Intelligent vacuum device with extendable and deformable suction arm

Abstract

An intelligent vacuum device is provided. A main body of the vacuum device has a dust bin and a main vacuum port formed on a bottom side thereof and communicated with the dust bin. An extendable suction arm is switchable relative to the main body between a first position and at least one second position. The extendable suction arm has at least one actuator and at least one arm vacuum port thereon, and the arm vacuum port is communicated with the dust bin. At least one detection sensor is disposed on the main body to detect a surrounding environment of the vacuum device and generate corresponding sensing signals. A controller is used to control movement of the vacuum device based on the sensing signals, and control the at least one actuator to switch the extendable suction arm between the first position and the at least one second position.

What is claimed is: 
     
         1 . A vacuum device, comprising:
 a main body provided with a dust bin and a main vacuum port formed on a bottom side of the main body, wherein the main vacuum port is communicated with the dust bin;   an extendable suction arm disposed on the main body and being switchable relative to the main body between a first position and at least one second position, wherein the extendable suction arm is provided with at least one actuator and at least one arm vacuum port on the extendable suction arm, and the at least one arm vacuum port is communicated with the dust bin;   at least one detection sensor disposed in the main body, configured to detect a surrounding environment of the vacuum device and generate corresponding sensing signals; and   a controller disposed in the main body and communicatively connected to the at least one detection sensor and the at least one actuator of the extendable suction arm;   wherein when the extendable suction arm is in the at least one second position, the arm vacuum port is located outside the main body, and the vacuum device performs vacuum cleaning through the arm vacuum port; and   wherein the controller is configured to:
 receive the sensing signals from the at least one detection sensor and control movement of the vacuum device based on the sensing signals; and 
 control the at least one actuator of the extendable suction arm to switch the extendable suction arm between the first position and the at least one second position. 
   
     
     
         2 . The vacuum device of  claim 1 , wherein the at least one sensor is further configured to detect an object in the surrounding environment, and the controller is further configured to:
 determine, based on the sensing signals, whether the extendable suction arm is in collision with the object; and   in response to determining the extendable suction arm to be in collision with the object, determine a direction of the collision and a strength of the collision.   
     
     
         3 . The vacuum device of  claim 1 , wherein the extendable suction arm has a flexible structure. 
     
     
         4 . The vacuum device of  claim 1 , wherein the extendable suction arm is connected to the main body through a compliance structure, and the compliance structure provides flexibility to the extendable suction arm relative to the main body. 
     
     
         5 . The vacuum device of  claim 1 , wherein the controller is configured to control the at least one actuator of the extendable suction arm to switch the extendable suction arm between the first position and the at least one second position by rotating the extendable suction arm to a specific angle relative to the main body. 
     
     
         6 . The vacuum device of  claim 5 , wherein the extendable suction arm has an extendable telescope structure, and when the extendable suction arm is in the at least one second position, the controller is configured to control the at least one actuator of the extendable suction arm to switch the extendable suction arm between the first position and the at least one second position by changing the extendable telescope structure of the extendable suction arm to an extending length. 
     
     
         7 . The vacuum device of  claim 6 , wherein the controller is configured to control the at least one actuator of the extendable suction arm by:
 analyzing, based on the sensing signals, the surrounding environment;   detecting and tracking, based on the sensing signals, objects in the surrounding environment;   planning, based on the objects detected in the surrounding environment, an arm action and an arm configuration; and   controlling the at least one actuator of the extendable suction arm to rotate the extendable suction arm and to changing the extending length of the extendable suction arm based on the arm action and the arm configuration.   
     
     
         8 . The vacuum device of  claim 7 , wherein the controller is configured to control the movement of the vacuum device based on the sensing signals by:
 planning, based on the objects detected in the surrounding environment, a robot trajectory and an arm trajectory of the extendable suction arm; and   controlling the vacuum device to move along the robot trajectory to ensure the extendable suction arm moving through the arm trajectory.   
     
     
         9 . The vacuum device of  claim 7 , wherein:
 the arm configuration comprises a first mode and a second mode;   in the first mode, the at least one actuator is configured to control the extendable suction arm to switch to a driving position, such that the extendable suction arm is switchable between the first position and the at least one second position relative to the main body; and   in the second mode, the at least one actuator is configured to control the extendable suction arm to switch to a braking position, such that the extendable suction arm is fixed relative to the main body.   
     
     
         10 . The vacuum device of  claim 1 , wherein a base end of the extendable suction arm connected to the main body is provided at a front end of the main body. 
     
     
         11 . The vacuum device of  claim 1 , wherein:
 the main body is provided with a main suction channel formed therein, and the main vacuum port is communicated with the dust bin through the main suction channel; and   the extendable suction arm is provided with an arm suction channel, and the at least one arm vacuum port is communicated with the dust bin through the arm suction channel.   
     
     
         12 . The vacuum device of  claim 11 , wherein a base end of the extendable suction arm connected to the main body is provided at a side of the main body. 
     
     
         13 . The vacuum device of  claim 12 , wherein:
 the extendable suction arm has a trap door located on a side of the arm suction channel;   when the extendable suction arm is in the first position, the trap door is in an open position to connect the main suction channel and the arm suction channel, and the main vacuum port is communicated with the dust bin sequentially through the main suction channel and the arm suction channel; and   when the extendable suction arm is in the second position, the trap door is in a closed position.   
     
     
         14 . The vacuum device of  claim 11 , wherein the main suction channel, the arm suction channel and the dust bin are connected in series. 
     
     
         15 . The vacuum device of  claim 11 , wherein the arm suction channel, the main suction channel and the dust bin are connected in series. 
     
     
         16 . The vacuum device of  claim 11 , wherein the main suction channel and the arm suction channel are connected to the dust bin in parallel. 
     
     
         17 . The vacuum device of  claim 1 , wherein an area of the main vacuum port is larger than an area of the at least one arm vacuum port. 
     
     
         18 . The vacuum device of  claim 1 , further comprising:
 a release structure disposed on the main body and communicatively connected to the controller, wherein when the release structure is activated, the controller is configured to release the extendable suction arm.   
     
     
         19 . The vacuum device of  claim 1 , wherein an obtuse angle is formed between a moving direction of the vacuum device and an extending direction of the extendable suction arm.