Mechanical arm resetting method and device and self-moving cleaning equipment

Abstract

The embodiment of the invention is suitable for the technical field of smart home, and provides a mechanical arm resetting method and device and self-moving cleaning equipment, the method is applied to the self-moving cleaning equipment, the self-moving cleaning equipment comprises a mechanical arm, and the method comprises the steps that after the mechanical arm is abnormally powered off and powered on again, a resetting instruction is obtained; in response to the reset instruction, the current state of the mechanical arm is obtained; determining a reset mode according to the current state of the mechanical arm; wherein the reset mode comprises an automatic reset mode and a manual reset mode; and the mechanical arm is reset according to the reset mode. By means of the method, after the mechanical arm is powered off abnormally, resetting of the mechanical arm of the automatic cleaning equipment can be achieved.

Description

Technical Field

[0001] The present application belongs to the field of smart home technology, and in particular, relates to a robot arm resetting method, device and self-moving cleaning equipment. Background Art

[0002] The robot arm can grab objects and change their positions. The robot arm includes multiple joints. During the control process of the robot arm, the position and posture of each joint need to be determined to facilitate control.

[0003] When a robot arm fails or loses power abnormally, the position data of each joint of the robot arm will be lost, making it difficult to control the robot arm.

[0004] For example, cleaning equipment can use a robotic arm to store and organize objects. When the cleaning equipment suddenly loses power, the position data of each joint of the robotic arm will be lost. As a result, the cleaning equipment cannot obtain the position data of each joint after powering on, making it difficult to automatically reset the robotic arm. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a robot arm resetting method, device and self-propelled cleaning device, which are used to reset the robot arm of the automatic cleaning device after the robot arm is abnormally powered off.

[0006] A first aspect of an embodiment of the present application provides a method for resetting a robot arm, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device includes a robot arm, including:

[0007] After the robot arm is abnormally powered off and then powered on again, obtaining a reset instruction;

[0008] In response to the reset instruction, obtaining a current state of the robot arm;

[0009] Determine a reset mode according to the current state of the robot arm; wherein the reset mode includes an automatic reset mode and a manual reset mode;

[0010] The robot arm is reset according to the reset method.

[0011] A second aspect of an embodiment of the present application provides a mechanical arm resetting device, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device includes a mechanical arm, including:

[0012] An instruction acquisition module, used for acquiring a reset instruction after the robot arm is abnormally powered off and powered on again;

[0013] A state acquisition module, used for acquiring the current state of the robot arm in response to the reset instruction;

[0014] A reset mode determination module, used to determine a reset mode according to the current state of the robotic arm; wherein the reset mode includes an automatic reset mode and a manual reset mode;

[0015] A reset module is used to perform a reset operation on the robotic arm according to the reset method.

[0016] A third aspect of an embodiment of the present application provides a self-moving cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the self-moving cleaning device comprises a robotic arm, and when the processor executes the computer program, the method described in the first aspect above is implemented.

[0017] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0018] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device executes the method described in the first aspect.

[0019] Compared with the prior art, the embodiments of the present application have the following advantages:

[0020] The robot arm reset method in the embodiment of the present application can be applied to the scenario where the robot arm is abnormally powered off. When the robot arm is abnormally powered off, it cannot be automatically retracted into the robot arm cabin. After powering on again, a reset instruction can be generated to control the robot arm to be retracted into the robot arm cabin, so that the automatic cleaning device can accurately control the robot arm. In response to the reset instruction, the self-moving cleaning device can obtain the current state of the robot arm; thus, the reset method can be determined according to the current state of the robot arm, and the robot arm can be reset according to the reset method. In the embodiment of the present application, after the robot arm is abnormally powered off and powered on again, the robot arm can be reset by automatic reset or manual reset according to the state of the robot arm, so that the self-moving cleaning device can re-acquire the posture information of the robot arm, which is convenient for automatic control of the robot arm in subsequent cleaning tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0022] Figure 1 is a schematic diagram of a self-moving cleaning device provided in an embodiment of the present application;

[0023] Figure 2is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application;

[0024] Figure 3 is a schematic diagram of a first joint located at zero degrees provided in an embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of a first joint at 90 degrees provided in an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of the steps of a method for resetting a robotic arm provided in an embodiment of the present application;

[0027] Figure 6 It is a flowchart of a manual reset method provided in an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of a mechanical arm resetting device provided in an embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0031] In the description of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a kind of association relationship describing the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or its similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solution of the embodiment of the present application, in the embodiment of the present application, the words "first" and "second" are used to distinguish the same or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the differences.

[0032] The object grasping detection method in the embodiment of the present application is applied in a self-moving cleaning device. Figure 1 Schematic diagram of a self-moving cleaning device provided in an embodiment of the present application. Figure 1 As shown, the self-moving cleaning device can include a self-moving chassis and a mechanical arm, and the mechanical arm can be arranged on the self-moving chassis. The self-moving chassis can walk on the ground based on walking wheels and universal wheels.

[0033] The robot arm may include a first joint M1, a second joint M2, a third joint M3, a fourth joint M4, a fifth joint M5, and a terminal clamp. The first joint M1 and the second joint M2 may be indirectly connected, for example, the first joint and the second joint may be connected via a rotating seat. A connecting rod is connected between the second joint M2 and the third joint M3; a connecting rod is connected between the third joint M3 and the fourth joint M4; a connecting rod is connected between the fourth joint M4 and the fifth joint M5; and the fifth joint M5 is connected to the terminal clamp.

[0034] Among them, the first joint M1 is connected to the chassis and is used to control the rotation of the robotic arm around the vertical axis; the second joint M2 supports the robotic arm through pitch rotation; the third joint M3 is in the same direction as the joints of the second joint M2 and the fourth joint M4; the fifth joint M5 is the self-rotating joint of the end gripper, as shown in the figure, the fifth joint M5 can self-rotate along the axis where the connecting rod between the fourth joint M4 and the fifth joint M5 is located, so as to adjust the direction of the end gripper to grip the object; the end gripper can place or grip the object by opening and closing.

[0035] Figure 2 Schematic diagram of another self-moving cleaning device provided in an embodiment of the present application. Figure 2 As shown, the self-moving cleaning device may include a mechanical arm cabin. The mechanical arm cabin has an electric cabin door and an edge anti-pinch sensor. Each connecting rod of the mechanical arm may be provided with a cabin return in place sensor, and the cabin return in place sensor may be a pressure trigger switch. When the mechanical arm is folded in place, the connecting rods of the mechanical arm contact each other, thereby triggering the pressure trigger switch. Figure 2 1 is the robot button, 2 is the indicator light, 3 is the power button of the automatic cleaning device, and 4 is the recharge button of the automatic cleaning device. Based on the robot button and power button of the self-moving cleaning device, the user can send a reset command to the self-moving cleaning device. For example, the user can trigger the reset command by long pressing the robot button and the power button. During the reset process, the user can interrupt the reset by pressing the power button or the recharge button.

[0036] The joint angles of the robotic arm include a first joint angle, a second joint angle, a third joint angle, a fourth joint angle, a fifth joint angle and an end gripper angle; the first joint angle is determined by whether the angle in place switch of the first joint is triggered; the second joint angle is determined by whether the angle in place switch of the second joint is triggered; the third joint angle is characterized by the angle formed by the first link, the third joint and the second link; the fourth joint angle is characterized by the angle formed by the second link, the fourth joint and the third link; the fifth joint angle is characterized by the rotation angle of the fifth joint relative to a reference state, wherein the reference state is the state of the fifth joint when the robotic arm is in a reset state; the end gripper angle is determined by whether the angle in place switch of the end gripper is triggered.

[0037] The first joint has a zero-degree in-place switch and a ninety-degree in-place switch. When the zero-degree in-place switch is triggered, it can be determined that the difference between the first joint angle and zero degrees is less than a threshold. When the ninety-degree in-place switch is triggered, it can be determined that the difference between the first joint angle and ninety degrees is less than a threshold.

[0038] When the robot arm is extended outside the robot arm cabin and the difference between the first joint angle and ninety degrees is less than the threshold, the relationship between the robot arm and the robot arm cabin can be as follows: Figure 3 As shown, at this time, the plane corresponding to the robotic arm, that is, Figure 3 In the paper plane, the direction corresponding to the long side of the hatch of the robotic arm cabin is perpendicular to the plane. At this time, when the robotic arm is folded, it will collide with the short side of the hatch of the robotic arm cabin and cannot be folded into the mechanical cabin.

[0039] When the robot arm is extended outside the robot arm cabin and the difference between the first joint angle and ninety degrees is less than the threshold, the relationship between the robot arm and the robot arm cabin can be as follows: Figure 4As shown, at this time, the plane corresponding to the robotic arm, that is, Figure 3 In the paper plane, the direction corresponding to the long side of the manipulator cabin door is parallel to the paper plane. At this time, when the manipulator is folded, the manipulator can be mapped into the manipulator cabin in the top view, and can be folded into the manipulator cabin. Therefore, during the resetting process, the first joint angle needs to be rotated to a difference of 90 degrees less than the threshold.

[0040] The angle in-position switch of the second joint can indicate that the angle of the second joint is ninety degrees. When the angle in-position switch of the second joint is triggered, the second joint can support the entire robotic arm.

[0041] When the robot arm is in a state of successful reset, the robot arm is folded in the mechanical cabin, and the joint angles of each joint are zero degrees. Figure 2 In the state shown, the difference between the first joint angle and ninety degrees is less than the threshold, and the difference between the second joint angle and ninety degrees is less than the threshold.

[0042] The robot arm may be powered off abnormally, for example, when the robot arm collides with an obstacle, the end gripper of the robot arm is hooked by clothing, etc., the robot arm is suddenly powered off when it is outside the cabin, the self-mobile cleaning equipment is shut down due to low power, the robot arm reset fails and no one handles it for too long, the user forcibly shuts down or resets the system when the robot arm is outside the cabin, etc. When the robot arm is powered off abnormally, if the robot arm is outside the cabin, the robot arm needs to be reset after it is powered on again. In the embodiment of the present application, the reset means that the robot arm is retracted into the robot arm cabin.

[0043] Based on this, this embodiment provides a robot arm resetting method for performing a resetting operation under abnormal circumstances.

[0044] The technical solution of the present application is described below through specific embodiments.

[0045] Reference Figure 5 , shows a schematic flow chart of the steps of a method for resetting a robotic arm provided in an embodiment of the present application, which may specifically include the following steps:

[0046] S501, obtaining a reset instruction after the robot arm is abnormally powered off and then powered on again.

[0047] The execution subject of this embodiment is the self-moving cleaning device. The reset instruction is used to instruct the robot arm to fold into the robot arm bin. Among them, power off means cutting off the power supply to stop working. Power on means providing power supply to start working.

[0048] The above reset instruction may be a reset instruction sent by the user, or a reset instruction generated by the self-mobile cleaning device during the control process. As an example, after the self-mobile cleaning device is abnormally powered off, when it is powered on again, a reset instruction for the robotic arm may be automatically generated, thereby facilitating the control of the robotic arm. As another example, after the robotic arm is abnormally powered off and powered on again, the user may long press the power button and the robotic arm button to send a reset instruction to the self-mobile cleaning device.

[0049] S502: In response to the reset instruction, obtain the current state of the robot arm.

[0050] The above current state is used to characterize whether the joints of each joint of the robot arm are lost. The current state may include any joint angle information is lost or the joint angle information is complete. Among them, any joint angle information is lost means that at least one joint angle among the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end gripper angle is lost; the joint angle information is complete means that the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end gripper angle are not lost.

[0051] Specifically, the self-moving cleaning device can detect whether the angle in place switch of the first joint is triggered. If the angle in place switch of the first joint is triggered, the surface first joint angle is not lost; otherwise, the first joint angle is lost. The self-moving cleaning device can detect whether the angle in place switch of the second joint is triggered. If the angle in place switch of the second joint is triggered, the surface second joint angle is not lost; otherwise, the second joint angle is lost. The self-moving cleaning device can detect whether the third joint angle is stored in the code disk of the drive motor of the third joint. If the third joint angle is stored in the code disk, the third joint angle is not lost, otherwise, the third joint angle is lost. The self-moving cleaning device can detect whether the fourth joint angle is stored in the code disk of the drive motor of the fourth joint. If the fourth joint angle is stored in the code disk, the fourth joint angle is not lost, otherwise, the fourth joint angle is lost. The self-moving cleaning device can detect whether the fifth joint angle is stored in the code disk of the drive motor of the fifth joint. If the fifth joint angle is stored in the code disk, the fifth joint angle is not lost, otherwise, the fifth joint angle is lost. The self-moving cleaning device can detect whether the angle in place switch of the end clamp is triggered. If the angle in-place switch of the end gripper is triggered, the angle of the end gripper of the surface is not lost; otherwise, the angle of the end gripper of the surface is lost.

[0052] Based on whether each joint angle is lost, the above current state can be determined.

[0053] S503, determining a reset mode according to the current state of the robot arm; wherein the reset mode includes an automatic reset mode and a manual reset mode.

[0054] If the current state of the robotic arm is that any joint angle information is lost, the self-moving cleaning device cannot achieve fully automatic control of the robotic arm, and the reset mode can be determined to be manual reset; if the current state of the robotic arm is that the joint angle information is complete, the self-moving cleaning device can achieve fully automatic control of the robotic arm, and the reset mode can be determined to be automatic reset.

[0055] It should be noted that since this embodiment is applied to the case where the robot arm is abnormal, when any joint angle information is lost, the robot arm may have collided, hooked or been stuck. At this time, it is necessary to manually release the abnormal state of the robot arm. Therefore, when any joint angle information is lost, the reset mode is automatic reset mode.

[0056] S504: Perform a reset operation on the robot arm according to the reset method.

[0057] During automatic resetting, the robot arm can drive various joints of the robot arm to rotate according to the automatic resetting program, thereby achieving automatic resetting.

[0058] When performing a manual reset, the self-mobile cleaning device can send a prompt message to the user in a certain manner. Exemplarily, the self-mobile cleaning device can include a voice unit, so that the prompt message can be played through the voice unit. Exemplarily, the self-mobile cleaning device can communicate with the user's terminal device, the self-mobile cleaning device can send a prompt message to the terminal device, and the terminal device can display a user operation image according to the prompt message, thereby prompting the user to perform a manual reset.

[0059] In a possible implementation, when performing a manual reset, a prompt message may be provided to prompt the user to directly fold the robotic arm into the robotic arm cabin.

[0060] In another possible implementation, when performing manual resetting, a prompt message can be used to prompt the user to restore the joints of the robot arm to the target position, so that the self-moving cleaning device can control the robot arm to move according to the target position of each joint, so as to fold the robot arm into the robot arm cabin. As an example, when in the target position, the difference between the first joint angle and zero degrees is less than a threshold, the difference between the second joint angle and ninety degrees is less than a threshold, and the angle of the end clamp is the maximum angle of the end clamp. The third joint angle is between ninety degrees and one hundred and ten degrees, the fourth joint angle is between thirty degrees and sixty degrees, and the fifth joint angle is between zero degrees and five degrees.

[0061] Automatic cleaning equipment failure, robotic arm failure, abnormal power-off of the automatic cleaning equipment, abnormal power-off of the robotic arm, etc. will all lead to the loss of the position information of each mechanical joint of the robotic arm, so that the automatic cleaning equipment cannot control the robotic arm, which may easily cause the robotic arm to collide. In this embodiment, after the robotic arm is abnormally powered off and powered on again, the current state of the robotic arm can be determined based on whether the angles of each joint are lost, and the reset method can be determined based on the current state. Based on the method in this embodiment, the robotic arm can be reset when the robotic arm is not reset and is in an abnormal situation, so that the automatic cleaning equipment can reacquire the position information of each mechanical joint, so that the robotic arm can be controlled during operation to avoid collisions of the robotic arm.

[0062] Reference Figure 6 , shows a schematic flow chart of a manual reset method provided in an embodiment of the present application, which may specifically include the following steps:

[0063] S601: If the zero-degree angle switch of the first joint is not triggered, prompt the user to rotate the first joint until the zero-degree angle switch of the first joint is triggered.

[0064] The execution subject of this embodiment can be the self-moving cleaning device mentioned above. As mentioned above, when resetting, the first joint needs to be rotated to zero degrees. Therefore, if the zero-degree angle in-place switch of the first joint is not triggered, the self-moving cleaning device can send a prompt message to the user to prompt the user to rotate the first joint. During the process of the user rotating the first joint, the self-moving cleaning device can monitor whether the zero-degree angle in-place switch is triggered. When the zero-degree angle in-place switch is triggered, a prompt message can be sent to the user to prompt that the first joint has reached the specified posture.

[0065] When the second joint is not at 90 degrees, the first joint cannot rotate. Therefore, in a possible implementation, the self-moving cleaning device can prompt the user to detect whether the first joint is rotated. If the user feedback information is that the first joint cannot rotate, the user can be prompted to rotate the second joint to 90 degrees, that is, execute step S602. If the user still feedbacks that the first joint cannot rotate when the angle in-place switch of the second joint is detected to be triggered, that is, when the second joint is rotated to 90 degrees, the user can be prompted that the mechanical arm is faulty, and an error is reported to the manufacturer of the self-moving cleaning device, prompting the user to perform repairs.

[0066] S602, if the angle in-place switch of the second joint is not triggered, prompt the user to rotate the second joint until the angle in-place switch of the second joint is triggered, and the angle in-place switch of the second joint is triggered to indicate that the angle of the second joint is ninety degrees.

[0067] The self-propelled cleaning device can send a prompt message to the user, prompting the user to rotate the second joint. During the process of the user rotating the second joint, the self-propelled cleaning device can monitor whether the angle in place switch is triggered. When the angle in place switch is triggered, the self-propelled cleaning device can send a prompt message to the user, prompting that the second joint has reached the specified position.

[0068] S603, if the angle in place switch of the end clamp is not triggered, prompt the user to open the end clamp until the angle in place switch of the end clamp is triggered, and the angle in place switch of the end clamp is triggered to indicate that the end clamp is fully opened.

[0069] When the end clamp is opened to the maximum angle, the angle in place switch of the end clamp is triggered. When resetting, the end clamp needs to be opened to the maximum angle to prevent the end clamp from clamping the object. Therefore, if the angle in place switch of the end clamp is not triggered, the user is prompted to manually open the end clamp until the angle in place switch of the end clamp is triggered, that is, the end clamp is opened to the maximum angle.

[0070] S604, if the third joint angle is not stored in the code disk of the driving motor of the third joint, the fourth joint angle is not stored in the code disk of the driving motor of the fourth joint, and the fifth joint angle is not stored in the code disk of the driving motor of the fifth joint, the user is prompted to rotate the third joint, the fourth joint, and the fifth joint so that the third joint angle, the fourth joint angle, and the fifth joint angle are within the preset angle range.

[0071] The third joint angle, the fourth joint angle and the fifth joint angle may have corresponding angle ranges, respectively. As an example, the third joint angle has an angle range of 90 to 110 degrees, the fourth joint angle has an angle range of 30 to 60 degrees, and the fifth joint angle has an angle range of 0 to 5 degrees.

[0072] The self-mobile cleaning device can send angle prompt information to the associated user terminal, and the angle prompt information is used to instruct the user terminal to display a schematic diagram of the mechanical arm in which the third joint angle, the fourth joint angle and the fifth joint angle are all within the corresponding preset angle range, so as to prompt the user to transform the posture of the mechanical arm according to the schematic diagram. The user can provide feedback through the user terminal, so that the user terminal sends feedback information to the self-mobile cleaning device. The self-mobile cleaning device can receive feedback information from the user regarding the angle prompt information, and the feedback information is used to indicate whether the third joint angle, the fourth joint angle and the fifth joint angle are within the corresponding preset angle range.

[0073] As an example, when the third joint angle, the fourth joint angle, and the fifth joint angle are lost, the self-moving cleaning device can send angle prompt information to the user terminal. After receiving the angle prompt information, the user terminal can display the robot arm graphic information corresponding to the third joint angle, the fourth joint angle, and the fifth joint angle, for example, Figure 1 Corresponding image. And the user can be prompted by animation how to rotate the joint. The user can rotate the third joint, the fourth joint and the fifth joint of the robot arm according to the prompt information displayed by the user terminal. After the preset time, the user terminal can pop up a prompt interface, which may include question information about whether the third joint angle, the fourth joint angle and the fifth joint angle have reached the specified posture, and include a yes button and a no button. When the user clicks the yes button, it can be determined that the third joint angle, the fourth joint angle and the fifth joint angle have reached the specified posture. For example, when the user rotates the third joint angle to one hundred and ten degrees, the fourth joint angle to forty-five degrees, and the fifth joint angle to zero degrees, the user can click the yes button to send feedback information to the self-mobile cleaning device. After receiving the feedback information, the self-mobile cleaning device can determine whether the third joint angle, the fourth joint angle and the fifth joint angle are within the corresponding preset angle range.

[0074] S605, driving the robotic arm to fold into the robotic arm cabin.

[0075] When the angles of each joint reach a preset angle, the self-moving cleaning device can drive the driving motors of each joint to operate, thereby controlling the robotic arm to fold into the robotic arm cabin.

[0076] As an example, the self-moving cleaning device can control the second joint to lean toward the robotic arm cabin, and control the third joint and the fourth joint to rotate, so that the first link, the second link and the third link are folded into the robotic arm cabin.

[0077] After the reset is successful, the various links of the robot arm can contact each other, so that the various return-to-place sensors on the robot arm are triggered. When all the return-to-place sensors are triggered, it is determined that the robot arm is reset successfully. For example, the third joint can have an angle-in-place switch, and the third joint angle-in-place switch can be located on the second link. When the first link touches the second link, the angle-in-place switch of the third joint is triggered. The fourth joint can have an angle-in-place switch, and the fourth joint angle-in-place switch can be located on the third link. When the third link touches the second link, the angle-in-place switch of the fourth joint is triggered.

[0078] After driving the robotic arm to fold to the preset time of the robotic arm cabin, if the angle switch of the third joint is not triggered or the angle switch of the fourth joint is not triggered, it indicates that the user's previous angle judgment is wrong or there is an abnormality in the reset process. At this time, the user can be prompted to manually fold the third joint or the fourth joint.

[0079] In the process of driving the robotic arm to fold into the robotic arm cabin, if the current of the driving motor of the fifth joint is greater than the preset current threshold for longer than the preset time threshold, the end clamp may be entangled and fixed by other objects, making it difficult for the fifth joint to rotate. At this time, the user can be prompted to manually rotate the fifth joint.

[0080] In addition, when the edge anti-pinch sensor of the robot arm cabin is triggered, the self-propelled cleaning device can prompt the user to manually fold the robot arm. For example, when the connecting rod of the robot arm collides with the wall of the robot arm cabin during folding, the edge anti-pinch sensor is triggered. At this time, it is difficult for the connecting rod of the robot arm to change its posture under the action of the joint drive motor, so the user can be prompted to manually handle it.

[0081] In this embodiment, through interaction with the user, the user can be instructed to rotate each joint of the mechanical arm to a specified angle range, so that the self-moving cleaning device can reacquire the joint angle information of each mechanical joint and automatically fold the mechanical arm so that the mechanical arm can be reset. When interacting with the user, instructing the user to rotate each joint of the mechanical arm to a specified angle range can reduce the user's work, which is equivalent to combining manual control and automatic control to achieve the reset of the mechanical arm and ensure the normal operation of the mechanical arm.

[0082] The present application provides a method for guiding the user to perform manual reset in a scenario where, after an abnormal situation causes the robotic arm to power off abnormally, the robotic arm is outside the cabin when it is powered on again, but the joint angles of the robotic arm are lost, and the robotic arm cannot be automatically reset. The method helps the user to manually reset the robotic arm, thereby restoring normal use of the robotic arm.

[0083] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0084] Reference Figure 7 , shows a schematic diagram of a mechanical arm resetting device provided in an embodiment of the present application, the device is applied to a self-moving cleaning device, the self-moving cleaning device includes a mechanical arm, the device may specifically include a mechanical arm resetting device 71, an instruction acquisition module 72, a state acquisition module 73 and a reset mode determination module 74, wherein:

[0085] The mechanical arm resetting device 71 is characterized in that it is applied to a self-moving cleaning device, wherein the self-moving cleaning device includes a mechanical arm, including:

[0086] An instruction acquisition module 72, used to acquire a reset instruction after the robot arm is abnormally powered off and then powered on again;

[0087] A state acquisition module 73, used to acquire the current state of the robot arm in response to the reset instruction;

[0088] A reset mode determination module 74, used to determine a reset mode according to the current state of the robot arm; wherein the reset mode includes an automatic reset mode and a manual reset mode;

[0089] A reset module is used to perform a reset operation on the robotic arm according to the reset method.

[0090] In a possible implementation, the reset mode determination module 73 includes:

[0091] A first determination submodule, configured to determine that the reset mode is a manual reset mode if the current state of the robot arm is that any joint angle information is lost;

[0092] The second determination submodule is used to determine that the reset mode is an automatic reset mode if the current state of the robot arm is that the joint angle information is complete.

[0093] In a possible implementation, the mechanical arm includes a first joint, a second joint, a third joint, a fourth joint, a fifth joint and an end gripper;

[0094] The first joint and the second joint are connected;

[0095] A first connecting rod is connected between the second joint and the third joint;

[0096] A second connecting rod is connected between the third joint and the fourth joint;

[0097] A third connecting rod is connected between the fourth joint and the fifth joint;

[0098] The fifth joint is connected to the end clamp;

[0099] Among them, the first joint is connected to the chassis and is used to control the mechanical arm to rotate around the vertical axis; the second joint supports the mechanical arm through pitch rotation; the third joint is in the same direction as the second joint and the fourth joint; the fifth joint is a self-rotating joint of the end gripper, which is used to adjust the direction of the end gripper to grip an object; the end gripper is used to grip or place an object by opening and closing;

[0100] The joint angles of the robotic arm include a first joint angle, a second joint angle, a third joint angle, a fourth joint angle, a fifth joint angle and an end gripper angle; the first joint angle is determined by whether the angle in place switch of the first joint is triggered; the second joint angle is determined by whether the angle in place switch of the second joint is triggered; the third joint angle is characterized by the angle formed by the first connecting rod, the third joint and the second connecting rod; the fourth joint angle is characterized by the angle formed by the second connecting rod, the fourth joint and the third connecting rod; the fifth joint angle is characterized by the angle formed by the straight line corresponding to the opening direction of the end gripper and a preset reference straight line; the end gripper angle is determined by whether the angle in place switch of the end gripper is triggered;

[0101] The loss of any joint angle information means that at least one of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end clamp angle is lost; the complete joint angle information means that none of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end clamp angle are lost.

[0102] In a possible implementation, the resetting module 74 includes:

[0103] The first manual reset submodule is used to prompt the user to rotate the first joint if the zero-degree angle in-place switch of the first joint is not triggered, until the zero-degree angle in-place switch of the first joint is triggered, and the zero-degree angle in-place switch of the first joint is triggered to indicate that the difference between the first joint angle and zero degrees is less than a threshold value; or,

[0104] The second manual reset submodule is used to prompt the user to rotate the second joint if the angle in-place switch of the second joint is not triggered, until the angle in-place switch of the second joint is triggered, and the angle in-place switch of the second joint is triggered to indicate that the difference between the second joint angle and ninety degrees is less than a threshold value; or,

[0105] The third manual reset submodule is used to prompt the user to open the end clamp if the angle in-place switch of the end clamp is not triggered, until the angle in-place switch of the end clamp is triggered, and the triggering of the angle in-place switch of the end clamp is used to indicate that the end clamp is in-place; or

[0106] The fourth manual reset submodule is used to prompt the user to rotate the third joint, the fourth joint and the fifth joint so that the third joint angle, the fourth joint angle and the fifth joint angle are within a preset angle range if the third joint angle is not stored in the code disk of the drive motor of the third joint, the fourth joint angle is not stored in the code disk of the drive motor of the fourth joint and the fifth joint angle is not stored in the code disk of the drive motor of the fifth joint;

[0107] The driving folding submodule is used to drive the robotic arm to fold into the robotic arm cabin.

[0108] In a possible implementation, the fourth manual reset submodule includes:

[0109] a prompting unit, configured to send angle prompting information to an associated user terminal, wherein the angle prompting information is used to instruct the user terminal to display a schematic diagram of the mechanical arm in which the third joint angle, the fourth joint angle, and the fifth joint angle are all within corresponding preset angle ranges, so as to prompt the user to transform the posture of the mechanical arm according to the schematic diagram;

[0110] A receiving unit is used to receive feedback information from the user regarding the angle prompt information, wherein the feedback information is used to indicate whether the third joint angle, the fourth joint angle and the fifth joint angle are within a corresponding preset angle range.

[0111] In a possible implementation manner, the device further includes:

[0112] The fifth joint adjustment module is used to prompt the user to manually rotate the fifth joint if the current of the driving motor of the fifth joint is greater than the preset current threshold for more than the preset time threshold during the process of driving the robotic arm to fold into the robotic arm cabin.

[0113] In a possible implementation manner, the device further includes:

[0114] A manual folding prompt module is used to prompt the user to manually fold the third joint or the fourth joint if the angle in place switch of the third joint is not triggered or the angle in place switch of the fourth joint is not triggered after driving the robotic arm to fold to the preset time of the robotic arm cabin.

[0115] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0116] Figure 8 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of the present application. Figure 8As shown, the self-moving cleaning device 800 of this embodiment includes: at least one processor 80 ( Figure 8 Only one is shown in the figure), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, wherein the processor 80 implements the steps of any of the above-mentioned method embodiments when executing the computer program 82.

[0117] The self-moving cleaning device 800 may be a household robot. The self-moving cleaning device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 This is merely an example of the self-moving cleaning device 800 and does not constitute a limitation on the self-moving cleaning device 800. The self-moving cleaning device 800 may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0118] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0119] The memory 81 can be the internal storage unit of the self-mobile cleaning device 800 in some embodiments, such as the hard disk or memory of the self-mobile cleaning device 800. The memory 81 can also be the external storage device of the self-mobile cleaning device 800 in other embodiments, such as the plug-in hard disk equipped on the self-mobile cleaning device 800, the smart memory card (Smart Media Card, SMC), the secure digital (Secure Digital, SD) card, the flash card (FlashCard) etc. Further, the memory 81 can also include both the internal storage unit of the self-mobile cleaning device 800 and the external storage device. The memory 81 is used to store operating systems, applications, boot loaders (BootLoader), data and other programs, such as program codes of the computer programs, etc. The memory 81 can also be used to temporarily store data that has been output or is about to be output.

[0120] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0121] An embodiment of the present application provides a computer program product. When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0122] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for resetting a robot arm, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device includes a mechanical arm, including: After the robot arm is abnormally powered off and then powered on again, obtaining a reset instruction; In response to the reset instruction, obtaining a current state of the robot arm; Determine a reset mode according to the current state of the robot arm; wherein the reset mode includes an automatic reset mode and a manual reset mode; The robot arm is reset according to the reset method.

2. The method according to claim 1, characterized in that The determining of the reset mode according to the current state of the robotic arm comprises: If the current state of the robot arm is that any joint angle information is lost, determining that the reset mode is a manual reset mode; If the current state of the robotic arm is that the joint angle information is complete, it is determined that the reset mode is the automatic reset mode.

3. The method according to claim 2, characterized in that The mechanical arm comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and an end gripper; A first connecting rod is connected between the second joint and the third joint; A second connecting rod is connected between the third joint and the fourth joint; A third connecting rod is connected between the fourth joint and the fifth joint; The fifth joint is connected to the end clamp; The joint angles of the robotic arm include a first joint angle, a second joint angle, a third joint angle, a fourth joint angle, a fifth joint angle and an end gripper angle; the first joint angle is determined by whether the angle in place switch of the first joint is triggered; the second joint angle is determined by whether the angle in place switch of the second joint is triggered; the third joint angle is characterized by the angle formed by the first connecting rod, the third joint and the second connecting rod; the fourth joint angle is characterized by the angle formed by the second connecting rod, the fourth joint and the third connecting rod; the fifth joint angle is characterized by the rotation angle of the fifth joint relative to the reference state; The angle of the end clamping jaw is determined by whether the angle in-place switch of the end clamping jaw is triggered; The loss of any joint angle information means that at least one of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end clamp angle is lost; the complete joint angle information means that none of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle, and the end clamp angle are lost.

4. The method according to any one of claims 1 to 3, characterized in that: The resetting operation on the mechanical arm according to the resetting method includes: If the zero-degree angle in-place switch of the first joint is not triggered, the user is prompted to rotate the first joint until the zero-degree angle in-place switch of the first joint is triggered, and the zero-degree angle in-place switch of the first joint is triggered to indicate that the difference between the first joint angle and zero degrees is less than a threshold value; or, If the angle in-place switch of the second joint is not triggered, the user is prompted to rotate the second joint until the angle in-place switch of the second joint is triggered, and the angle in-place switch of the second joint is triggered to indicate that the difference between the second joint angle and ninety degrees is less than a threshold value; or, If the angle in-place switch of the end clamp is not triggered, the user is prompted to open the end clamp until the angle in-place switch of the end clamp is triggered, and the angle in-place switch of the end clamp is triggered to indicate that the end clamp is in-place; or, If the third joint angle is not stored in the code disk of the driving motor of the third joint, the fourth joint angle is not stored in the code disk of the driving motor of the fourth joint, and the fifth joint angle is not stored in the code disk of the driving motor of the fifth joint, the user is prompted to rotate the third joint, the fourth joint, and the fifth joint so that the third joint angle, the fourth joint angle, and the fifth joint angle are within a preset angle range; The mechanical arm is driven to fold into the mechanical arm cabin.

5. The method according to claim 4, characterized in that The step of prompting the user to rotate the third joint, the fourth joint, and the fifth joint so that the third joint angle, the fourth joint angle, and the fifth joint angle are within a preset angle range includes: Sending angle prompt information to an associated user terminal, wherein the angle prompt information is used to instruct the user terminal to display a schematic diagram of the robotic arm in which the third joint angle, the fourth joint angle, and the fifth joint angle are all within corresponding preset angle ranges, so as to prompt the user to transform the posture of the robotic arm according to the schematic diagram; Receive feedback information from the user regarding the angle prompt information, where the feedback information is used to indicate whether the third joint angle, the fourth joint angle, and the fifth joint angle are within corresponding preset angle ranges.

6. The method according to claim 4, characterized in that The method further comprises: In the process of driving the robotic arm to fold into the robotic arm cabin, if the current of the driving motor of the fifth joint is greater than the preset current threshold for more than the preset time threshold, the user is prompted to manually rotate the fifth joint.

7. The method according to claim 4, characterized in that The method further comprises: After driving the robotic arm to fold to the preset time of the robotic arm cabin, if the angle switch of the third joint is not triggered or the angle switch of the fourth joint is not triggered, the user is prompted to manually fold the third joint or the fourth joint.

8. A mechanical arm resetting device, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device includes a mechanical arm, including: An instruction acquisition module, used for acquiring a reset instruction after the robot arm is abnormally powered off and powered on again; A state acquisition module, used for acquiring the current state of the robot arm in response to the reset instruction; A reset mode determination module, used to determine a reset mode according to the current state of the robotic arm; wherein the reset mode includes an automatic reset mode and a manual reset mode; A reset module is used to perform a reset operation on the robotic arm according to the reset method.

9. The device according to claim 8, characterized in that The reset mode determination module includes: A first determination submodule, configured to determine that the reset mode is a manual reset mode if the current state of the robot arm is that any joint angle information is lost; The second determination submodule is used to determine that the reset mode is an automatic reset mode if the current state of the robot arm is that the joint angle information is complete.

10. The device according to claim 9, characterized in that The mechanical arm comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and an end gripper; A first connecting rod is connected between the second joint and the third joint; A second connecting rod is connected between the third joint and the fourth joint; A third connecting rod is connected between the fourth joint and the fifth joint; The fifth joint is connected to the end clamp; The joint angles of the robotic arm include a first joint angle, a second joint angle, a third joint angle, a fourth joint angle, a fifth joint angle and an end gripper angle; the first joint angle is determined by whether the angle in place switch of the first joint is triggered; the second joint angle is determined by whether the angle in place switch of the second joint is triggered; the third joint angle is characterized by the angle formed by the first connecting rod, the third joint and the second connecting rod; the fourth joint angle is characterized by the angle formed by the second connecting rod, the fourth joint and the third connecting rod; the fifth joint angle is characterized by the rotation angle of the fifth joint relative to the reference state; The angle of the end clamping jaw is determined by whether the angle in-place switch of the end clamping jaw is triggered; The loss of any joint angle information means that at least one of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle or the end clamp angle is lost; the complete joint angle information means that none of the first joint angle, the second joint angle, the third joint angle, the fourth joint angle, the fifth joint angle and the end clamp angle are lost.

11. The device according to any one of claims 8 to 10, characterized in that: The reset module comprises: The first manual reset submodule is used to prompt the user to rotate the first joint if the zero-degree angle in-place switch of the first joint is not triggered, until the zero-degree angle in-place switch of the first joint is triggered, and the zero-degree angle in-place switch of the first joint is triggered to indicate that the difference between the first joint angle and zero degrees is less than a threshold value; or, The second manual reset submodule is used to prompt the user to rotate the second joint if the angle in-place switch of the second joint is not triggered, until the angle in-place switch of the second joint is triggered, and the angle in-place switch of the second joint is triggered to indicate that the difference between the second joint angle and ninety degrees is less than a threshold value; or, The third manual reset submodule is used to prompt the user to open the end clamp if the angle in-place switch of the end clamp is not triggered, until the angle in-place switch of the end clamp is triggered, and the triggering of the angle in-place switch of the end clamp is used to indicate that the end clamp is in-place; or The fourth manual reset submodule is used to prompt the user to rotate the third joint, the fourth joint and the fifth joint so that the third joint angle, the fourth joint angle and the fifth joint angle are within a preset angle range if the third joint angle is not stored in the code disk of the drive motor of the third joint, the fourth joint angle is not stored in the code disk of the drive motor of the fourth joint and the fifth joint angle is not stored in the code disk of the drive motor of the fifth joint; The driving folding submodule is used to drive the robotic arm to fold into the robotic arm cabin.

12. The device according to claim 11, characterized in that The fourth manual reset submodule comprises: a prompting unit, configured to send angle prompting information to an associated user terminal, wherein the angle prompting information is used to instruct the user terminal to display a schematic diagram of the mechanical arm in which the third joint angle, the fourth joint angle, and the fifth joint angle are all within corresponding preset angle ranges, so as to prompt the user to transform the posture of the mechanical arm according to the schematic diagram; A receiving unit is used to receive feedback information from the user regarding the angle prompt information, wherein the feedback information is used to indicate whether the third joint angle, the fourth joint angle and the fifth joint angle are within a corresponding preset angle range.

13. The device according to claim 11, characterized in that The device also includes: The fifth joint adjustment module is used to prompt the user to manually rotate the fifth joint if the current of the driving motor of the fifth joint is greater than the preset current threshold for more than the preset time threshold during the process of driving the robotic arm to fold into the robotic arm cabin.

14. The device according to claim 11, characterized in that The device also includes: A manual folding prompt module is used to prompt the user to manually fold the third joint or the fourth joint if the angle in place switch of the third joint is not triggered or the angle in place switch of the fourth joint is not triggered after driving the robotic arm to fold to the preset time of the robotic arm cabin.

15. A self-moving cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The self-moving cleaning device comprises a robotic arm, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

17. A computer program product, characterized in that When the computer program product is run on a self-moving cleaning device, the self-moving cleaning device is enabled to perform the method according to any one of claims 1 to 7.

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