Method and apparatus for controlling cleaning device, program product, storage medium, and cleaning device

Abstract

A method and apparatus for controlling a cleaning device, a program product, a storage medium, and a cleaning device. A robotic arm is disposed on a chassis of the cleaning device, and an end of the robotic arm away from the chassis is provided with a gripper for gripping a pet-teasing toy. The method comprises: in response to triggering of a pet-teasing instruction, controlling the gripper of the robotic arm to grip the pet-teasing toy (110); and after the gripper grips the pet-teasing toy, controlling the chassis and / or the robotic arm to perform a pet-teasing action (120).

Description

Cleaning equipment control methods, devices, programs, storage media, and cleaning equipment

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application No. 2024114969156, filed on October 24, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure belongs to the field of cleaning equipment control technology, and in particular relates to a cleaning equipment control method, device, program product, storage medium and cleaning equipment. Background Technology

[0004] Cleaning equipment (such as robot vacuums and robot mops) is now widely used in households, replacing users in performing housework and bringing great convenience. In addition to cleaning floors, these devices can also be used to monitor pets' well-being via cameras. Summary of the Invention

[0005] Embodiments of this disclosure provide a cleaning equipment control method, apparatus, program product, medium, and cleaning equipment, which can at least to some extent improve the user experience.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a cleaning equipment control method is provided, wherein a robotic arm is provided on the chassis of the cleaning equipment, and a gripper is provided at one end of the robotic arm away from the chassis for gripping a pet toy, the method comprising: in response to the triggering of a pet-teasing command, controlling the gripper of the robotic arm to grip the pet toy; and after the gripper grips the pet toy, controlling the chassis and / or the robotic arm to perform a pet-teasing action.

[0008] According to a second aspect of the present disclosure, a cleaning equipment control device is provided. The cleaning equipment has a chassis with a robotic arm and a gripper at one end of the robotic arm away from the chassis for gripping a pet toy. The device includes: a first control unit for controlling the gripper of the robotic arm to grip the pet toy in response to a pet-teasing command; and a second control unit for controlling the chassis and / or the robotic arm to perform a pet-teasing action after the gripper has gripped the pet toy.

[0009] According to a third aspect of the present disclosure, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations as described in any of the first aspect embodiments described above.

[0010] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, including at least one computer program instruction stored thereon, the at least one computer program instruction being loaded and executed by a processor to perform the operations performed by the method described in any of the embodiments of the first aspect above.

[0011] According to a fifth aspect of the present disclosure, a cleaning device is provided, the cleaning device including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation performed by the method as described in any of the first aspect embodiments above. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0013] Figure 1 shows a flowchart of a cleaning equipment control method according to some embodiments;

[0014] Figure 2 shows a schematic diagram of a cleaning device in some embodiments for picking up pet toys;

[0015] Figure 3 shows a structural schematic diagram of some embodiments of pet-playing accessories;

[0016] Figure 4 shows a demonstration diagram of the pet-playing actions of the cleaning equipment in some embodiments;

[0017] Figure 5 shows a block diagram of a cleaning equipment control device according to some embodiments;

[0018] Figure 6 shows a schematic diagram of the structure of a cleaning device according to some embodiments. Embodiments of the present invention

[0019] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0020] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring aspects of this disclosure.

[0021] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solutions disclosed herein have been adaptively omitted.

[0022] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] In the description of this disclosure, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0024] To enable those skilled in the art to better understand this disclosure, a brief description of the application scenarios involved in this disclosure will be given first.

[0025] The technical solutions proposed in this disclosure can be applied to scenarios involving playing with pets. For example, in practical applications, many families keep cats, and research shows that cats are social animals that crave interaction with people; a lack of companionship can lead to depression or health problems. Since many owners (i.e., users) are busy with work and have limited time to spend with their cats, effective interaction methods are needed. Playing with cats is a common way to provide companionship, usually lasting 5-10 minutes. Too long will tire the cat, while too short will not satisfy its play needs. Pet toys such as feather wands and laser pointers can simulate prey movements, stimulating the cat's hunting instincts. Effective cat-playing techniques include, but are not limited to, using a cat toy to simulate bird flight, controlling the height so the cat can catch it; shaking it from side to side near the cat's head to mimic bird hopping; and quickly dragging the cat toy on the ground to attract the cat's attention. Let the cat catch the toy every 10-30 seconds to enhance its sense of accomplishment and happiness. These methods of playing with cats not only satisfy the cat's play needs but also enhance the interaction between humans and cats.

[0026] Currently, cleaning equipment is widely used in household life, as it can perform housework for users, bringing great convenience. In addition to cleaning floors, cleaning equipment can also monitor the condition of pets through its camera system.

[0027] However, existing cleaning equipment can only monitor the pet's condition through the camera device controlling the equipment. This cannot completely replace the user's companionship of the pet, failing to meet the user's need for affection and thus hindering the improvement of the user experience. Therefore, this disclosure proposes a cleaning equipment control scheme to enhance the user experience.

[0028] Existing cleaning equipment cannot support companionship with pets, failing to meet users' needs for pet care and thus hindering the improvement of the user experience. Therefore, improving the user experience is a pressing technical issue that needs to be addressed.

[0029] Figure 1 shows a flowchart of a cleaning equipment control method according to some embodiments of the present disclosure. The method can be executed by a device with computing processing capabilities (such as the cleaning equipment itself). As shown in Figure 1, the cleaning equipment control method includes at least steps 110 to 120, which are described in detail below.

[0030] In step 110, in response to the triggering of the pet-teasing command, the gripper of the robotic arm is controlled to grasp the pet-teasing toy.

[0031] The structure of the cleaning equipment involved in this disclosure will first be described with reference to Figures 1 and 2.

[0032] Figure 2 shows a schematic diagram of a cleaning device picking up a pet toy according to some embodiments of the present disclosure.

[0033] As shown in Figure 2, a multi-degree-of-freedom robotic arm 202 is provided on the chassis 201 of the cleaning equipment; a gripper 203 is provided at the end of the robotic arm 202 away from the chassis 201 for gripping pet toys 204.

[0034] In some embodiments, the chassis 201 of the cleaning equipment can move linearly along the x and y axes of the ground 200, or linearly along the z-axis (i.e., the extension and retraction of the wheels 206 and / or casters 207), and can also rotate around the z-axis. Further, the robotic arm 202 of the cleaning equipment may include multiple movable joints. These joints allow the robotic arm 202 to extend out of the compartment (i.e., extend from the chassis 201) and retract into the compartment (i.e., retract into the chassis 201). After the robotic arm 202 extends out of the compartment, the joints can maintain a fixed angle to fix the position of the end of the robotic arm 202 away from the chassis 201 in space. The joint between the robotic arm 202 and the gripper 203 can be a spin joint for controlling the posture of the gripper at the end of the robotic arm.

[0035] In some implementations, the pet toy can be made to perform a series of pet-teasing actions by controlling the chassis 201 and / or the robotic arm 202 to achieve the function of playing with pets through cleaning equipment and solve the problem of pet companionship.

[0036] It should be noted that the robotic arm 202 shown in Figure 2 can be two degrees of freedom, three degrees of freedom, or four degrees of freedom. This disclosure does not make any specific limitation in this regard.

[0037] In some embodiments, the cleaning device may also be equipped with a pet-playing accessory 205. Referring to Figure 3, a structural schematic diagram of the pet-playing accessory in an embodiment of this disclosure is shown.

[0038] Sub-figure (a) of Figure 3 shows the exploded state of the pet-fun accessory; sub-figure (b) of Figure 3 shows the state in which the pet toy is fixed to the pet-fun accessory. In some embodiments, the pet-fun accessory may include a clamp 2051. The clamp 2051 has a fixing part A and a clamping part B. The fixing part A is used to connect the pet toy 204. The clamping part B is used to be clamped by the gripper 203.

[0039] In practical applications, the pet toy 204 can be fixed to the fixing part A at one end of the clamp 2051, and then the robotic arm and grippers of the cleaning device can be controlled to hold the clamping part B at the other end of the clamp 2051, thereby realizing the gripping of the pet toy 204.

[0040] Referring again to sub-figure (a) in Figure 3, in some embodiments, the fixing part A may have a slot C. The slot C may be provided with a fastener 2052 for fixing the toy 204 within the slot. The fastener 2052 may be a screw that passes through the side wall of the slot C. In other embodiments, the fastener may be a snap-fit ​​or other device with a fastening function; this disclosure does not impose further limitations on this.

[0041] In practical applications, the pet toy 204 can be inserted into the slot C of the chuck 2051. Then, by tightening the fastening screw, the fastening screw abuts against the pet toy 204 in the slot C, thereby fixing the pet toy 204 to the fixing part A of the chuck 2051.

[0042] In this embodiment, the shape of the clamping part B is adapted to the shape of the gripper of the cleaning device so that the gripper of the cleaning device can stably clamp the chuck 2051.

[0043] It is understandable that by opening a hole and slot C in the fixing part A of the clamp 2051 and setting a fastener 2052, pet toys 204 of different sizes (such as different thicknesses) can be installed on the clamp 2051, which enhances the compatibility of pet accessories and the convenience of installing the pet toys, thereby improving the user experience.

[0044] Referring again to sub-figure (a) in Figure 3, in some embodiments, the pet accessory may further include a storage bracket 2503. The storage bracket 2503 can be positioned in a first location within the room to store the clamp 2051. In some embodiments, the upper end of the storage bracket 2503 may have a buckle adapted to the clamping portion B of the clamp 2051, and the lower end of the storage bracket 2503 may have a counterweight or suction cup structure, allowing it to be fixed in the first location within the room during normal use.

[0045] It should be noted that in some embodiments, the first location can be a location on the floor of a room (for example, the storage bracket 2503 can be placed on a location on the floor using a counterweight structure), or it can be the location of the base station of the cleaning equipment (for example, the storage bracket 2503 can be attached to the outer surface of the base station using a suction cup structure). This disclosure does not impose excessive limitations on the first location.

[0046] Understandably, when the cleaning equipment is not using the pet toy, the pet toy can be fixed to the gripper of the pet accessory. The pet toy is placed together with the gripper on the storage bracket in the first position. When the cleaning equipment needs to use the pet toy, the robotic arm and grippers of the cleaning equipment can be controlled to clamp the gripper with the pet toy fixed on it from the storage bracket, so as to easily pick up the pet toy. Therefore, the cleaning equipment proposed in this disclosure can improve the flexibility and convenience of the cleaning equipment in picking up the pet toy.

[0047] Based on the above structural features proposed in this disclosure, in step 110, controlling the gripper of the robotic arm to grasp the pet toy can perform the following:

[0048] Step 111: Control the gripper of the robotic arm to hold the gripping part of the chuck in order to pick up the pet toy.

[0049] In some implementations, the pet-playing command can be remotely triggered by the user on a user terminal (such as in an app interface). For example, in a possible scenario, the user is not at home and cannot directly play with the pet to interact with it. In this case, the pet-playing command can be remotely triggered in the mobile app interface configured on the cleaning device, so that the cleaning device can use the gripper of the robotic arm to pick up the pet-playing toy to play with the pet on behalf of the user.

[0050] In some other embodiments, the pet-playing command can also be triggered by the user at home via voice or by the user via a button; or the user can set a pet-playing time for the cleaning device; when this pet-playing time is reached, the pet-playing command is automatically triggered.

[0051] It should be noted that, in some implementations, the triggering form of the pet-teasing command can be arbitrary and is not limited to those listed above.

[0052] In some implementations, the following can also be performed before the grippers of the robotic arm grasp the pet toy:

[0053] Step 101: Obtain the first location of the pet toy; and

[0054] Step 102: Control the cleaning equipment to move to the first position so as to control the gripper of the robotic arm to pick up the pet toy.

[0055] In some implementations, after the pet-teasing command is triggered, the cleaning device can obtain the first location of the pet-teasing toy and control the cleaning device to move to the first location so as to control the gripper of the robotic arm to pick up the pet-teasing toy.

[0056] In some implementations, the cleaning device may use a sensor mounted on its body to detect the first location of the storage bracket, thereby determining the first location of the pet toy. The sensor may be a radar sensor, a 3D TOF (Time of Flight) sensor, or an RGB image sensor (an RGB image sensor can acquire environmental images of the room (which may be two-dimensional images or three-dimensional point cloud images) to determine the first location of the storage bracket based on the environmental images).

[0057] For example, in the process of identifying the first location of the pet toy using a 3D TOF sensor, the 3D TOF sensor can generate high-precision three-dimensional image information of the environment by emitting light pulses and measuring their return time. Based on this image information, the shape and size of objects can be identified, thereby distinguishing accessories such as storage brackets and clamps, and thus accurately identifying the first location of the pet toy.

[0058] For example, during the process of identifying the first location of the pet toy using an RGB camera, the environmental images captured by the RGB camera can be used to identify the color and texture features of the object. By training a machine learning model, the model can learn to recognize the features of accessories such as storage stands and clamps. Therefore, combined with computer vision algorithms, the collected environmental images can be used to assist in the identification of storage stands and clamps, thereby achieving accurate positioning of the pet toy at its first location.

[0059] In some implementations, the first location of the pet toy can also be obtained from a cleaning map. This disclosure does not impose many limitations on the method of obtaining the first location.

[0060] In step 120, after the gripper picks up the pet toy, the chassis and / or the robotic arm are controlled to perform the pet-teasing action.

[0061] In some implementations, the following can also be performed before controlling the chassis and / or the robotic arm to perform the pet-teasing actions:

[0062] Step 1201, obtain the pet's second location; and

[0063] Step 1202: Control the cleaning equipment to move to an open area around the second position, so as to control the chassis and / or the robotic arm to perform pet-playing actions.

[0064] In some embodiments, after the gripper picks up the pet toy, the cleaning device can obtain a second location of the pet and control the cleaning device to move to an open area around the second location in order to control the chassis and / or the robotic arm to perform pet-teasing actions.

[0065] In some implementations, open areas can be determined based on environmental information acquired from multiple sensors. These sensors, including but not limited to ultrasonic sensors, LiDAR, infrared sensors, and cameras, can be used to detect the location and distribution of obstacles, thereby collecting detailed data on the surrounding environment. By collecting and analyzing this environmental data, it can be determined whether the open area around the pet is large enough for safe pet-playing activities.

[0066] In some embodiments, the cleaning device may detect the second location of the pet using sensors mounted on its body or on the gripper of a robotic arm, thereby obtaining the second location of the pet. The sensors may be thermal imaging sensors, radar sensors, 3D TOF sensors, or RGB image sensors. This disclosure does not impose further limitations on these aspects.

[0067] In some implementations, during the process of controlling the chassis and / or the robotic arm to perform pet-teasing actions, the following may also be performed:

[0068] Step 121: Monitor whether there are obstacles in the activity area of ​​the chassis and / or the robotic arm;

[0069] Step 122: If there are obstacles in the activity area, control the chassis and / or the robotic arm to perform obstacle avoidance actions.

[0070] It is understood that in some implementations, if there are no obstacles in the activity area, the chassis and / or the robotic arm are controlled to continue performing the pet-playing actions.

[0071] In some implementations, the cleaning equipment can acquire real-time information about its surrounding environment using sensors such as lidar, ultrasonic sensors, or 3D Time-of-Flight (TOF) sensors. By analyzing the sensor feedback, it can monitor for potential obstacles within the operating area of ​​the chassis and robotic arm. For example, obstacles such as children, chairs, or toys that suddenly appear within the operating area of ​​the chassis and robotic arm.

[0072] If an obstacle is detected within the activity area, the cleaning equipment can immediately control its chassis and / or robotic arm to perform obstacle avoidance maneuvers. For example, it can change the chassis's movement path, slow down, or stop; or it can control the robotic arm to stop its pet-playing actions, or adjust the robotic arm's trajectory to avoid collisions with obstacles. This not only protects the cleaning equipment itself but also prevents damage to surrounding objects, ensuring the safety and reliability of the chassis and / or robotic arm during pet-playing actions.

[0073] Conversely, if no obstacles are detected within the activity area, the cleaning device can continue to control its chassis and / or robotic arm to perform pet-entertaining actions; for example, the swinging, moving, or other interactive behaviors of the robotic arm to attract and amuse the pet. This monitoring and dynamic response mechanism allows the cleaning device to flexibly cope with complex environments, ensuring that it can safely avoid obstacles while effectively completing the pet-entertaining task, thereby enhancing the user experience.

[0074] In some implementations, controlling the chassis and / or the robotic arm to perform pet-playing actions can include:

[0075] Step 124: Obtain the set action data;

[0076] Step 125: Based on the motion data, control the chassis and / or the robotic arm to perform pet-playing actions.

[0077] In some implementations, the motion data can be understood as data controlling the direction and speed of movement of the chassis (e.g., the chassis moves forward 0.8m at a speed of 0.2m / s, and then moves to the right 0.2m at a speed of 0.1m / s), and / or data controlling the range and speed of change of the angles of each joint in the robotic arm (e.g., joint one first rotates downward 30°, joint two rotates upward 30°, joint one then rotates upward 30°, and joint two rotates downward 30°).

[0078] After acquiring the set motion data, the chassis and / or the robotic arm can be controlled to perform pet-teasing actions based on the motion data, so that the pet-teasing toy held by the gripper moves in space along a certain trajectory.

[0079] Figure 4 illustrates a demonstration of the pet-playing motion of a cleaning device according to some embodiments of the present disclosure. As shown in sub-figure (a) of Figure 4, the pet-playing toy moves in space in an "M" shaped trajectory, and as shown in sub-figure (b) of Figure 4, the pet-playing toy moves in space in an "S" shaped trajectory.

[0080] To enable those skilled in the art to better understand this disclosure, the steps for acquiring the set action data will be described below based on three different pet-playing modes: remote-controlled pet-playing mode, semi-automatic pet-playing mode, and automatic pet-playing mode.

[0081] In one embodiment, obtaining the set action data can be performed as follows:

[0082] Step 1241: In remote pet-playing mode, receive motion data edited in real time by the user on the user terminal.

[0083] In some embodiments, prior to step 1241, the following may also be performed:

[0084] Step 1240: Collect real-time image data of the pet and transmit the image data to the user terminal so that the user can refer to the image data to edit the action data in real time.

[0085] Based on this embodiment, in remote-controlled pet-playing mode, the cleaning device can collect real-time image data of the pet through a camera device equipped on its body or robotic arm, clearly capturing the pet's movements and expressions. This image data is then transmitted to the user's device in real time, allowing the user to view the pet's current activity status on the user's app interface. While viewing the pet's current activity status, the user can edit the action data in real time. For example, the user can adjust the speed, angle, and frequency of the pet-playing actions performed by the chassis and / or the robotic arm based on the pet's reactions, ensuring the interaction is more fun and attracts the pet's attention. This flexible editing method allows the user to adjust the movements of the chassis and / or the robotic arm at any time according to specific circumstances to achieve the best pet-playing effect.

[0086] After the user completes the editing of the motion data, they can send the edited data to the cleaning equipment via the user's client. Upon receiving this motion data, the cleaning equipment can control the chassis and / or the robotic arm to perform corresponding pet-entertaining actions based on the motion data. For example, it can rock the pet toy, gently pat the pet, or perform other interactive behaviors. Through this efficient real-time interaction, users can not only enhance their pet's enjoyment but also build a deeper emotional connection with their pet, creating richer entertainment and thus improving the user experience.

[0087] In this embodiment, the user-edited motion data can also be saved so that the cleaning device can control the chassis and / or the robotic arm to perform pet-playing actions in semi-automatic or automatic pet-playing mode based on the saved motion data.

[0088] In one embodiment of this disclosure, obtaining the set action data can be performed by:

[0089] Step 1242: In the semi-automatic pet-playing mode, acquire the action data selected by the user, which is pre-edited by the user.

[0090] Based on this embodiment, in the semi-automatic pet-playing mode, the cleaning device can acquire motion data selected by the user, which is pre-edited and set by the user. The user can pre-set some fixed pet-playing actions through the user-end APP interface; for example, the robotic arm moves along a specific trajectory, causing the pet toy to move in a "S", "M", or "K" shaped trajectory. When the user activates the semi-automatic pet-playing mode, they can manually select the desired pet-playing action through the APP interface. For example, if the user selects a certain pet-playing action, the cleaning device can control the chassis and / or the robotic arm to execute that action to interact with the pet. Through the semi-automatic pet-playing mode, users can enjoy the fun of interacting with their pets while reducing the complexity of operations through the user-end APP interface, thereby improving the user experience.

[0091] In one embodiment of this disclosure, obtaining the set action data can be performed by:

[0092] Step 1243: In automatic pet-playing mode, acquire at least one set of action data, which is pre-edited by the user.

[0093] In some implementations, the automatic pet-playing mode can be manually triggered by the user on the APP interface, or it can be triggered on a timer (e.g., automatically triggering the cleaning device to enter the automatic pet-playing mode at 2 PM every weekday). This disclosure does not specifically limit this.

[0094] In some embodiments, controlling the chassis and / or the robotic arm to perform pet-playing actions based on the motion data can perform the following:

[0095] Step 1251: Within the set pet-playing time, based on the set action execution order, the chassis and / or the robotic arm are controlled to perform pet-playing actions sequentially based on each set of action data in the at least one set of action data.

[0096] In some implementations, in automatic pet-playing mode, the cleaning device can acquire at least one set of pre-edited motion data, which includes different pet-playing actions. Users can customize these settings according to their pet's preferences and behavioral habits. Within a set pet-playing time (e.g., 8 minutes), the cleaning device sequentially executes the pet-playing actions defined by each set of motion data according to a pre-set execution order (or a random order). (For example, executing pet-playing action 1 first, then pet-playing action 2, then pet-playing action 3, and so on, repeating until the set pet-playing time is reached). This process requires no user intervention; the cleaning device automatically interacts with the pet. Through automatic pet-playing mode, the cleaning device can continuously play with the pet within the set time, ensuring the pet enjoys itself even when unattended. This frees up user time while enhancing the pet's happiness and activity level. Furthermore, users can adjust the set motion data and pet-playing time as needed to better adapt to the pet's emotional changes and preferences.

[0097] Based on the technical solution proposed in this disclosure, the cleaning equipment's robotic arm and grippers are controlled to grasp the pet toy, and the cleaning equipment's chassis and / or robotic arm are controlled to perform pet-teasing actions. Firstly, this enhances interactivity, making the pet-teasing process more vivid and natural. The flexible movements of the robotic arm effectively attract the pet's attention, increasing the fun of the interaction. Secondly, users can preset various pet-teasing actions, allowing the cleaning equipment to automatically execute these actions, thereby meeting the needs of different pets and increasing their activity and enjoyment. Thirdly, users can remotely participate in their pet's entertainment process by setting and adjusting the pet-teasing actions, strengthening the emotional connection with their pet. Fourthly, it reduces the user's burden, allowing them to care for their pet even when busy. Therefore, the technical solution proposed in this disclosure can improve the user experience to a certain extent.

[0098] The following describes an embodiment of the apparatus disclosed herein, which can be used to execute the cleaning equipment control method in the above embodiments of the present disclosure. For details not disclosed in the apparatus embodiments of the present disclosure, please refer to the embodiments of the cleaning equipment control method described above.

[0099] Figure 5 shows a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure. A robotic arm is mounted on the chassis of the cleaning equipment. A gripper is provided at one end of the robotic arm away from the chassis for gripping pet toys.

[0100] As shown in FIG5, a cleaning equipment control device 500 according to some embodiments of the present disclosure includes: a first control unit 501 and a second control unit 502.

[0101] In some embodiments, a first control unit 501 is configured to control the gripper of the robotic arm to grasp the pet toy in response to a pet-teasing command; a second control unit 502 is configured to control the chassis and / or the robotic arm to perform pet-teasing actions after the gripper has grasped the pet toy.

[0102] In some embodiments, the device further includes: an acquisition unit, configured to acquire a first position of the pet toy before controlling the gripper of the robotic arm to grasp the pet toy; and to control the cleaning device to move to the first position so as to control the gripper of the robotic arm to grasp the pet toy.

[0103] In some embodiments, the cleaning device is equipped with a pet-playing accessory, which includes a clamp, a fixing part and a clamping part. The fixing part is used to connect the pet toy, and the clamping part is used for gripping by the gripper. The first control unit 501 is configured to control the gripper of the robotic arm to grip the clamping part of the clamp to pick up the pet toy.

[0104] In some embodiments, the fixing part has a slot, and the slot is provided with a fastener for fixing the pet toy in the slot.

[0105] In some embodiments, the shape of the clamping part is adapted to the shape of the gripper.

[0106] In some embodiments, the pet-playing accessory further includes a storage stand, which is positioned in a first location for storing the clamp.

[0107] In some embodiments, the acquisition unit is configured to: acquire a second location of the pet before controlling the chassis and / or the robotic arm to perform the pet-teasing action; control the cleaning device to move to an open area around the second location in order to control the chassis and / or the robotic arm to perform the pet-teasing action.

[0108] In some embodiments, the second control unit 502 is configured to: monitor whether there are obstacles in the activity area of ​​the chassis and / or the robotic arm during the process of controlling the chassis and / or the robotic arm to perform pet-playing actions; if there are obstacles in the activity area, control the chassis and / or the robotic arm to perform obstacle avoidance actions.

[0109] In some embodiments, the second control unit 502 is configured to: acquire set motion data; and based on the motion data, control the chassis and / or the robotic arm to perform pet-teasing actions.

[0110] In some implementations, the second control unit 502 is configured to receive motion data edited in real time by the user on a user terminal.

[0111] In some embodiments, the device further includes: a data acquisition unit for acquiring image data of the pet in real time and transmitting the image data to a user terminal so that the user can refer to the image data to edit the motion data in real time.

[0112] In some embodiments, the second control unit 502 is configured to acquire motion data selected by a user, the motion data being pre-edited by the user.

[0113] In some implementations, the second control unit 502 is configured to acquire at least one set of motion data, which is pre-edited by the user.

[0114] In some embodiments, the second control unit 502 is configured to: within a set pet-playing time, based on a set action execution order, sequentially control the chassis and / or the robotic arm to perform pet-playing actions based on each set of action data in the at least one set of action data.

[0115] Based on the same inventive concept, this disclosure provides a computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the operations performed by the cleaning equipment control method as described above.

[0116] Based on the same inventive concept, embodiments of this disclosure provide a computer-readable storage medium including at least one computer program instruction stored thereon, the at least one computer program instruction being loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0117] Based on the same inventive concept, this disclosure also provides a cleaning device. Figure 6 shows a schematic diagram of the structure of the cleaning device according to an embodiment of this disclosure. As shown in Figure 6, the cleaning device includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instructions) stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, it implements the cleaning device control method as described above.

[0118] In some embodiments, as shown in FIG6, a bus architecture (represented by bus 600) is employed. Bus 600 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 during operation.

[0119] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or code on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0120] In the several embodiments provided in this disclosure, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0121] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0122] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0123] Based on the technical solution proposed in this disclosure, the cleaning equipment's robotic arm and grippers are controlled to grasp the pet toy, and the cleaning equipment's chassis and / or robotic arm are controlled to perform pet-teasing actions. Firstly, this enhances interactivity, making the pet-teasing process more vivid and natural. The flexible movements of the robotic arm effectively attract the pet's attention, increasing the fun of the interaction. Secondly, users can preset various pet-teasing actions, allowing the cleaning equipment to automatically execute these actions, thereby meeting the needs of different pets and increasing their activity and enjoyment. Thirdly, users can remotely participate in their pet's entertainment process by setting and adjusting the pet-teasing actions, strengthening the emotional connection with their pet. Fourthly, it reduces the user's burden, allowing them to care for their pet even when busy. Therefore, the technical solution proposed in this disclosure can improve the user experience to a certain extent.

[0124] The above description is merely an embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method for controlling a cleaning device, wherein a robotic arm is mounted on the chassis of the cleaning device, and a gripper is provided at the end of the robotic arm away from the chassis for gripping pet toys, the method comprising: In response to the triggering of the pet-teasing command, the gripper of the robotic arm is controlled to grasp the pet-teasing toy; as well as After the gripper picks up the pet toy, the chassis and / or the robotic arm are controlled to perform the pet-teasing action.

2. The method according to claim 1, wherein, Before controlling the grippers of the robotic arm to grasp the pet toy, the method further includes: Obtain the first location of the pet toy; and The cleaning equipment is controlled to move to the first position so that the gripper of the robotic arm can pick up the pet toy.

3. The method according to claim 1, wherein, The cleaning equipment is equipped with a pet-playing accessory, which includes a clamp. The clamp has a fixing part and a clamping part. The fixing part is used to connect to the pet-playing toy, and the clamping part is used for the gripper to hold it. The control of the gripper of the robotic arm to grasp the pet toy includes: The gripper of the robotic arm is controlled to hold the gripping part of the chuck in order to pick up the pet toy.

4. The method according to claim 3, wherein, The fixing part has a hole or groove, and the hole or groove is provided with a fastener for fixing the pet toy inside the hole or groove.

5. The method according to claim 3, wherein, The shape of the clamping part is adapted to the shape of the gripper.

6. The method according to claim 3, wherein, The pet-playing accessory also includes a storage stand, which is located at the first position and is used to store the clamp.

7. The method according to claim 1, wherein, Before controlling the chassis and / or the robotic arm to perform the pet-teasing action, the method further includes: Get the pet's second location; and Control the cleaning equipment to move to an open area around the second position, so as to control the chassis and / or the robotic arm to perform pet-playing actions.

8. The method according to claim 1, wherein, The method further includes, during the process of controlling the chassis and / or the robotic arm to perform pet-teasing actions: Monitor whether there are obstacles in the activity area of ​​the chassis and / or the robotic arm; and If there are obstacles in the activity area, the chassis and / or the robotic arm are controlled to perform obstacle avoidance actions.

9. The method according to claim 1, wherein, The control of the chassis and / or the robotic arm to perform pet-playing actions includes: Obtain the set action data; and Based on the motion data, control the chassis and / or the robotic arm to perform pet-teasing actions.

10. The method according to claim 9, wherein, The acquisition of the set action data includes: Receive action data that is edited by the user in real time on the user's device.

11. The method of claim 10, further comprising: The system collects real-time video data of the pet and transmits the video data to the user's device so that the user can refer to the video data and edit the action data in real time.

12. The method according to claim 9, wherein, The acquisition of the set action data includes: Acquire action data selected by the user, which is pre-edited by the user.

13. The method according to claim 9, wherein, The acquisition of the set action data includes: Acquire at least one set of motion data, which is pre-edited by the user.

14. The method according to claim 13, wherein, The step of controlling the chassis and / or the robotic arm to perform pet-playing actions based on the motion data includes: Within the set pet-playing time, based on the set action execution order, the chassis and / or the robotic arm are controlled to perform pet-playing actions sequentially based on each set of action data in the at least one set of action data.

15. A control device for a cleaning equipment, wherein a robotic arm is mounted on the chassis of the cleaning equipment, and a gripper is provided at the end of the robotic arm away from the chassis for gripping pet toys, the device comprising: The first control unit is used to control the gripper of the robotic arm to grasp the pet toy in response to the triggering of the pet-teasing command. as well as The second control unit is used to control the chassis and / or the robotic arm to perform pet-teasing actions after the gripper picks up the pet toy.

16. A computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having said processor to perform the method as claimed in any one of claims 1 to 14.

17. A computer-readable storage medium comprising at least one piece of program code stored thereon, said at least one piece of program code being loaded and executed by a processor to implement the method as claimed in any one of claims 1 to 14.

18. A cleaning device comprising one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, the at least one piece of program code being loaded and executed by the one or more processors to implement the method as claimed in any one of claims 1 to 14.

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