cleaning device, controlling the self-moving cleaning device to enter the dormant state.

[0043] In yet another possible implementation, the above-mentioned monitoring whether the obstacle moves in the third preset time length comprises:

[0044] in a case where the obstacle does not disappear from the target early warning space, determining whether a number of times of occurrence of the obstacle moving but not disappearing from the target early warning space exceeds a second preset number of times;

[0045] in a case where the number of times of occurrence exceeds the second preset number of times, controlling the self-moving cleaning device to enter the dormant state;

[0046] In a case where the number of occurrences does not exceed the second preset number, returning to performing the step of monitoring whether the obstacle moves within a third preset time length.

[0047] In yet another possible implementation, the above-mentioned controlling the self-moving cleaning device to perform an avoidance action in a case where the target early warning space exists the obstacle includes:

[0048] After the mechanical arm extends out of the self-moving cleaning device, and in a case where the target early warning space exists the obstacle, determining a relative position change feature between the obstacle and the mechanical arm;

[0049] Controlling the self-moving cleaning device to perform an avoidance action corresponding to the relative position change feature.

[0050] In yet another possible implementation, the above-mentioned controlling the self-moving cleaning device to perform an avoidance action corresponding to the relative position change feature includes:

[0051] In a case where the relative position change feature indicates that the obstacle and the mechanical arm are in a trend of approaching each other, controlling the self-moving cleaning device to perform an avoidance action of moving away from the obstacle;

[0052] In a case where the relative position change feature indicates that the obstacle and the mechanical arm are in a trend of moving away from each other, controlling the self-moving cleaning device to perform an avoidance action of prohibiting movement, or controlling the self-moving cleaning device and the mechanical arm to perform an avoidance action of prohibiting movement.

[0053] In yet another possible implementation, the above-mentioned controlling the self-moving cleaning device to perform an avoidance action corresponding to the relative position change feature includes:

[0054] According to the relative position change feature, estimating an actual probability of collision between the obstacle and the mechanical arm;

[0055] In a case where the actual probability exceeds a preset probability, controlling the self-moving cleaning device to perform an avoidance action of moving away from the obstacle;

[0056] In a case where the actual probability does not exceed the preset probability, controlling the self-moving cleaning device to perform an avoidance action of prohibiting movement, or controlling the self-moving cleaning device and the mechanical arm to perform an avoidance action of prohibiting movement.

[0057] In yet another possible implementation, the above-mentioned controlling the self-moving cleaning device to perform an avoidance action of moving away from the obstacle includes at least one of the following manners:

[0058] control the self-moving cleaning device to perform an avoidance action based on moving away from the target obstacle;

[0059] control the mechanical arm to perform an avoidance action based on moving away from the obstacle;

[0060] control the self-moving cleaning device to perform an avoidance action based on rotating the mechanical arm away from the obstacle.

[0061] In yet another possible implementation, the above-mentioned control of the self-moving cleaning device to perform an avoidance action away from the obstacle comprises:

[0062] determine a speed of the avoidance action performed by the self-moving cleaning device according to the relative position change feature;

[0063] control the self-moving cleaning device to perform an avoidance action away from the obstacle according to the speed.

[0064] In yet another possible implementation, the above-mentioned control of the self-moving cleaning device to perform an avoidance action in the case that the target warning space has the obstacle comprises:

[0065] determine a relative position change feature between the obstacle and the mechanical arm after the mechanical arm extends out of the self-moving cleaning device and in the case that the target warning space has the obstacle;

[0066] determine whether there is a target region according to the relative position change feature; wherein the target region refers to a space region that satisfies a target condition, and the target condition refers to that the mechanical arm is recovered into the self-moving cleaning device in a state that a distance between the mechanical arm and the obstacle is greater than a preset limit distance;

[0067] control the mechanical arm to perform an avoidance action of being recovered into the self-moving cleaning device in the target region in the case that the target region exists.

[0068] In yet another possible implementation, the above-mentioned method further comprises:

[0069] monitor whether the obstacle collides with the mechanical arm after the mechanical arm extends out of the self-moving cleaning device;

[0070] control the self-moving cleaning device to send an alarm signal in the case that the obstacle collides with the mechanical arm.

[0071] In yet another possible implementation, the above-mentioned monitoring of whether the obstacle collides with the mechanical arm comprises:

[0072] obtaining a collision detection signal from a collision detection device mounted on the mechanical arm, and monitoring whether the obstacle collides with the mechanical arm according to the collision detection signal; and / or,

[0073] obtaining a motor current feature of the mechanical arm, and monitoring whether the obstacle collides with the mechanical arm according to the motor current feature.

[0074] In yet another possible implementation, the above-mentioned control of the self-moving cleaning device to perform an avoidance action in the case where the target warning space exists the obstacle includes:

[0075] controlling the mechanical arm to perform an avoidance action of prohibiting the mechanical arm from being stretched out of the self-moving cleaning device before the mechanical arm is stretched out of the self-moving cleaning device and in the case where the target warning space exists the obstacle.

[0076] In yet another possible implementation, the above-mentioned monitoring of whether the target warning space exists the obstacle includes:

[0077] obtaining a distance detection signal from a distance measuring device arranged on the self-moving cleaning device and / or the mechanical arm;

[0078] monitoring whether the target warning space exists the obstacle according to the distance detection signal.

[0079] In a second aspect, the present disclosure provides a cleaning device control apparatus applied to a self-moving cleaning device, the self-moving cleaning device being arranged with a mechanical arm, the apparatus comprising: a space determination module configured to determine a target warning space corresponding to the self-moving cleaning device according to an actual posture of the mechanical arm and a motion state of the self-moving cleaning device;

[0080] an obstacle monitoring module configured to monitor whether the target warning space exists an obstacle; and an avoidance control module configured to control the self-moving cleaning device to perform an avoidance action in the case where the target warning space exists the obstacle.

[0081] In the embodiments of the present disclosure, a possible implementation is provided, and the above-mentioned space determination module is configured to:

[0082] in the case where the motion state of the self-moving cleaning device is a stop state, determine a basic space containing the mechanical arm according to the actual posture of the mechanical arm;

[0083] determine the target warning space corresponding to the self-moving cleaning device according to the basic space.

[0084] A possible implementation manner is provided in the embodiments of the present disclosure, and the space determination module is used for:

[0085] The edge of the basic space is extended outward by a preset safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0086] A possible implementation manner is provided in the embodiments of the present disclosure, and the space determination module is used for:

[0087] In a case where the motion state of the self-moving cleaning device is a walking state, a basic space containing the mechanical arm is determined according to the actual pose of the mechanical arm;

[0088] A superimposed safety distance corresponding to the self-moving cleaning device is determined according to a first preset time length and a walking speed of the self-moving cleaning device.

[0089] The edge of the basic space is extended outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0090] A possible implementation manner is provided in the embodiments of the present disclosure, and the space determination module is used for:

[0091] The edge of the basic space located in the advancing direction of the self-moving cleaning device is extended outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

[0092] A possible implementation manner is provided in the embodiments of the present disclosure, and the space determination module is used for:

[0093] In a case where the motion state of the self-moving cleaning device is a rotating state, a basic space containing the mechanical arm is determined according to the actual pose of the mechanical arm;

[0094] A superimposed safety arc length is determined according to a second preset time length, a rotating angular velocity of the self-moving cleaning device, and a radius parameter corresponding to the basic space.

[0095] The edge of the basic space located in the rotating direction of the self-moving cleaning device is extended along the rotating direction by the superimposed safety arc length to obtain the target early warning space corresponding to the self-moving cleaning device.

[0096] A possible implementation manner is provided in the embodiments of the present disclosure, and the space determination module is used for:

[0097] According to the actual pose of the mechanical arm, a spherical sector space or a spherical crown space containing the mechanical arm is determined as the basic space.

[0098] A possible implementation manner is provided in the embodiments of the present disclosure, and the avoidance control module is used for:

[0099] In a case where the obstacle exists in the target warning space, the self-moving cleaning device is controlled to perform an avoidance action of prohibiting movement, or the self-moving cleaning device and the mechanical arm are controlled to perform an avoidance action of prohibiting movement.

[0100] A possible implementation manner is provided in the embodiments of the present disclosure, and the avoidance control module is used for:

[0101] After the self-moving cleaning device is controlled to perform the avoidance action of prohibiting movement, or after the self-moving cleaning device and the mechanical arm are controlled to perform the avoidance action of prohibiting movement, it is monitored whether the obstacle moves within a third preset time length;

[0102] In a case where the obstacle moves within the third preset time length, it is monitored whether the obstacle disappears from the target warning space;

[0103] In a case where the obstacle disappears from the target warning space, it is monitored whether a time length for the obstacle to disappear from the target warning space reaches a fourth preset time length;

[0104] In a case where the time length for the obstacle to disappear from the target warning space reaches the fourth preset time length, the self-moving cleaning device and / or the mechanical arm is controlled to continue to perform a task corresponding to before the prohibition of movement;

[0105] In a case where the time length for the obstacle to disappear from the target warning space does not reach the fourth preset time length, the step of monitoring whether the obstacle disappears from the target warning space is returned to be performed.

[0106] A possible implementation manner is provided in the embodiments of the present disclosure, and the avoidance control module is used for:

[0107] In a case where the obstacle does not move within the third preset time length, it is judged whether an execution number of the step of monitoring whether the obstacle moves within the third preset time length exceeds a first preset number;

[0108] In a case where the execution number does not exceed the first preset number, the step of monitoring whether the obstacle moves within the third preset time length is returned to be performed.

[0109] A possible implementation manner is provided in the embodiments of the present disclosure, and the avoidance control module is used for:

[0110] In a case where the number of execution times exceeds the first preset number, it is determined whether the obstacle hinders the movement of the robot cleaner;

[0111] In a case where the obstacle does not hinder the movement of the robot cleaner, the robot cleaner is controlled to move around the obstacle and the robot arm is controlled to extend from the robot cleaner to continue the task corresponding to the movement before the movement is inhibited.

[0112] It is determined whether the obstacle hinders the movement of the robot cleaner;

[0113] In a case where the obstacle does not hinder the movement of the robot cleaner, the robot cleaner is controlled to move around the obstacle and the robot arm is controlled to extend from the robot cleaner to continue the task corresponding to the movement before the movement is inhibited.

[0114] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is configured to:

[0115] In a case where the obstacle hinders the movement of the robot cleaner, the robot cleaner is controlled to enter a dormant state.

[0116] In a case where the obstacle hinders the movement of the robot cleaner, the robot cleaner is controlled to enter a dormant state.

[0117] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is configured to:

[0118] In a case where the obstacle does not disappear from the target warning space, it is determined whether a number of times of movement of the obstacle but not disappearing from the target warning space exceeds a second preset number.

[0119] In a case where the number of times of movement exceeds the second preset number, the robot cleaner is controlled to enter a dormant state.

[0120] In a case where the number of times of movement does not exceed the second preset number, the step of monitoring whether the obstacle moves in a third preset time period is returned.

[0121] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is configured to:

[0122] After the robot arm extends from the robot cleaner, and in a case where the target warning space exists the obstacle, a relative position change feature between the obstacle and the robot arm is determined, and the robot cleaner is controlled to perform an avoidance action corresponding to the relative position change feature.

[0123] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is used for:

[0124] In a case where the relative position change feature indicates that the obstacle and the mechanical arm are in a mutual-approaching trend, the self-moving cleaning device is controlled to perform an avoidance action of moving away from the obstacle;

[0125] In a case where the relative position change feature indicates that the obstacle and the mechanical arm are in a mutual-approaching trend, the self-moving cleaning device is controlled to perform an avoidance action of moving away from the obstacle;

[0126] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is used for:

[0127] According to the relative position change feature, an actual probability of collision between the obstacle and the mechanical arm is estimated;

[0128] In a case where the actual probability exceeds a preset probability, the self-moving cleaning device is controlled to perform an avoidance action of moving away from the obstacle;

[0129] In a case where the actual probability does not exceed the preset probability, the self-moving cleaning device is controlled to perform an avoidance action of moving away from the obstacle;

[0130] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is used for performing at least one of the following manners:

[0131] The self-moving cleaning device is controlled to perform an avoidance action of moving away from the target obstacle based on walking;

[0132] The mechanical arm is controlled to perform an avoidance action of moving away from the obstacle based on moving;

[0133] The self-moving cleaning device is controlled to perform an avoidance action of rotating to drive the mechanical arm away from the obstacle.

[0134] In the embodiments of the present disclosure, a possible implementation manner of the avoidance control module is provided, and the avoidance control module is used for:

[0135] According to the relative position change feature, a fast-slow degree of performing an avoidance action by the self-moving cleaning device is determined;

[0136] The self-moving cleaning device is controlled to perform an avoidance action of moving away from the obstacle according to the fast-slow degree.

[0137] In the embodiments of the present disclosure, a possible implementation is provided, and the avoidance control module is used for:

[0138] After the mechanical arm is extended out of the self-moving cleaning device, and in the case that the target early warning space exists the obstacle, a relative position change feature between the obstacle and the mechanical arm is determined.

[0139] According to the relative position change feature, it is determined whether a target region exists; wherein the target region refers to a space region that meets a target condition, and the target condition refers to that the mechanical arm is recovered into the self-moving cleaning device in a state that a distance between the mechanical arm and the obstacle is greater than a preset limit distance.

[0140] In the case that the target region exists, the mechanical arm is controlled to perform an avoidance action of being recovered into the self-moving cleaning device in the target region.

[0141] In the embodiments of the present disclosure, a possible implementation is provided, and the device further comprises a collision monitoring module, which is used for:

[0142] In the case that the target early warning space exists the obstacle, the method further comprises:

[0143] In the case that the mechanical arm is extended out of the self-moving cleaning device, it is monitored whether the obstacle collides with the mechanical arm.

[0144] In the case that the obstacle collides with the mechanical arm, the self-moving cleaning device is controlled to send an alarm signal.

[0145] In the embodiments of the present disclosure, a possible implementation is provided, and the device further comprises a collision monitoring module, which is used for:

[0146] A collision detection signal is acquired from a collision detection device installed on the mechanical arm, and according to the collision detection signal, it is monitored whether the obstacle collides with the mechanical arm; and / or,

[0147] A motor current feature of the mechanical arm is acquired, and according to the motor current feature, it is monitored whether the obstacle collides with the mechanical arm.

[0148] In the embodiments of the present disclosure, a possible implementation is provided, and the avoidance control module is used for:

[0149] Before the mechanical arm is extended out of the self-moving cleaning device, and in the case that the target early warning space exists the obstacle, the mechanical arm is controlled to perform an avoidance action of being prohibited to be extended out of the self-moving cleaning device.

[0150] The embodiment of the present disclosure provides a possible implementation manner of the above obstacle monitoring module, which is used for:

[0151] The monitoring whether the target early warning space has the obstacle comprises:

[0152] The distance detection signal is obtained from a ranging device arranged on the self-moving cleaning device and / or the mechanical arm.

[0153] According to the distance detection signal, whether the target early warning space has the obstacle is monitored.

[0154] In a third aspect, the present disclosure provides a cleaning device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the cleaning device control method provided in the first aspect.

[0155] In a fourth aspect, the present disclosure provides a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the cleaning device control method provided in the first aspect.

[0156] In a fifth aspect, the present disclosure provides a computer program product comprising computer instructions executed by a processor to implement the cleaning device control method provided in the first aspect.

[0157] The one or more technical solutions provided in the embodiments of the present disclosure have at least the following technical effects or advantages:

[0158] In some embodiments, according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device, the target early warning space corresponding to the self-moving cleaning device is determined, whether the target early warning space has the obstacle is monitored, and in the case that the target early warning space has the obstacle, the self-moving cleaning device is controlled to perform an avoidance action. It can be seen that the technical solution according to some embodiments of the present disclosure detects the obstacle entering the target early warning space during the use of the mechanical arm of the self-moving cleaning device, and then controls the self-moving cleaning device to perform an avoidance action, so as to reduce the possibility of collision between the mechanical arm and the obstacle during the use of the mechanical arm, and reduce the possibility of damage caused by the mechanical arm to pets, children, human bodies, furniture and the like, thereby improving the use safety of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0159] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0160] Fig. 1 is a structural schematic diagram of a self-moving cleaning device according to some embodiments of the present disclosure;

[0161] Fig. 2 is a structural schematic diagram of a mechanical arm stored in a self-moving cleaning device according to some embodiments of the present disclosure;

[0162] Fig. 3 is a flow schematic diagram of a cleaning device control method according to some embodiments of the present disclosure;

[0163] Fig. 4 is a schematic diagram of an angle between a speed direction and a tangent direction of a self-moving cleaning device according to some embodiments of the present disclosure;

[0164] Fig. 5 is a schematic diagram of a first basic space according to some embodiments of the present disclosure;

[0165] Fig. 6 is a schematic diagram of a first early warning space corresponding to a self-moving cleaning device in a stop state according to some embodiments of the present disclosure;

[0166] Fig. 7 is a schematic diagram of a first early warning space corresponding to a self-moving cleaning device in a walking state according to some embodiments of the present disclosure;

[0167] Fig. 8 is a schematic diagram of an actual occupied space of a mechanical arm according to some embodiments of the present disclosure;

[0168] Fig. 9 is a schematic diagram of another actual occupied space of a mechanical arm according to some embodiments of the present disclosure;

[0169] Fig. 10 is a schematic diagram of another actual occupied space of a mechanical arm according to some embodiments of the present disclosure;

[0170] Fig. 11 is a schematic diagram of a second basic space according to some embodiments of the present disclosure;

[0171] Fig. 12 is a schematic diagram of a second early warning space corresponding to a self-moving cleaning device in a stop state according to some embodiments of the present disclosure;

[0172] Fig. 13 is a schematic diagram of a second early warning space corresponding to a self-moving cleaning device in a walking state according to some embodiments of the present disclosure;

[0173] Fig. 14 is a schematic diagram of another second early warning space corresponding to a self-moving cleaning device in a walking state according to some embodiments of the present disclosure;

[0174] FIG. 15 is a schematic diagram of a corresponding second early warning space in a rotating state of the self-moving cleaning device according to some embodiments of the present disclosure;

[0175] FIG. 16 is a schematic diagram of a direction distribution of the self-moving cleaning device away from the obstacle according to some embodiments of the present disclosure;

[0176] FIG. 17 is a schematic diagram of the overall flow of a cleaning device control method according to some embodiments of the present disclosure;

[0177] FIG. 18 is a schematic diagram of the structure of a cleaning device control apparatus according to some embodiments of the present disclosure;

[0178] FIG. 19 is a schematic diagram of the structure of a cleaning device according to some embodiments of the present disclosure.

[0179] The correspondence between the reference signs and the component names in the drawings is as follows:

[0180] 1, self-moving cleaning device; 2, mechanical arm; 3, obstacle. DETAILED DESCRIPTION

[0181] The embodiments of the present disclosure solve the technical problem of low use safety of the mechanical arm 2 of the existing automatic cleaning product by providing a cleaning device control method.

[0182] The technical solution of the embodiments of the present disclosure to solve the above technical problem is as follows:

[0183] A cleaning device control method is applied to a self-moving cleaning device 1, the self-moving cleaning device 1 is provided with a mechanical arm 2, and the method comprises: determining a target early warning space corresponding to the self-moving cleaning device 1 according to an actual posture of the mechanical arm 2 and a motion state of the self-moving cleaning device 1; monitoring whether there is an obstacle 3 in the target early warning space; and controlling the self-moving cleaning device 1 to perform an avoidance action in the case where there is the obstacle 3 in the target early warning space.

[0184] The embodiments of the present disclosure determine a target early warning space corresponding to the self-moving cleaning device 1 according to an actual posture of the mechanical arm 2 and a motion state of the self-moving cleaning device 1; monitor whether there is an obstacle 3 in the target early warning space; and control the self-moving cleaning device 1 to perform an avoidance action in the case where there is the obstacle 3 in the target early warning space. It can be seen that the embodiments of the present disclosure detect the obstacle 3 entering the target early warning space during the use of the mechanical arm 2 of the self-moving cleaning device 1, and then control the self-moving cleaning device 1 to perform an avoidance action, thereby reducing the possibility of collision between the mechanical arm 2 and the obstacle 3 during use, reducing the possibility of damage to pets, children, human bodies, furniture, etc. caused by the mechanical arm 2, and improving the use safety of the mechanical arm 2.

[0185] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings in the specification and specific embodiments.

[0186] First of all, the term "and / or" appearing in this paper is only a description of the association relationship of the associated object, which means that there are three kinds of relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0187] First, the terms related to the embodiments of the present disclosure are explained.

[0188] The self-moving cleaning device 1 belongs to an automatic cleaning product, which can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The self-moving cleaning device 1 provided by the embodiments of the present disclosure mainly includes two parts, specifically including a self-moving cleaning device 1 body and a mechanical arm 2 arranged on the self-moving cleaning device 1 body.

[0189] As shown in FIG. 1, it is a structural schematic diagram of a certain self-moving cleaning device 1 provided by the embodiments of the present disclosure. The self-moving cleaning device 1 body can be a traditional automatic cleaning product, which can realize cleaning operations such as sweeping and / or mopping. The mechanical arm 2 is arranged on the self-moving cleaning device 1 body, and the mechanical arm 2 is a multi-degree-of-freedom mechanical arm 2 module, which can grasp or move some small objects. For example, during the sweeping or mopping process of the self-moving cleaning device 1 body, a sock or a small toy is detected on the ground, and the sock or the small toy can be grasped by the mechanical arm 2 and moved to the corresponding storage area. The specific structure of the mechanical arm 2 is not limited by the embodiments of the present disclosure.

[0190] The self-moving cleaning device 1 body can be provided with a containing cavity for containing the mechanical arm 2. In the case of not using the mechanical arm 2, the mechanical arm 2 can be stored in the containing cavity to minimize the space volume occupied by the self-moving cleaning device 1. As shown in FIG. 2, the shaded area on the surface of the self-moving cleaning device 1 body is the area corresponding to the containing cavity, and the mechanical arm 2 is stored inside the containing cavity. In the case of needing to use the mechanical arm 2, the mechanical arm 2 is extended out of the containing cavity to obtain the state shown in FIG. 1. In addition to arranging the mechanical arm 2 on the top of the self-moving cleaning device 1, it can also be arranged on the side of the self-moving cleaning device 1, and the specific arrangement position can be selected according to the actual situation. The embodiments of the present disclosure only take the way of storing the mechanical arm 2 as shown in FIG. 2 as an example for description.

[0191] In some embodiments, the self-moving cleaning device 1 body can also not be provided with a containing cavity, so that the mechanical arm 2 is arranged outside the self-moving cleaning device 1 body, and the mechanical arm 2 can be stored on the surface of the self-moving cleaning device 1 body without using the mechanical arm 2. The storage mode of the mechanical arm 2 on the self-moving cleaning device 1 body can be adjusted according to actual conditions, and the present disclosure does not make any limitation.

[0192] In the process of using the mechanical arm 2 by the self-moving cleaning device 1, if a child or a pet contacts or collides with the mechanical arm 2, the child or the pet can be injured, and thus there is a safety hazard. If a chair or other furniture contacts or collides with the mechanical arm 2 in the process of moving the chair or other furniture, scratches can be caused on the chair or furniture, and the mechanical arm 2 can also be damaged, resulting in an increase in the maintenance cost of the furniture or the self-moving cleaning device 1.

[0193] In order to solve the above-mentioned problems, a cleaning device control method is provided according to some embodiments of the present disclosure. The cleaning device control method according to some embodiments of the present disclosure can be applied to a self-moving cleaning device 1 provided with a mechanical arm 2. The cleaning device control method according to some embodiments of the present disclosure can be executed by a local controller of the self-moving cleaning device 1, or can be executed by a base station controller of the self-moving cleaning device 1, or can be executed by a cloud server corresponding to the self-moving cleaning device 1, and the present disclosure does not make any limitation in this regard.

[0194] A cleaning device control method according to some embodiments of the present disclosure is shown in FIG. 3, and the method comprises steps S31-S33.

[0195] Regarding step S31, according to the actual pose of the mechanical arm 2 and the motion state of the self-moving cleaning device 1, a target early warning space corresponding to the self-moving cleaning device 1 is determined.

[0196] Different actual poses of the mechanical arm 2 and different motion states of the self-moving cleaning device 1 correspond to different target early warning spaces. As can be known from FIGS. 1 and 2, the actual pose of the mechanical arm 2 can include two poses, one is a pose stored in the self-moving cleaning device 1, which is denoted as a first actual pose (corresponding to FIG. 2) in the embodiments of the present disclosure; and the other is a pose extended from the self-moving cleaning device 1, which is denoted as a second actual pose (corresponding to FIG. 1) in the embodiments of the present disclosure.

[0197] In some embodiments, the motion state of the self-moving cleaning device 1 includes a stationary state, a walking state and a rotating state. The stationary state refers to a state in which the self-moving cleaning device 1 stops in place, the walking state refers to a state in which the self-moving cleaning device 1 moves along a straight line or a curve, and the rotating state refers to a state in which the self-moving cleaning device 1 rotates by differential rotation of wheels or tracks on both sides.

[0198] It should be noted that the curve movement in the walking state and the rotating state can be determined by the size of the angle between the speed direction of the self-moving cleaning device 1 and the tangent direction of the edge of the self-moving cleaning device 1. As shown in FIG. 4, Dv is the speed direction of the self-moving cleaning device 1, Dt is the tangent direction of the edge of the self-moving cleaning device 1, the intersection of Dv and Dt is defined as the position of the head of the self-moving cleaning device 1, and the angle between them is defined as a. The minimum angle of Dv can be the same direction as Dt, which is defined as a = 0°, and in this speed direction, the self-moving cleaning device 1 rotates counterclockwise. The maximum angle of Dv can be opposite to Dt, which is defined as a = 180°, and in this speed direction, the self-moving cleaning device 1 rotates clockwise. When Dv is perpendicular to Dt, that is, a = 90°, it means that the self-moving cleaning device 1 walks straight in the direction of the head.

[0199] When a is in the range of [0, 90°) and (90°, 180°], the state of the self-moving cleaning device 1 exists in mirror image about the direction of the head. The embodiments of the present disclosure only take the state of a in the range of [0, 90°] as an example for description. In [0, 90°], the smaller a is, the larger the angle of the self-moving cleaning device 1 rotating is, and the more it tends to be in the rotating state. In [0, 90°], the larger a is, the smaller the angle of the self-moving cleaning device 1 rotating is, and the more it tends to be in the walking state. In actual implementation process, an angle threshold value β can be set according to requirements, β ∈ [0, 90°], when a < β, it is considered that the self-moving cleaning device 1 is in the rotating state, and when a ≥ β, it is considered that the self-moving cleaning device 1 is in the walking state.

[0200] The embodiments of the present disclosure first describe the corresponding target warning space of the mechanical arm 2 received in the self-moving cleaning device 1 as follows. It should be noted that in order to distinguish from the target warning space corresponding to the mechanical arm 2 in the state of extending out of the self-moving cleaning device 1, the embodiments of the present disclosure record the corresponding target warning space of the mechanical arm 2 received in the self-moving cleaning device 1 as the first warning space, and record the corresponding target warning space of the mechanical arm 2 in the state of extending out of the self-moving cleaning device 1 as the second warning space.

[0201] In the state that the mechanical arm 2 is received in the self-moving cleaning device 1, after receiving the operation instruction of controlling the mechanical arm 2 to extend out of the self-moving cleaning device 1, the mechanical arm 2 will be controlled to extend out of the self-moving cleaning device 1. Before the mechanical arm 2 extends out of the self-moving cleaning device 1, the first basic space corresponding to the mechanical arm 2 needs to be determined according to the actual posture of the mechanical arm 2.

[0202] That is, in the case where the mechanical arm 2 is not extended out of the self-moving cleaning device 1, that is, in the state as shown in FIG. 2, the first basic space corresponding to the first actual posture of the mechanical arm 2 can be determined according to the first actual posture of the mechanical arm 2 stored in the self-moving cleaning device 1.

[0203] In some embodiments, the actual projection of the surface corresponding to the preset extension direction of the self-moving cleaning device 1 can be determined according to the first actual posture of the mechanical arm 2 stored in the self-moving cleaning device 1. Then, the preset volume space extending outward from the surface of the self-moving cleaning device 1 is determined as the first basic space corresponding to the first actual posture of the mechanical arm 2.

[0204] In some embodiments, the preset extension direction refers to the set direction in which the mechanical arm 2 is extended out of the self-moving cleaning device 1. As shown in FIG. 2, the mechanical arm 2 is stored below the shadow area on the upper surface of the self-moving cleaning device 1, and the upper direction of the self-moving cleaning device 1 in FIG. 2 is the preset extension direction. The actual projection of the surface corresponding to the preset extension direction is the shadow part shown in FIG. 2.

[0205] The preset volume space extending outward from the surface of the self-moving cleaning device 1 refers to the volume space corresponding to the opposite direction of the self-moving cleaning device 1. In some embodiments, as shown in FIG. 5, it is a schematic diagram of the preset volume space. FIG. 5 is obtained on the basis of FIG. 2, specifically, the shadow part in FIG. 2 is extended in the opposite direction of the self-moving cleaning device 1, that is, upward, so as to obtain the inverted frustum space above the self-moving cleaning device 1 in FIG. 5, which is the corresponding preset volume space.

[0206] It should be noted that the frustum space in FIG. 5 is only a form of the preset volume space, and in addition to this, the preset volume space can also be a regular shape such as a cuboid, a cube, a cylinder, a sphere, an ellipsoid, and the like, or other irregular geometric shapes, which can be selected according to actual conditions, and the embodiments of the present disclosure do not limit this.

[0207] The preset volume space is taken as the first basic space corresponding to the first actual posture of the mechanical arm 2, that is, the preset volume space is taken as the first basic space in the current state. The size or dimension of the first basic space can be set according to actual requirements. In some embodiments, a larger size space can be used as the first basic space when a higher safety factor is required, so as to expand the detection range of the obstacle 3 and enable the mechanical arm 2 to be extended out of the self-moving cleaning device 1 under higher safety. When the requirement for the safety factor is not high, a smaller size space can be selected as the first basic space, so that the condition for the mechanical arm 2 to be extended out of the self-moving cleaning device 1 is not too harsh, and the utilization rate of the mechanical arm 2 in normal use is improved.

[0208] After the first basic space is determined based on the first actual state of the mechanical arm 2, the first early warning space is determined in combination with the running state of the self-moving cleaning device 1.

[0209] When the motion state of the self-moving cleaning device 1 is the stop state, the first early warning space corresponding to the self-moving cleaning device 1 can be determined according to the first basic space, and specifically, the first basic space can be directly determined as the first early warning space, as shown in FIG. 5.

[0210] When the motion state of the self-moving cleaning device 1 is the walking state, a superimposed safety distance corresponding to the self-moving cleaning device 1 is determined according to the first preset time length and the walking speed of the self-moving cleaning device 1, and then a space obtained by extending the edge of the first basic space outward by the superimposed safety distance is determined as the first early warning space corresponding to the self-moving cleaning device 1. As shown in FIG. 6, when the self-moving cleaning device 1 is in the walking state, the superimposed safety distance can be obtained by multiplying the first preset time length and the walking speed of the self-moving cleaning device 1, and then the edge of the first basic space (not shown in the thick dashed line in FIG. 6) is extended outward by the superimposed safety distance to obtain the space shown in the thick dashed line in FIG. 6, which is determined as the first early warning space.

[0211] In some embodiments, the first preset time length is set according to actual needs. In the case of a certain walking speed, the longer the first preset time length is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is. The walking speed of the self-moving cleaning device 1 is determined according to its actual speed. In the case of a certain first preset time length, the greater the walking speed is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is.

[0212] In some embodiments, the first preset time length is set according to actual needs. In the case of a certain walking speed, the longer the first preset time length is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is. The walking speed of the self-moving cleaning device 1 is determined according to its actual speed. In the case of a certain first preset time length, the greater the walking speed is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is.

[0213] In the case of the motion state of the self-moving cleaning device 1 being the rotating state, the first early warning space can be determined in the manner of the foregoing walking state or stopping state, and the present disclosure embodiments do not repeat the description.

[0214] The present disclosure embodiments continue to describe the target early warning space corresponding to the state that the mechanical arm 2 extends out of the self-moving cleaning device 1 (that is, the second early warning space) as follows. In some embodiments, the state that the mechanical arm 2 extends out of the self-moving cleaning device 1 can refer to the state that the mechanical arm 2 extends out of the self-moving cleaning device 1 to partially assemble components, or the state that the mechanical arm 2 completely extends out of the self-moving cleaning device 1.

[0215] In the case that the mechanical arm 2 extends out of the self-moving cleaning device 1, the second actual posture of the mechanical arm 2 outside the self-moving cleaning device 1 can be determined according to the second actual posture of the mechanical arm 2 outside the self-moving cleaning device 1.

[0216] In some embodiments, the actual occupied space of the mechanical arm 2 can be determined according to the second actual pose of the mechanical arm 2 deployed outside the self-moving cleaning device 1, and then a space region containing the actual occupied space and spaced apart from the actual occupied space by a preset transition distance is determined as the second basic space corresponding to the mechanical arm 2 in the second actual pose.

[0217] The second actual pose of the mechanical arm 2 deployed outside the self-moving cleaning device 1 can refer to FIG. 1, and the actual occupied space of the mechanical arm 2 can be understood as the volume occupied space of the mechanical arm 2 itself. In some embodiments, the actual occupied space of the mechanical arm 2 can also be a closed space enclosed according to the farthest positions corresponding to the mechanical arm 2 in each direction, as shown by the area enclosed by the dashed line around the mechanical arm 2 in FIG. 8. The actual occupied space of the mechanical arm 2 can also be a cylindrical space fitted according to the farthest positions corresponding to the mechanical arm 2 in each direction, as shown by the area of the fitted circle around the mechanical arm 2 in the top view direction of the self-moving cleaning device 1 in FIG. 9, or as shown by the fitted ellipsoid in FIG. 10. In actual implementation, a suitable method can be selected to determine the range of the actual occupied space according to actual conditions.

[0218] The space region containing the actual occupied space and spaced apart from the actual occupied space by a preset transition distance is also the second basic space. The second basic space refers to the space wrapped around the actual occupied space and having a distance of at least the preset transition distance from the mechanical arm 2. That is, the space formed by extending the edges of each position of the actual occupied space outward by at least the preset transition distance is the second basic space. The preset transition distance can refer to the minimum distance between the actual occupied space and the second basic space, and the size of the distance can be selected according to actual conditions, which is not limited in the embodiments of the present disclosure.

[0219] In some embodiments, the spherical sector space or the spherical cap space containing the mechanical arm 2 can be determined as the second basic space according to the actual pose of the mechanical arm 2. As shown in FIG. 11, the corresponding cross-sectional view when the second basic space is a spherical sector space or a spherical cap space.

[0220] The second basic space can be a regular shape such as a cuboid, a square, a cylinder, a sphere, an ellipsoid, etc., can be similar to the shape of the mechanical arm 2, or can be other irregular geometric shapes. In actual implementation, a suitable method can be selected according to actual conditions, which is not limited in the embodiments of the present disclosure.

[0221] It should be noted that the pose of the mechanical arm 2 can be changing all the time after the mechanical arm 2 is extended from the self-moving cleaning device 1, that is, the second actual pose is not a fixed pose, and the second actual pose will be different according to different tasks of the mechanical arm 2. In the case of different second actual poses, the second basic space will also change. Each time the second actual pose changes, the second basic space needs to be updated according to the changed second actual pose. The second actual pose and the second basic space are in a one-to-one correspondence.

[0222] In addition, the disclosure embodiment can also determine the spherical sector space or the spherical cap space corresponding to the maximum extension state of the mechanical arm 2 as the second basic space. For example, the mechanical arm 2 has 5 joint arms, and the space corresponding to the farthest distance reached when the 5 joint arms are fully extended is determined as the second basic space, which can be referred to with reference to FIG. 11. In this case, no matter how the second actual pose of the mechanical arm 2 changes, the second basic space will not change.

[0223] After the second basic space is determined based on the second actual state of the mechanical arm 2, the second early warning space is determined in combination with the running state of the self-moving cleaning device 1.

[0224] In the case where the motion state of the self-moving cleaning device 1 is a stop state, the second early warning space corresponding to the self-moving cleaning device 1 can be determined according to the second basic space. Specifically, the space obtained by outwardly expanding the edge of the second basic space by a preset safety distance can be determined as the second early warning space corresponding to the self-moving cleaning device 1. Based on the edge of the second basic space shown in FIG. 11, the second early warning space shown in FIG. 12 can be obtained by outwardly expanding by a preset safety distance b2. In FIG. 12, the unbolded dashed line is the second basic space, and the bolded dashed line is the second early warning space.

[0225] In the case where the motion state of the self-moving cleaning device 1 is a walking state, a superimposed safety distance corresponding to the self-moving cleaning device 1 is determined according to a first preset time length and a walking speed of the self-moving cleaning device 1. Then, the space obtained by outwardly expanding the edge of the first basic space by the superimposed safety distance is determined as the second early warning space corresponding to the self-moving cleaning device 1. As shown in FIG. 13, the self-moving cleaning device 1 is in a walking state. The superimposed safety distance b3 can be obtained by multiplying the first preset time length t and the walking speed v of the self-moving cleaning device 1. Then, the space shown by the bolded dashed line in FIG. 13 can be obtained by outwardly expanding the edge of the second basic space (shown by the unbolded dashed line in FIG. 13) by the superimposed safety distance b3, and the space is determined as the second early warning space.

[0226] In some embodiments, the first preset time length is set according to actual needs. In the case of a certain walking speed, the longer the first preset time length is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is. The walking speed of the self-moving cleaning device 1 is determined according to its actual speed. In the case of a certain first preset time length, the greater the walking speed is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is.

[0227] In some embodiments, the first preset time length is set according to actual needs. In the case of a certain walking speed, the longer the first preset time length is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is. The walking speed of the self-moving cleaning device 1 is determined according to its actual speed. In the case of a certain first preset time length, the greater the walking speed is, the greater the superimposed safety distance is, that is, the greater the buffer distance between the self-moving cleaning device 1 and the obstacle 3 is, and the higher the safety is.

[0228] In the case of the motion state of the self-moving cleaning device 1 being the rotating state, according to the second preset time length, the angular velocity of rotation of the self-moving cleaning device 1, and the radius parameter corresponding to the second basic space, a superimposed safety arc length is determined; the space obtained by expanding the second basic space in the rotating direction by the superimposed safety arc length is determined as the second warning space corresponding to the self-moving cleaning device 1. That is, the edge of the basic space located in the rotating direction of the self-moving cleaning device 1 is expanded in the rotating direction by the superimposed safety arc length to obtain the second warning space corresponding to the self-moving cleaning device 1. As shown in FIG. 15, it is a top view of the self-moving cleaning device 1, and the area with unthickened dashed line is the second basic space. The self-moving cleaning device 1 rotates counterclockwise along the D direction. The radius parameter corresponding to the second basic space is r, the angular velocity of rotation is w, and the second preset time length is t. Multiplying the three can obtain the circular arc corresponding to the thickened dashed line, and the length thereof is the superimposed safety arc length. The space obtained by expanding the second basic space in the rotating direction by the superimposed safety arc length is the second warning space.

[0229] Having determined the different target warning spaces (including the first and second target warning spaces) corresponding to the mechanical arm 2 and the self-moving cleaning device 1 in different states in the foregoing step S31, the step S32 can be further performed.

[0230] As to the step S32, it is monitored whether the target warning space is occupied by the obstacle 3.

[0231] The distance detection signal can be obtained from the ranging device arranged on the self-moving cleaning device 1 and / or the mechanical arm 2, and then it is monitored according to the distance detection signal whether the target warning space is occupied by the obstacle 3 other than the mechanical arm 2.

[0232] The acquisition frequency of the distance detection signal can be set according to actual needs. The higher the acquisition frequency, the higher the timeliness of the detection of the obstacle 3, and the lower the acquisition frequency, the lower the timeliness of the detection of the obstacle 3.

[0233] The ranging device can include but is not limited to a ToF (Time-of-Flight) sensor, a camera, an ultrasonic device, etc. The type of the ranging device can be selected according to the distance measurement accuracy, the device cost, the installation simplicity, etc., and the present disclosure does not limit the ranging device.

[0234] The ranging device can be installed on the surface of the self-moving cleaning device 1 body, or on the mechanical arm 2, or on both the self-moving cleaning device 1 body and the mechanical arm 2, and the present disclosure does not limit the installation position of the ranging device. However, it should be noted that the ranging device can scan whether the target warning space is occupied by the obstacle 3 even when the mechanical arm 2 is stored in the self-moving cleaning device 1.

[0235] The obstacle 3 refers to other objects in the target warning space other than the mechanical arm 2, the object held by the mechanical arm 2, and the self-moving cleaning device 1, which can be a pet, a child, or other living beings, or furniture such as a table and a chair.

[0236] When the target warning space is not occupied by the obstacle 3, the self-moving cleaning device 1 can continue to perform the task being performed, and the mechanical arm 2 can also continue to perform the task being performed. When the target warning space is occupied by the obstacle 3, the step S33 can be further performed.

[0237] As to the step S33, when the target warning space is occupied by the obstacle 3, the self-moving cleaning device 1 is controlled to perform an avoidance action.

[0238] As mentioned above, different actual states of the robotic arm 2 and different operating states of the self-moving cleaning device 1 correspond to different target early warning spaces, and the corresponding control strategies are also different in the case that the different target early warning spaces exist the obstacle 3. The embodiments of the present disclosure will respectively illustrate the control strategies corresponding to different target early warning spaces in the case that the robotic arm 2 is stored in the self-moving cleaning device 1 and the case that the robotic arm 2 is stretched out of the self-moving cleaning device 1.

[0239] In some embodiments, the robotic arm 2 belongs to a part of the self-moving cleaning device 1, and therefore the control of the self-moving cleaning device 1 to perform the corresponding avoidance action in step S33 can be specifically the control of the self-moving cleaning device 1 to perform the corresponding avoidance action, or the control of the robotic arm 2 arranged on the self-moving cleaning device 1 to perform the corresponding avoidance action, or the control of the self-moving cleaning device 1 and the robotic arm 2 to perform the corresponding avoidance action respectively.

[0240] Firstly, the embodiments of the present disclosure will illustrate the corresponding control strategy of the robotic arm 2 stored in the self-moving cleaning device 1 as follows.

[0241] Before the robotic arm 2 is stretched out of the self-moving cleaning device 1, in the case that the target early warning space exists the obstacle 3, the robotic arm 2 is controlled to perform an avoidance action of prohibiting the robotic arm 2 from being stretched out of the self-moving cleaning device 1, so as to avoid the contact or collision between the robotic arm 2 and the obstacle 3 during the process that the robotic arm 2 is stretched out of the self-moving cleaning device 1, and improve the safety of the robotic arm 2 in use.

[0242] On this basis, the self-moving cleaning device 1 can autonomously determine whether the obstacle 3 existing on the ground will affect the task being performed, and specific reference can be made to the related technologies of the obstacle 3 avoidance strategy corresponding to the self-moving cleaning device 1, and the embodiments of the present disclosure will not be repeated here.

[0243] In addition to the self-moving cleaning device 1 can continue to perform the task being performed, the self-moving cleaning device 1 can also interrupt the task being performed and remain stationary, which can minimize the probability of interference between the obstacle 3 and the self-moving cleaning device 1, and improve the safety of the self-moving cleaning device 1 in use.

[0244] Then, the embodiments of the present disclosure will continue to illustrate the control strategy of the robotic arm 2 stretched out of the self-moving cleaning device 1 as follows.

[0245] After the robotic arm is stretched out of the self-moving cleaning device 1, in the case that the target early warning space exists the obstacle 3, at least one of the following multiple measures can be taken.

[0246] The first measure is to control the self-moving cleaning device 1 to perform a movement-inhibited avoidance action, or to control the self-moving cleaning device 1 and the mechanical arm 2 to perform a movement-inhibited avoidance action.

[0247] The second measure is to control the self-moving cleaning device 1 to perform an avoidance action corresponding to the relative position change feature.

[0248]

The first measure

[0249] As for controlling the self-moving cleaning device 1 to perform a movement-inhibited avoidance action, that is, controlling the self-moving cleaning device 1 to be movement-inhibited, the mechanical arm 2 can be actuated. In this way, the use safety of the mechanical arm 2 can be improved by inhibiting the movement of the self-moving cleaning device 1, and the normal execution of the task of the mechanical arm 2 can also be ensured to improve the task execution efficiency. Under the premise of controlling the self-moving cleaning device 1 to remain stationary, even if the self-moving cleaning device 1 or the mechanical arm 2 comes into contact or collision with the obstacle 3, since the speed of the self-moving cleaning device 1 is 0, the relative speed between the mechanical arm 2 and the obstacle 3 will not be amplified, which can reduce the possibility of collision between the mechanical arm 2 and the obstacle 3 to a certain extent, and even if a collision occurs, the damage degree of the collision can also be reduced as much as possible.

[0250] As for controlling the self-moving cleaning device 1 and the mechanical arm 2 to perform a movement-inhibited avoidance action, that is, controlling the self-moving cleaning device 1 and the mechanical arm 2 to be movement-inhibited. Controlling the self-moving cleaning device 1 and the mechanical arm 2 to remain stationary can further reduce the possibility of the self-moving cleaning device 1 or the mechanical arm 2 coming into contact or collision with the obstacle 3. Under the premise of controlling the self-moving cleaning device 1 and the mechanical arm 2 to remain stationary, even if the self-moving cleaning device 1 or the mechanical arm 2 comes into contact or collision with the obstacle 3, since the speed of the mechanical arm 2 itself is 0, the relative motion speed between the mechanical arm 2 and the obstacle 3 is further reduced, which can minimize the damage caused by the collision and improve the use safety of the mechanical arm 2.

[0251] It should be noted that in the case of adopting the mode of "controlling the self-moving cleaning device 1 to perform a movement-inhibited avoidance action", it can be further determined whether the actual posture of the mechanical arm 2 will affect the obstacle 3, and if so, the mode of "controlling the self-moving cleaning device 1 and the mechanical arm 2 to perform a movement-inhibited avoidance action" can be further adopted, thereby further improving the use safety of the mechanical arm 2.

[0252] On the basis of performing the first measure, steps A1-A16 can also be continuously performed.

[0253] Step A1, monitoring whether the obstacle 3 moves within a third preset time length.

[0254] monitoring whether the obstacle 3 moves, which can be achieved by a ToF (Time-of-Flight) sensor, a camera, an ultrasonic device, etc. The third preset time length can be set according to actual requirements, for example, 10 s.

[0255] If the obstacle 3 moves within the third preset time length, step A2 is continued to be executed, and if the obstacle 3 does not move within the third preset time length, step A6 is continued to be executed.

[0256] Step A2, in the case where the obstacle 3 moves within the third preset time length, monitoring whether the obstacle 3 disappears from the target warning space. If the obstacle 3 disappears, step A3 is continued to be executed, and if the obstacle 3 does not disappear, step A14 is continued to be executed.

[0257] Step A3, in the case where the obstacle 3 disappears from the target warning space, monitoring whether the time length for which the obstacle 3 disappears from the target warning space reaches a fourth preset time length. The fourth preset time length can be set according to actual requirements, for example, 10 s. If the fourth preset time length is reached, step A4 is executed, and if the fourth preset time length is not reached, step A5 is executed.

[0258] Step A4, in the case where the time length for which the obstacle 3 disappears from the target warning space reaches the fourth preset time length, controlling the self-moving cleaning device 1 and / or the mechanical arm 2 to continue to execute the task corresponding to before the movement is prohibited.

[0259] Step A5, in the case where the time length for which the obstacle 3 disappears from the target warning space does not reach the fourth preset time length, returning to execute the step of monitoring whether the obstacle 3 disappears from the target warning space, that is, returning to execute step A2.

[0260] Step A6, in the case where the obstacle 3 does not move within the third preset time length, judging whether the execution number of the step of monitoring whether the obstacle 3 moves within the third preset time length exceeds a first preset number, that is, whether the execution number of the monitoring step A1 exceeds the first preset number. The first preset number can be set according to actual requirements, for example, 3 times. If the execution number does not exceed the first preset number, step A7 is executed, and if the execution number exceeds the first preset number, step A8 is executed.

[0261] Step A7, in the case where the execution number does not exceed the first preset number, returning to execute the step of monitoring whether the obstacle 3 moves within the third preset time length, that is, returning to execute step A1.

[0262] Step A8, in the case where the execution times exceed the first preset number of times, it is judged whether the obstacle 3 causes an obstacle to the action of the mechanical arm 2 being retracted into the self-moving cleaning device 1. If no obstacle is caused, step A9 is continued to be executed, and if an obstacle is caused, step A12 is continued to be executed. In some embodiments, whether the obstacle 3 causes an obstacle to the action of the mechanical arm 2 being retracted into the self-moving cleaning device 1 can be judged according to the process of subsequent steps B1-B3, which will not be described herein again.

[0263] Step A9, in the case where the obstacle 3 does not cause an obstacle to the action of the mechanical arm 2 being retracted into the self-moving cleaning device 1, the mechanical arm 2 is controlled to be retracted into the self-moving cleaning device 1, and step A10 is continued to be executed.

[0264] Step A10, it is judged whether the obstacle 3 causes an obstacle to the movement of the self-moving cleaning device 1; if no obstacle is caused, step A11 is continued to be executed, and if an obstacle is caused, step A13 is continued to be executed.

[0265] Step A11, in the case where the obstacle 3 does not cause an obstacle to the movement of the self-moving cleaning device 1, the self-moving cleaning device 1 is controlled to bypass the obstacle 3, and the mechanical arm 2 is controlled to be extended from the self-moving cleaning device 1 to continue to execute the task corresponding to the movement prohibition.

[0266] Step A12, in the case where the obstacle 3 causes an obstacle to the action of the mechanical arm 2 being retracted into the self-moving cleaning device 1, the self-moving cleaning device 1 is controlled to enter a hibernation state.

[0267] Step A13, in the case where the obstacle 3 causes an obstacle to the movement of the self-moving cleaning device 1, the self-moving cleaning device 1 is controlled to enter a hibernation state.

[0268] Step A14, in the case where the obstacle 3 does not disappear from the target warning space, it is judged whether the number of times that the obstacle 3 moves but does not disappear from the target warning space exceeds a second preset number of times. The second preset number of times can be set according to actual needs, for example, 3 times. If the number of times exceeds the second preset number of times, step A15 is continued to be executed, and if the number of times does not exceed the second preset number of times, step A16 is continued to be executed.

[0269] Step A15, in the case where the number of times exceeds the second preset number of times, the self-moving cleaning device 1 is controlled to enter a hibernation state.

[0270] Step A16, in the case where the number of occurrences does not exceed the second preset number of times, return to step A1 of monitoring whether the obstacle 3 moves in the third preset time length, that is, return to step A1.

[0271] The time length monitoring involved in the foregoing steps A1-A16 can be implemented by using a timer of the self-moving cleaning device 1. After controlling the self-moving cleaning device 1 to enter the sleep state, the self-moving cleaning device 1 can also be controlled to perform an alarm prompt, so as to remind the user that the self-moving cleaning device 1 is hindered in the process of performing the task, so that the user can discover the existence of the obstacle 3 in time, and ensure that the obstacle 3 and the self-moving cleaning device 1 will not be damaged due to mutual collision, reduce the possibility of safety accidents, and also make the self-moving cleaning device 1 continue to perform the current task as soon as possible, and ensure the cleaning efficiency.

[0272] It can be seen that, after the obstacle 3 in the target warning space is identified, the self-moving cleaning device 1 is controlled to stop and wait, so that the speed of the self-moving cleaning device 1 is 0, the relative motion speed between the self-moving cleaning device 1 and the obstacle 3 is reduced, and the damage caused by the collision can be reduced to the greatest extent, and the use safety of the mechanical arm 2 is improved.

[0273] In the process of stopping and waiting of the self-moving cleaning device 1, whether the obstacle 3 moves is continuously monitored. If the obstacle 3 does not move at all, whether the obstacle 3 hinders the mechanical arm 2 from being retracted into the self-moving cleaning device 1 is judged. If not, the mechanical arm 2 is controlled to be retracted. If yes, the self-moving cleaning device 1 is put to sleep. If the obstacle 3 moves and disappears from the target warning space, the self-moving cleaning device 1 can continue to perform the task before stopping. In this way, the possibility of collision between the mechanical arm 2 and the obstacle 3 can be reduced as much as possible, and the use safety of the mechanical arm 2 is improved.

[0274]

Second measure

[0275] First, the relative position change feature between the obstacle 3 and the mechanical arm 2 is determined, and then the self-moving cleaning device 1 is controlled to perform an avoidance action corresponding to the relative position change feature.

[0276] In some embodiments, the relative position change feature can be a feature for qualitative analysis such as a closing trend, a moving away trend, etc., or a feature for quantitative analysis such as a speed, an acceleration, a distance change, etc.

[0277] First, the corresponding avoidance strategy is described from the perspective of qualitative analysis.

[0278] If the qualitative analysis feature is adopted, the distance between the obstacle 3 and the robot arm 2 can be used as a relative position change feature to determine whether the relative position relationship between the obstacle 3 and the robot arm 2 is approaching or moving away. When the distance between the obstacle 3 and the robot arm 2 is shortening, it is determined that the obstacle 3 and the robot arm 2 are approaching each other, and vice versa.

[0279] When the relative position change feature indicates that the obstacle 3 and the robot arm 2 are approaching each other, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3, so as to reduce the possibility of collision between the obstacle 3 and the robot arm 2, and further improve the safety of the robot arm 2 during use.

[0280] The control of the self-moving cleaning device 1 to perform an avoidance action of moving away from the obstacle 3 aims to move the robot arm 2 on the self-moving cleaning device 1 away from the obstacle 3. Specifically, the direction of moving away from the obstacle 3 can be determined according to the relative position relationship between the self-moving cleaning device 1 and the obstacle 3. In some embodiments, as shown in FIG. 16, the relative position relationship between the self-moving cleaning device 1 and the obstacle 3 can be represented by a straight line L1, and L2 is any straight line passing through the obstacle 3 and perpendicular to L2. Any direction to the left of L2 can be determined as the direction of moving away from the obstacle 3. That is, as long as the self-moving cleaning device 1 or the robot arm 2 is moved to the left of L2 (such as in the direction of the shearing head around the self-moving cleaning device 1), the purpose of moving away from the obstacle 3 can be achieved. It should be noted that if the self-moving cleaning device 1 or the robot arm 2 is moved in the direction of the arrow shown by L1, the efficiency of moving the self-moving cleaning device 1 or the robot arm 2 away from the obstacle 3 is relatively high.

[0281] The control of the self-moving cleaning device 1 to perform an avoidance action of moving away from the obstacle 3 can be achieved by at least one of the following three ways, i.e., the first way to the third way.

[0282] The first way is to control the self-moving cleaning device 1 to perform an avoidance action of moving away from the target obstacle based on walking.

[0283] The second way is to control the robot arm 2 to perform an avoidance action of moving away from the obstacle 3 based on movement.

[0284] The third way is to control the self-moving cleaning device 1 to perform an avoidance action of moving the robot arm 2 away from the obstacle 3 based on rotation.

[0285] Regarding the first way, the self-moving cleaning device 1 moves in the direction away from the obstacle 3 by using the walking mechanism installed thereon, and further carries the robot arm 2 away from the obstacle 3 to increase the distance between the robot arm 2 and the obstacle 3.

[0286] As to the second mode, the control mechanical arm 2 changes the angle of each joint based on its own degree of freedom, and then makes the mechanical arm 2 move away from the obstacle 3, so as to increase the distance between the mechanical arm 2 and the obstacle 3.

[0287] As to the third mode, the control self-moving cleaning device 1 rotates counterclockwise or clockwise by using the rotating mechanism installed thereon, and then carries the mechanical arm 2 away from the obstacle 3, so as to increase the distance between the mechanical arm 2 and the obstacle 3.

[0288] The above-mentioned first mode, second mode and third mode can be used alone or in any combination, and can be selected according to actual conditions, and the embodiments of the present disclosure do not limit this.

[0289] In other embodiments, during the process of controlling the self-moving cleaning device 1 to perform the avoidance action away from the obstacle 3, the speed of the self-moving cleaning device 1 performing the avoidance action can also be determined according to the relative position change feature, and then the self-moving cleaning device 1 is controlled to perform the avoidance action away from the obstacle 3 at the speed.

[0290] When the obstacle 3 and the mechanical arm 2 are in a trend of approaching each other, if the change of the relative position change feature is fast, the self-moving cleaning device 1 should also perform the avoidance action fast, so as to reduce the possibility of collision between the obstacle 3 and the mechanical arm 2 as much as possible. If the change of the relative position change feature is slow, the self-moving cleaning device 1 can perform the avoidance action fast or slow, and the specific selection can be made according to actual conditions, so as to reduce the possibility of collision between the obstacle 3 and the mechanical arm 2.

[0291] When the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a trend of moving away from each other, the self-moving cleaning device 1 is controlled to perform the avoidance action of prohibiting movement, or the self-moving cleaning device 1 and the mechanical arm 2 are controlled to perform the avoidance action of prohibiting movement. Since the obstacle 3 and the mechanical arm 2 are already moving away from each other, the obstacle 3 can voluntarily disappear from the target warning space, so the self-moving cleaning device 1 or the mechanical arm 2 can wait in a stationary state, and the waiting process can refer to the processes of steps A1-A16, which will not be described herein. After the obstacle 3 disappears from the target warning space, the task currently forced to be interrupted can be resumed, so as to ensure the cleaning efficiency of the self-moving cleaning device 1 and the mechanical arm 2.

[0292] Then, the embodiments of the present disclosure explain the corresponding avoidance strategies from the perspective of quantitative analysis as follows.

[0293] If the quantitative analysis feature is adopted, at least one parameter change feature of the obstacle 3, such as the movement speed, the movement acceleration, the distance change speed between the obstacle 3 and the robot arm 2, can be used as the relative position change feature, and then the corresponding avoidance action of the relative position relationship can be determined.

[0294] In some embodiments, the actual probability of collision between the obstacle 3 and the robot arm 2 can be estimated according to the relative position change feature. The relative position change feature and the corresponding collision probability are calibrated in advance to obtain the correlation between the relative position change feature and the collision probability. After obtaining the relative position change feature, the correlation can be queried to determine the actual probability of collision between the obstacle 3 and the robot arm 2.

[0295] For example, if the movement speed is used as the relative position change feature, if the movement speed of the obstacle 3 is greater than the maximum movement speed of the robot arm 2, the robot arm 2 will have a high probability of collision even if it escapes from the obstacle 3 at the maximum movement speed, and the corresponding collision probability in this case will be high.

[0296] If the actual probability exceeds the preset probability, it means that the probability of collision between the obstacle 3 and the robot arm 2 is relatively high, and the self-moving cleaning device 1 can be controlled to perform an avoidance action away from the obstacle 3.

[0297] In some embodiments, the preset probability can be adjusted according to actual needs. If the safety requirement during use of the robot arm 2 is high, a lower preset probability can be set, such as setting the preset probability to 40%. As long as it exceeds 40%, the self-moving cleaning device 1 is controlled to perform an avoidance action away from the obstacle 3. If the safety requirement during use of the robot arm 2 is not high, a higher preset probability can be set, such as setting the preset probability to 60%. As long as it exceeds 60%, the self-moving cleaning device 1 is controlled to perform an avoidance action away from the obstacle 3.

[0298] The self-moving cleaning device 1 can be controlled to perform an avoidance action away from the obstacle 3 in at least one of the following three ways.

[0299] The first way is to control the self-moving cleaning device 1 to perform an avoidance action based on walking away from the target obstacle.

[0300] The second way is to control the robot arm 2 to perform an avoidance action based on moving away from the obstacle 3.

[0301] The third way is to control the self-moving cleaning device 1 to perform an avoidance action based on rotating to drive the robot arm 2 away from the obstacle 3.

[0302] As to the first mode, the self-moving cleaning device 1 is controlled to move away from the obstacle 3 by using the walking mechanism equipped by itself, and then the mechanical arm 2 is carried away from the obstacle 3, so as to increase the distance between the mechanical arm 2 and the obstacle 3.

[0303] As to the second mode, the mechanical arm 2 is controlled to change the angle of each joint based on the freedom degree of itself, and then the mechanical arm 2 is moved away from the obstacle 3, so as to increase the distance between the mechanical arm 2 and the obstacle 3.

[0304] As to the third mode, the self-moving cleaning device 1 is controlled to rotate counterclockwise or clockwise by using the rotating mechanism equipped by itself, and then the mechanical arm 2 is carried away from the obstacle 3, so as to increase the distance between the mechanical arm 2 and the obstacle 3.

[0305] The first mode, the second mode and the third mode can be used alone or in any combination, and can be selected according to actual conditions, and the embodiments of the present disclosure do not limit this.

[0306] In other embodiments, during the process of controlling the self-moving cleaning device 1 to perform the avoidance action away from the obstacle 3, the speed of the self-moving cleaning device 1 performing the avoidance action can also be determined according to the relative position change feature, and then the self-moving cleaning device 1 is controlled to perform the avoidance action away from the obstacle 3 at the speed.

[0307] In the case where the actual probability exceeds the preset probability, if the change of the relative position change feature is fast, the self-moving cleaning device 1 should also perform the avoidance action fast, so as to reduce the possibility of collision between the obstacle 3 and the mechanical arm 2 as much as possible. If the change of the relative position change feature is slow, the self-moving cleaning device 1 can perform the avoidance action fast or slow, which can be selected according to actual conditions, so as to reduce the possibility of collision between the obstacle 3 and the mechanical arm 2.

[0308] In the case where the actual probability does not exceed the preset probability, it means that the possibility of collision between the obstacle 3 and the mechanical arm 2 is relatively low, and the obstacle 3 can actively disappear from the target warning space. The self-moving cleaning device 1 can be controlled to perform the avoidance action of prohibiting movement, or the self-moving cleaning device 1 and the mechanical arm 2 can be controlled to perform the avoidance action of prohibiting movement, that is, the self-moving cleaning device 1 or the mechanical arm 2 can wait in the case of keeping still. After the obstacle 3 disappears from the target warning space, the task currently forced to be interrupted can be resumed, so as to ensure the cleaning efficiency of the self-moving cleaning device 1.

[0309] The aforementioned avoidance strategy of the embodiments of the present disclosure is mainly to control the robot arm 2 to avoid the obstacle 3 without retracting the robot arm 2. In addition, the embodiments of the present disclosure also provide a technical concept of avoiding the obstacle 3 by retracting the robot arm 2 into the self-moving cleaning device 1.

[0310] Subsequently, the embodiments of the present disclosure will describe the corresponding avoidance strategy from the perspective of retracting the robot arm 2 as follows, specifically including steps B1-B3.

[0311] Step B1, after the robot arm 2 is extended from the self-moving cleaning device 1, and in the case that the target warning space exists the obstacle 3, the relative position change feature between the obstacle 3 and the robot arm 2 is determined.

[0312] Step B2, according to the relative position change feature, it is determined whether there is a target area; in some embodiments, the target area refers to a space area that meets a target condition, and the target condition refers to that the robot arm 2 is retracted into the self-moving cleaning device 1 in a state that the distance between the robot arm 2 and the obstacle 3 is greater than a preset limit distance.

[0313] Step B3, in the case that the target area exists, the robot arm 2 is controlled to perform an avoidance action of retracting into the self-moving cleaning device 1 in the target area.

[0314] Regarding step B1, the relative position change feature can be a feature for qualitative analysis such as approaching trend, moving away trend, etc., or a feature for quantitative analysis such as speed, acceleration, distance change, etc., which can be selected according to actual conditions, and the embodiments of the present disclosure do not limit this.

[0315] Regarding step B2, according to the relative position change feature, the space area that the obstacle 3 is likely to occupy is estimated, and then in a certain target area outside the space area occupied by the obstacle 3, it is determined whether the robot arm 2 can be retracted into the self-moving cleaning device 1 without contacting the space area occupied by the obstacle 3. In some embodiments, the greater the preset limit distance, the higher the limit degree of the robot arm 2 retraction, but the safety of the robot arm 2 retraction process can be maximized. The smaller the preset limit distance, the lower the limit degree of the robot arm 2 retraction, but the safety of the robot arm 2 retraction process is also relatively low. Therefore, in the actual implementation process, the necessity of retracting the robot arm 2 and the safety of retracting the robot arm 2 can be balanced, and the preset limit distance can be set and adjusted according to the balancing result.

[0316] It should be noted that in actual implementation, it can be determined whether the related avoidance strategy of the recycling manipulator 2 can be executed first, and the strategy of controlling the manipulator 2 to avoid the obstacle 3 can be executed after the related strategy of the recycling manipulator 2 cannot be executed, so that the use safety of the manipulator 2 can be improved to the greatest extent. In some embodiments, the strategy of not recycling the manipulator 2 can be executed first, and if the obstacle 3 can be avoided to continue the previous task, the manipulator 2 can be prevented from performing recycling, stretching and other actions, time can be saved, and the task execution efficiency of the self-moving cleaning device 1 can be improved.

[0317] The foregoing mainly describes the avoidance strategy under the premise that the obstacle 3 does not collide with the manipulator 2, and subsequent control strategies after the obstacle 3 collides with the manipulator 2 will be described.

[0318] After the manipulator 2 is stretched out of the self-moving cleaning device 1, and in the case that the target early warning space exists the obstacle 3, the possibility of collision between the obstacle 3 and the manipulator 2 always exists, so it is necessary to monitor whether the obstacle 3 collides with the manipulator 2, and in the case that the obstacle 3 collides with the manipulator 2, the self-moving cleaning device 1 is controlled to send an alarm signal.

[0319] In some embodiments, monitoring whether the obstacle 3 collides with the manipulator 2 can obtain a collision detection signal from a collision detection device installed on the manipulator 2, and monitor whether the obstacle 3 collides with the manipulator 2 according to the collision detection signal. In some embodiments, the collision detection device can be installed on the manipulator 2. The collision detection device can include but is not limited to a ToF (Time-of-Flight) sensor, a pressure sensor, a travel switch, a camera, an ultrasonic device, etc. The type of collision detection device can be selected according to distance measurement accuracy, device cost, installation ease, etc., and the embodiments of the present disclosure do not limit this.

[0320] In some embodiments, monitoring whether the obstacle 3 collides with the manipulator 2 can be obtaining a motor current feature of the manipulator 2, and monitoring whether the obstacle 3 collides with the manipulator 2 according to the motor current feature.

[0321] In some embodiments, the collision detection signal and the motor current feature can also be used together to further improve the accuracy of collision monitoring.

[0322] In the case that the obstacle 3 collides with the mechanical arm 2, the self-moving cleaning device 1 is controlled to send an alarm signal. The alarm mode can be voice alarm, sound and light alarm, short message alarm, etc. In the case that the obstacle 3 collides with the mechanical arm 2, the self-moving cleaning device 1 can perform self-check on the self-moving cleaning device 1 body and the mechanical arm 2 to determine whether the self-moving cleaning device 1 is damaged, so as to remind the user to know the actual state of the self-moving cleaning device 1 after the collision in time.

[0323] In summary, the embodiment of the present disclosure determines the target early warning space corresponding to the self-moving cleaning device 1 according to the actual posture of the mechanical arm 2 and the motion state of the self-moving cleaning device 1, monitors whether there is an obstacle 3 in the target early warning space, and controls the self-moving cleaning device 1 to perform an avoidance action in the case that there is the obstacle 3 in the target early warning space. It can be seen that the embodiment of the present disclosure detects the obstacle 3 entering the target early warning space during the use of the mechanical arm 2 of the self-moving cleaning device 1, and then controls the self-moving cleaning device 1 to perform an avoidance action, thereby reducing the possibility of collision between the mechanical arm 2 and the obstacle 3 during use, reducing the possibility of damage to pets, children, human bodies, furniture, etc. caused by the mechanical arm 2, and improving the use safety of the mechanical arm 2.

[0324] In order for those skilled in the art to better understand the technical solutions of the present disclosure, some embodiments of the present disclosure will be described in the whole below in combination with FIG. 17.

[0325] Step X0, determining whether the mechanical arm 2 is extended from the self-moving cleaning device 1, if not, executing step X11, if yes, executing step X21;

[0326] Step X11, determining a first early warning space according to the actual posture of the mechanical arm 2 stored in the self-moving cleaning device 1 and the motion state of the self-moving cleaning device 1, and continuing to execute step X12;

[0327] Step X12, determining whether there is an obstacle 3 in the first early warning space, if not, executing step X13, if yes, executing step X14;

[0328] Step X13, controlling the mechanical arm 2 to extend from the self-moving cleaning device 1, and continuing to execute step X21;

[0329] Step X14, prohibiting the mechanical arm 2 from extending from the self-moving cleaning device 1, and continuing to execute step X15;

[0330] Step X15, determining whether the actual duration of the obstacle 3 in the first warning space exceeds the preset duration, if the actual duration does not exceed the preset duration, step X16 is executed; if the actual duration exceeds the preset duration, step X17 is executed;

[0331] Step X16, determining whether the obstacle 3 disappears from the first warning space, if the obstacle 3 disappears from the first warning space, step X13 is executed, if the obstacle 3 does not disappear from the first warning space, step X15 is executed;

[0332] Step X17, controlling the self-moving cleaning device 1 to perform alarm prompt.

[0333] Step X21, determining the second warning space according to the actual pose of the mechanical arm 2 outside the self-moving cleaning device 1 and the motion state of the self-moving cleaning device 1, and executing step X22;

[0334] Step X22, determining whether the second warning space exists the obstacle 3, if the second warning space exists the obstacle 3, at least one of step X24, step X28 and step X29 is selected to continue to be executed; if the second warning space does not exist the obstacle 3, step X23 is executed;

[0335] Step X23, updating the second warning space with the change of the actual pose of the mechanical arm 2, and executing step X22;

[0336] Step X24, determining the corresponding avoidance action according to the relative position change characteristics between the obstacle 3 and the mechanical arm 2, and executing any one of step X25 and step X26;

[0337] Step X25, determining whether the collision probability exceeds the preset probability, if the collision probability exceeds the preset probability, step X27 is executed, if the collision probability does not exceed the preset probability, step X28 is executed;

[0338] Step X26, determining whether the obstacle 3 and the mechanical arm 2 are away or close, if away, step X28 is executed, if close, step X27 is executed;

[0339] Step X27, executing at least one of the three ways, i.e., the first way to the third way, including controlling the self-moving cleaning device 1 to walk so that the mechanical arm 2 is away from the obstacle 3, controlling the mechanical arm 2 to move to be away from the obstacle 3, and controlling the self-moving cleaning device 1 to rotate so that the mechanical arm 2 is away from the obstacle 3;

[0340] Step X28, controlling the self-moving cleaning device 1 to be prohibited from moving, or controlling the self-moving cleaning device 1 and the mechanical arm 2 to be prohibited from moving, and executing step X31;

[0341] Step X29, determine whether the space condition for recovering the robotic arm 2 is met according to the relative position change feature between the obstacle 3 and the robotic arm 2, if the space condition for recovering the robotic arm 2 is met, then execute step X30; if the space condition for recovering the robotic arm 2 is not met, then continue to execute at least one of step X24 and step X28.

[0342] Step X30, recover the robotic arm 2 into the self-moving cleaning device 1.

[0343] Step X31, determine whether the obstacle 3 moves within a third preset time length, if the obstacle 3 moves within the third preset time length, then execute step X32, if the obstacle 3 does not move within the third preset time length, then execute step X36.

[0344] Step X32, determine whether the obstacle 3 disappears after moving, if the obstacle 3 disappears after moving, then execute step X33, if the obstacle 3 does not disappear after moving, then execute step X34.

[0345] Step X33, determine whether the disappearance time length of the obstacle 3 reaches a fourth preset time length, if the disappearance time length of the obstacle 3 reaches the fourth preset time length, then execute step X41, if the disappearance time length of the obstacle 3 does not reach the fourth preset time length, then return to execute step X31.

[0346] Step X34, determine whether the occurrence number of the obstacle 3 moving but not disappearing exceeds a second preset number, if the occurrence number of the obstacle 3 moving but not disappearing exceeds the second preset number, then execute step X35, if the occurrence number of the obstacle 3 moving but not disappearing does not exceed the second preset number, then return to execute step X31.

[0347] Step X35, hibernate the self-moving cleaning device 1, and / or issue an alarm prompt.

[0348] Step X36, determine whether the execution number of step X31 exceeds a first preset number, if the execution number of step X31 exceeds the first preset number, then execute step X37, if the execution number of step X31 does not exceed the first preset number, then return to execute step X31.

[0349] Step X37, determine whether the obstacle 3 causes an obstruction to the robotic arm 2, if the obstacle 3 causes an obstruction to the robotic arm 2, then execute step X35, if the obstacle 3 does not cause an obstruction to the robotic arm 2, then execute step X38.

[0350] Step X38, recover the robotic arm 2 into the self-moving cleaning device 1, and continue to execute step X39.

[0351] Step X39, judging whether the obstacle 3 hinders the movement of the self-moving cleaning device 1, if the obstacle 3 hinders the movement of the self-moving cleaning device 1, executing step X35, if the obstacle 3 does not hinder the movement of the self-moving cleaning device 1, executing step X40.

[0352] Step X40, bypassing the obstacle 3 and continuing to execute step X41.

[0353] Step X41, controlling the self-moving cleaning device 1 to continue to execute the task before stopping.

[0354] It should be noted that steps X29-X30 are the same as steps X37-X38, which are described separately at two positions to avoid line crossing in the flowchart.

[0355] Based on the same inventive concept, the embodiment of the disclosure provides a cleaning device control device as shown in FIG. 18, which is applied to a self-moving cleaning device 1, the self-moving cleaning device 1 is provided with a mechanical arm 2, the device comprises: a space determination module 181, configured to determine a target early warning space corresponding to the self-moving cleaning device 1 according to an actual pose of the mechanical arm 2 and a motion state of the self-moving cleaning device 1; and an obstacle monitoring module 182, configured to monitor whether the target early warning space exists an obstacle 3.

[0356] An avoidance control module 183 is configured to control the self-moving cleaning device 1 to execute an avoidance action in the case that the target early warning space exists the obstacle 3.

[0357] In the embodiment of the disclosure, a possible implementation manner is provided, and the space determination module 181 is configured to:

[0358] In the case that the motion state of the self-moving cleaning device 1 is a stop state, the base space containing the mechanical arm 2 is determined according to the actual pose of the mechanical arm 2.

[0359] The target early warning space corresponding to the self-moving cleaning device 1 is determined according to the base space.

[0360] In the embodiment of the disclosure, a possible implementation manner is provided, and the space determination module 181 is configured to:

[0361] The edge of the base space is extended outward by a preset safety distance to obtain the target early warning space corresponding to the self-moving cleaning device 1.

[0362] In the embodiment of the disclosure, a possible implementation manner is provided, and the space determination module 181 is configured to:

[0363] In a case where the motion state of the self-moving cleaning device 1 is a walking state, a base space containing the mechanical arm 2 is determined according to the actual pose of the mechanical arm 2.

[0364] A superimposed safety distance corresponding to the self-moving cleaning device 1 is determined according to a first preset time length and a walking speed of the self-moving cleaning device 1.

[0365] An edge of the base space is extended outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device 1.

[0366] In an embodiment of the present disclosure, a possible implementation manner of the space determination module 181 is provided, which is configured to:

[0367] An edge of the base space located in a walking direction of the self-moving cleaning device 1 is extended outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device 1.

[0368] In an embodiment of the present disclosure, a possible implementation manner of the space determination module 181 is provided, which is configured to:

[0369] In a case where the motion state of the self-moving cleaning device 1 is a rotating state, a base space containing the mechanical arm 2 is determined according to the actual pose of the mechanical arm 2.

[0370] A superimposed safety arc length is determined according to a second preset time length, a rotating angular velocity of the self-moving cleaning device 1, and a radius parameter corresponding to the base space.

[0371] An edge of the base space located in a rotating direction of the self-moving cleaning device 1 is extended along the rotating direction by the superimposed safety arc length to obtain the target early warning space corresponding to the self-moving cleaning device 1.

[0372] In an embodiment of the present disclosure, a possible implementation manner of the space determination module 181 is provided, which is configured to:

[0373] According to the actual pose of the mechanical arm 2, a spherical sector space or a spherical cap space containing the mechanical arm 2 is determined as the base space.

[0374] In an embodiment of the present disclosure, a possible implementation manner of the avoidance control module 183 is provided, which is configured to:

[0375] In a case where the target early warning space contains the obstacle 3, the self-moving cleaning device 1 is controlled to perform an avoidance action of prohibiting movement, or the self-moving cleaning device 1 and the mechanical arm 2 are controlled to perform an avoidance action of prohibiting movement.

[0376] The embodiment of the present disclosure provides a possible implementation, wherein the avoidance control module 183 is used for:

[0377] After controlling the self-moving cleaning device 1 to perform the avoidance action of prohibiting movement, or after controlling the self-moving cleaning device 1 and the mechanical arm 2 to perform the avoidance action of prohibiting movement, it is monitored whether the obstacle 3 moves within a third preset time length;

[0378] In the case where the obstacle 3 moves within the third preset time length, it is monitored whether the obstacle 3 disappears from the target warning space;

[0379] In the case where the obstacle 3 disappears from the target warning space, it is monitored whether a time length of disappearance of the obstacle 3 from the target warning space reaches a fourth preset time length;

[0380] In the case where the time length of disappearance of the obstacle 3 from the target warning space reaches the fourth preset time length, the self-moving cleaning device 1 and / or the mechanical arm 2 continue to perform the task corresponding to the prohibition of movement;

[0381] In the case where the time length of disappearance of the obstacle 3 from the target warning space does not reach the fourth preset time length, the step of monitoring whether the obstacle 3 disappears from the target warning space is returned to be performed.

[0382] The embodiment of the present disclosure provides a possible implementation, wherein the avoidance control module 183 is used for:

[0383] In the case where the obstacle 3 does not move within the third preset time length, it is judged whether the execution number of the step of monitoring whether the obstacle 3 moves within the third preset time length reaches a first preset number;

[0384] In the case where the execution number does not reach the first preset number, the step of monitoring whether the obstacle 3 moves within the third preset time length is returned to be performed.

[0385] The embodiment of the present disclosure provides a possible implementation, wherein the avoidance control module 183 is used for:

[0386] In the case where the execution number reaches the first preset number, it is judged whether the obstacle 3 causes an obstacle to the action of the mechanical arm 2 being recovered into the self-moving cleaning device 1;

[0387] In the case where the obstacle 3 does not cause an obstacle to the action of the mechanical arm 2 being recovered into the self-moving cleaning device 1, the mechanical arm 2 is controlled to be recovered into the self-moving cleaning device 1;

[0388] determine whether the obstacle 3 hinders the movement of the self-moving cleaning device 1;

[0389] in the case where the obstacle 3 does not hinder the movement of the self-moving cleaning device 1, control the self-moving cleaning device 1 to bypass the obstacle 3 and control the mechanical arm 2 to extend from the self-moving cleaning device 1 to continue to perform the corresponding task before the movement is prohibited.

[0390] In the embodiments of the present disclosure, a possible implementation manner is provided for the avoidance control module 183, which is configured to:

[0391] in the case where the obstacle 3 hinders the movement of the self-moving cleaning device 1, control the self-moving cleaning device 1 to enter a dormant state.

[0392] in the case where the obstacle 3 hinders the movement of the self-moving cleaning device 1, control the self-moving cleaning device 1 to enter a dormant state.

[0393] In the embodiments of the present disclosure, a possible implementation manner is provided for the avoidance control module 183, which is configured to:

[0394] in the case where the obstacle 3 does not disappear from the target warning space, determine whether the number of times that the obstacle 3 moves but does not disappear from the target warning space exceeds a second preset number of times;

[0395] in the case where the number of times exceeds the second preset number of times, control the self-moving cleaning device 1 to enter a dormant state;

[0396] in the case where the number of times does not exceed the second preset number of times, return to the step of monitoring whether the obstacle 3 moves within a third preset time length.

[0397] In the embodiments of the present disclosure, a possible implementation manner is provided for the avoidance control module 183, which is configured to:

[0398] after the mechanical arm 2 extends from the self-moving cleaning device 1, and in the case where the target warning space exists the obstacle 3, determine a relative position change feature between the obstacle 3 and the mechanical arm 2; control the self-moving cleaning device 1 to perform an avoidance action corresponding to the relative position change feature.

[0399] In the embodiments of the present disclosure, a possible implementation manner is provided for the avoidance control module 183, which is configured to:

[0400] In a case where the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a mutual-approaching trend, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0401] In a case where the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a mutual-approaching trend, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0402] In a case where the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a mutual-approaching trend, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0403] According to the relative position change feature, an actual probability of collision between the obstacle 3 and the mechanical arm 2 is estimated.

[0404] In a case where the actual probability exceeds a preset probability, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0405] In a case where the actual probability does not exceed the preset probability, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0406] In a case where the actual probability does not exceed the preset probability, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0407] The self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the target obstacle 3 based on walking;

[0408] The mechanical arm 2 is controlled to perform an avoidance action of moving away from the obstacle 3 based on movement;

[0409] The self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3 based on rotation.

[0410] In a case where the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a mutual-approaching trend, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0411] According to the relative position change feature, an actual probability of collision between the obstacle 3 and the mechanical arm 2 is estimated.

[0412] The self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3 according to the fast-slow degree.

[0413] In a case where the relative position change feature indicates that the obstacle 3 and the mechanical arm 2 are in a mutual-approaching trend, the self-moving cleaning device 1 is controlled to perform an avoidance action of moving away from the obstacle 3.

[0414] After the mechanical arm 2 extends out of the self-moving cleaning device 1, and the target early warning space exists the obstacle 3, determine the relative position change feature between the obstacle 3 and the mechanical arm 2;

[0415] According to the relative position change feature, determine whether the target area exists; in some embodiments, the target area refers to a space area that meets a target condition, and the target condition refers to that the mechanical arm 2 is recovered into the self-moving cleaning device 1 in a state that the distance between the mechanical arm 2 and the obstacle 3 is greater than a preset limit distance;

[0416] In the case where the target area exists, control the mechanical arm 2 to perform an avoidance action of being recovered into the self-moving cleaning device 1 in the target area.

[0417] In the embodiments of the present disclosure, a possible implementation manner is provided, and the device further includes a collision monitoring module, configured to:

[0418] In the case where the target early warning space exists the obstacle 3, the method further includes:

[0419] In the case where the mechanical arm 2 extends out of the self-moving cleaning device 1, monitor whether the obstacle 3 collides with the mechanical arm 2;

[0420] In the case where the obstacle 3 collides with the mechanical arm 2, control the self-moving cleaning device 1 to send an alarm signal.

[0421] In the embodiments of the present disclosure, a possible implementation manner is provided, and the device further includes a collision monitoring module, configured to:

[0422] Obtain a collision detection signal from a collision detection device installed on the mechanical arm 2, and monitor whether the obstacle 3 collides with the mechanical arm 2 according to the collision detection signal; and / or,

[0423] Obtain a motor current feature of the mechanical arm 2, and monitor whether the obstacle 3 collides with the mechanical arm 2 according to the motor current feature.

[0424] In the embodiments of the present disclosure, a possible implementation manner is provided, and the avoidance control module 183 is configured to:

[0425] Before the mechanical arm 2 extends out of the self-moving cleaning device 1, and in the case where the target early warning space exists the obstacle 3, control the mechanical arm 2 to perform an avoidance action of being prohibited to extend out of the self-moving cleaning device 1.

[0426] The embodiment of the present disclosure provides a possible implementation, the obstacle monitoring module 182, for:

[0427] The monitoring whether the target early warning space exists the obstacle 3, includes:

[0428] The ranging device arranged on the self-moving cleaning equipment 1 and / or the mechanical arm 2 obtains the distance detection signal;

[0429] According to the distance detection signal, the target early warning space is monitored whether the obstacle 3 exists.

[0430] Based on the same inventive concept, the embodiment of the present disclosure provides a cleaning equipment as shown in Figure 19, comprising:

[0431] The processor 191;

[0432] The memory 192 for storing the executable instructions of the processor 191;

[0433] In some embodiments, the processor 191 is configured to execute the instructions to implement the cleaning equipment control method as provided in the foregoing.

[0434] Based on the same inventive concept, the embodiment of the present disclosure provides a non-transitory computer readable storage medium, comprising a computer program stored thereon, when the computer program is executed by the processor 191 of the electronic device, the electronic device can execute the cleaning equipment control method as provided in the foregoing.

[0435] Based on the same inventive concept, the embodiment of the present disclosure provides a computer program product, comprising program code, the program code is executed by the processor 191 to implement the cleaning equipment control method as provided in the foregoing.

[0436] Since the electronic device introduced in the embodiment is the electronic device used to implement the method of information processing in the embodiment of the present disclosure, based on the method of information processing introduced in the embodiment of the present disclosure, those skilled in the art can understand the specific implementation of the electronic device of the embodiment and its various forms, so the electronic device how to implement the method in the embodiment of the present disclosure will not be introduced in detail. As long as the electronic device used to implement the method of information processing in the embodiment of the present disclosure is used by those skilled in the art, it belongs to the scope of the present disclosure.

[0437] The technical solution in the above embodiment of the present disclosure has at least the following technical effects or advantages:

[0438] A cleaning device control method applied to a self-moving cleaning device 1, the self-moving cleaning device 1 being provided with a mechanical arm 2, the method comprising: determining a target early warning space corresponding to the self-moving cleaning device 1 according to an actual posture of the mechanical arm 2 and a motion state of the self-moving cleaning device 1; monitoring whether an obstacle 3 exists in the target early warning space; and controlling the self-moving cleaning device 1 to perform an avoidance action in the case that the obstacle 3 exists in the target early warning space.

[0439] In the technical solution according to some embodiments of the present disclosure, a target early warning space corresponding to the self-moving cleaning device 1 is determined according to an actual posture of the mechanical arm 2 and a motion state of the self-moving cleaning device 1; it is monitored whether an obstacle 3 exists in the target early warning space; and the self-moving cleaning device 1 is controlled to perform an avoidance action in the case that the obstacle 3 exists in the target early warning space. It can be seen that the technical solution according to some embodiments of the present disclosure detects the obstacle 3 entering the target early warning space during the use of the mechanical arm 2 of the self-moving cleaning device 1, and then controls the self-moving cleaning device 1 to perform an avoidance action, so as to reduce the possibility of collision between the mechanical arm 2 and the obstacle 3 during the use of the mechanical arm 2, and reduce the possibility of damage caused by the mechanical arm 2 to pets, children, human bodies, furniture, etc., thereby improving the use safety of the mechanical arm 2.

[0440] Those skilled in the art will understand that the embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0441] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts 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 processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0442] 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 which implement the function specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0443] 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 which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flowsheets and / or block or blocks of the block diagrams.

[0444] Although preferred embodiments of the present disclosure have been described herein, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such changes and modifications that fall within the scope of the present disclosure.

[0445] It is apparent that many modifications and variations of this disclosure can be effected although only a few have been chosen for the illustrative purposes. As a result, it is intended that only the appended claims should limit the present disclosure.

Claims

1. A cleaning device control method applied to a self-moving cleaning device, the self-moving cleaning device being provided with a mechanical arm, the method comprising: determining a target early warning space corresponding to the self-moving cleaning device according to an actual pose of the mechanical arm and a motion state of the self-moving cleaning device; monitoring whether an obstacle exists in the target early warning space; and controlling the self-moving cleaning device to perform an avoidance action in a case where the obstacle exists in the target early warning space. The determination of the target early warning space corresponding to the self-moving cleaning device according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device comprises: in a case where the motion state of the self-moving cleaning device is a stop state, determining a base space containing the mechanical arm according to the actual pose of the mechanical arm; and determining the target early warning space corresponding to the self-moving cleaning device according to the base space. The determination of the target early warning space corresponding to the self-moving cleaning device according to the base space comprises: extending edges of the base space outward by a preset safety distance to obtain the target early warning space corresponding to the self-moving cleaning device. The determination of the target early warning space corresponding to the self-moving cleaning device according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device comprises: in a case where the motion state of the self-moving cleaning device is a walking state, determining a base space containing the mechanical arm according to the actual pose of the mechanical arm; determining a superimposed safety distance corresponding to the self-moving cleaning device according to a first preset time length and a walking speed of the self-moving cleaning device; and extending edges of the base space outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device. The extension of the edges of the base space outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device comprises: extending the edges of the base space located in a direction of travel of the self-moving cleaning device outward by the superimposed safety distance to obtain the target early warning space corresponding to the self-moving cleaning device.

2. The method of claim 1, wherein, The determination of the target early warning space corresponding to the self-moving cleaning device according to the actual pose of the mechanical arm and the motion state of the self-moving cleaning device comprises: in a case where the motion state of the self-moving cleaning device is a rotating state, determining a base space containing the mechanical arm according to the actual pose of the mechanical arm; determining a superimposed safety arc length according to a second preset time length, an angular velocity of rotation of the self-moving cleaning device, and a radius parameter corresponding to the base space; and extending edges of the base space located in a direction of rotation of the self-moving cleaning device along the direction of rotation by the superimposed safety arc length to obtain the target early warning space corresponding to the self-moving cleaning device. The determination of the base space containing the mechanical arm according to the actual pose of the mechanical arm comprises: determining a spherical sector space or a spherical crown space containing the mechanical arm as the base space according to the actual pose of the mechanical arm. ​ 3. The method of claim 2, wherein, ​ ​ 4. The method of claim 1, wherein, ​ ​ ​ ​ 5. The method of claim 4, wherein, ​ ​ 6. The method of claim 1, wherein, ​ ​ ​ ​ 7. The method of any one of claims 2-6, wherein, ​ ​ 8. The method of claim 1, wherein, The method further comprises: In the case where the target warning space exists the obstacle, the self-moving cleaning equipment is controlled to execute an avoidance action of prohibiting movement, or the self-moving cleaning equipment and the mechanical arm are controlled to execute an avoidance action of prohibiting movement.

9. The method of claim 8, wherein, After controlling the self-moving cleaning equipment to execute an avoidance action of prohibiting movement, or after controlling the self-moving cleaning equipment and the mechanical arm to execute an avoidance action of prohibiting movement, the method further comprises: monitoring whether the obstacle moves within a third preset time length; In the case where the obstacle moves within the third preset time length, monitoring whether the obstacle disappears from the target warning space; In the case where the obstacle disappears from the target warning space, monitoring whether a time length of the obstacle disappearing from the target warning space reaches a fourth preset time length; In the case where the time length of the obstacle disappearing from the target warning space reaches the fourth preset time length, controlling the self-moving cleaning equipment and / or the mechanical arm to continue to execute a task corresponding to before prohibiting movement; In the case where the time length of the obstacle disappearing from the target warning space does not reach the fourth preset time length, returning to execute the step of monitoring whether the obstacle disappears from the target warning space.

10. The method of claim 9, wherein, The monitoring whether the obstacle moves within a third preset time length comprises: In the case where the obstacle does not move within the third preset time length, judging whether an execution number of the step of monitoring whether the obstacle moves within a third preset time length exceeds a first preset number; In the case where the execution number does not exceed the first preset number, returning to execute the step of monitoring whether the obstacle moves within a third preset time length.

11. The method of claim 10, wherein, The monitoring whether the obstacle moves within a third preset time length comprises: In the case where the execution number exceeds the first preset number, judging whether the obstacle hinders an action of the mechanical arm being recycled into the self-moving cleaning equipment; In the case where the obstacle does not hinder the action of the mechanical arm being recycled into the self-moving cleaning equipment, controlling the mechanical arm to be recycled into the self-moving cleaning equipment; judging whether the obstacle hinders movement of the self-moving cleaning equipment; In the case where the obstacle does not hinder movement of the self-moving cleaning equipment, controlling the self-moving cleaning equipment to bypass the obstacle, and controlling the mechanical arm to be stretched out from the self-moving cleaning equipment to continue to execute a task corresponding to before prohibiting movement.

12. The method of claim 10, wherein, The monitoring whether the obstacle moves within a third preset time length comprises: In the case where the obstacle hinders the action of the mechanical arm being recycled into the self-moving cleaning equipment, controlling the self-moving cleaning equipment to enter a dormant state; In the case where the obstacle hinders movement of the self-moving cleaning equipment, controlling the self-moving cleaning equipment to enter a dormant state.

13. The method of claim 9, wherein, The monitoring whether the obstacle moves within a third preset time length comprises: In a case where the obstacle does not disappear from the target early warning space, determining whether a number of times of occurrence that the obstacle moves but does not disappear from the target early warning space exceeds a second preset number of times; In a case where the number of times of occurrence exceeds the second preset number of times, controlling the self-moving cleaning device to enter a dormant state; In a case where the number of times of occurrence does not exceed the second preset number of times, returning to perform the step of monitoring whether the obstacle moves within a third preset time length. 14.A cleaning device control apparatus applied to a self-moving cleaning device, the self-moving cleaning device being provided with a mechanical arm, the apparatus comprising: a space determination module configured to determine a target early warning space corresponding to the self-moving cleaning device according to an actual pose of the mechanical arm and a motion state of the self-moving cleaning device; an obstacle monitoring module configured to monitor whether an obstacle exists in the target early warning space; and an avoidance control module configured to control the self-moving cleaning device to perform an avoidance action in a case where the obstacle exists in the target early warning space. 15.A cleaning device comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a cleaning device control method according to any one of claims 1 to 13. 16.A non-transitory computer-readable storage medium comprising computer program stored thereon, which when executed by a processor of an electronic device, enables the electronic device to implement a cleaning device control method according to any one of claims 1 to 13. 17.A computer program product comprising program code which, when executed by a processor, implements a cleaning device control method according to any one of claims 1 to 13. ​ ​

Images