Mechanical arm control method and device and mobile robot

Abstract

The invention discloses a mechanical arm control method and device and a mobile robot, and belongs to the technical field of electrical equipment. The mechanical arm control method comprises the steps that parameter information of a mechanical arm in the process of returning to a storage bin is obtained, wherein the parameter information comprises at least one of a current value of a rotating shaft, a clamping signal of clamping of the mechanical arm and the side wall of the storage bin and an in-place signal that the mechanical arm has returned to the storage bin; controlling the mechanical arm to act according to the parameter information. Parameter information is obtained in the process that the mechanical arm returns to the storage bin, whether the mechanical arm touches an obstacle or not can be judged according to the parameter information, the mechanical arm can be controlled to act through the rotating shaft after encountering the obstacle, the situation that the mechanical arm continues to be recycled and then continues to clamp the obstacle can be avoided, and the risk that the mechanical arm is damaged is reduced; the service life of the mechanical arm is prolonged, and the risk that the mechanical arm pinches a user or a pet can be reduced.

Description

Background Art

[0002] With the development of intelligent hardware technology, mobile robots are widely used in daily life. Mobile robots include cleaning robots, service robots, etc. In order to increase the operating range of mobile robots, a mechanical arm can be set on the main body of the mobile robot to increase the operating range of the mobile robot. For example, for a sweeping robot, a mechanical arm can be set on the robot body to clean places that the robot body cannot reach, or to move obstacles. When the mechanical arm is not needed, the mechanical arm can be recovered in the robot body. In related technologies, obstacles may be encountered during the recovery of the mechanical arm, causing the mechanical arm to fail to reset normally. Summary of the invention

[0003] The present application aims to solve the technical problem that the robot arm cannot be reset normally to a certain extent. To this end, the present application provides a robot arm control method, device, computer medium, product, electronic device and mobile robot.

[0004] In a first aspect, an embodiment of the present application provides a robotic arm control method, which is applied to a mobile robot, wherein the mobile robot comprises a main body, a robotic arm, and a rotating shaft, wherein the main body has a storage bin for storing the robotic arm, and the rotating shaft drives the robotic arm to move; the robotic arm control method comprises:

[0005] Acquire parameter information of the robot arm in the process of returning to the storage bin, the parameter information including at least one of a current value of the rotating shaft, a clamping signal of the robot arm clamping with the side wall of the storage bin, and an in-position signal of the robot arm having returned to the storage bin;

[0006] The action of the robot arm is controlled according to the parameter information.

[0007] Parameter information is obtained during the process of the robotic arm returning to the storage bin, and it can be used to determine whether the robotic arm touches an obstacle. After encountering an obstacle, the movement of the robotic arm can be controlled by the rotating axis, which can prevent the robotic arm from continuing to recycle and then continue to clamp the obstacle, reduce the risk of damage to the robotic arm, increase the service life of the robotic arm, and reduce the risk of the robotic arm pinching the user or pet.

[0008] In some embodiments, the step of controlling the movement of the robotic arm according to the parameter information includes:

[0009] If it is determined according to the parameter information that the robotic arm is stuck, the rotating shaft is controlled to drive the robotic arm to rotate in a first direction by a set angle, wherein the first direction is a direction in which the robotic arm is deployed.

[0010] In some embodiments, the robotic arm is connected to the body.

[0011] In some embodiments, the step of controlling the movement of the robotic arm according to the parameter information includes:

[0012] If it is determined based on the parameter information that the robotic arm is stuck, the rotating axis is controlled to operate at a first current value, wherein the first current value is smaller than a second current value, and the second current value is the current value of the rotating axis when the robotic arm is outside the storage bin and remains stationary.

[0013] In some embodiments, the robotic arm is spaced apart from the main body.

[0014] In some embodiments, the robot arm control method further includes:

[0015] If the current value of the rotating shaft is greater than or equal to a third current value, it is determined that the robot arm is stuck, wherein the third current value is greater than the second current value.

[0016] In some embodiments, the robot arm control method further includes:

[0017] If the robotic arm contacts the side wall of the storage bin, it is determined that the robotic arm is stuck.

[0018] In some embodiments, the cleaning device further includes a first detection member, which is disposed on a side wall of the storage bin. If the first detection member is triggered, it indicates that the robotic arm is in contact with the side wall of the storage bin.

[0019] In some embodiments, the robot arm control method further includes:

[0020] If the robotic arm does not return to the storage bin within a set time, it is determined that the robotic arm is stuck.

[0021] In some embodiments, the robotic arm is provided with a second detection element. If the second detection element is triggered, it indicates that the robotic arm has returned to the warehouse.

[0022] In some embodiments, there are multiple robotic arms, and when the robotic arms return to the storage bin, the bottom wall of the storage bin or the adjacent robotic arms trigger the second detection member.

[0023] In a second aspect, an embodiment of the present application provides a robot arm control device, which is applied to a mobile robot, wherein the mobile robot comprises a main body, a robot arm and a rotating shaft, wherein the main body has a storage bin for storing the robot arm, and the rotating shaft drives the robot arm to move; the robot arm control method comprises:

[0024] A receiver, used to obtain parameter information of the robot arm in the process of returning to the storage bin, wherein the parameter information includes at least one of a current value of the rotating shaft and a signal indicating that the robot arm has returned to the storage bin;

[0025] A controller is used to control the movement of the robot arm according to the parameter information.

[0026] The beneficial effects of the robot arm control device provided in the second aspect are the same as the beneficial effects of the robot arm control method provided in the first aspect, and will not be repeated here.

[0027] In some embodiments, the controller includes a first control unit, and the first control unit is used to control the rotating axis to drive the robotic arm to rotate a set angle in a first direction if it is determined that the robotic arm is stuck based on the parameter information, wherein the first direction is the direction in which the robotic arm is deployed.

[0028] In some embodiments, the controller includes a second control unit, and the second control unit is used to control the rotating axis to operate at a first current value if it is determined that the robotic arm is stuck based on the parameter information, wherein the first current value is less than a second current value, and the second current value is the current value of the rotating axis when the robotic arm is outside the storage bin and the robotic arm remains stationary.

[0029] In some embodiments, the controller includes a first determination unit, and the first determination unit is used to determine that the robot arm is stuck if the current value of the rotating axis is greater than or equal to a third current value, wherein the third current value is greater than the second current value.

[0030] In some embodiments, the controller includes a second determination unit, and the first determination unit is used to determine that the robotic arm is stuck if the robotic arm contacts a side wall of the storage bin.

[0031] In some embodiments, the controller includes a third determination unit, and the third determination unit is used to determine that the robotic arm is stuck if the robotic arm does not return to the storage bin within a set time.

[0032] In a third aspect, an embodiment of the present application provides a computer storage medium, wherein the computer-readable storage medium stores a program code, and the program code is loaded and executed by a processor to implement the method described in the first aspect.

[0033] The beneficial effects of the computer storage medium provided in the third aspect are the same as the beneficial effects of the robot arm control method provided in the first aspect, and will not be repeated here.

[0034] In a fourth aspect, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method described in the first aspect.

[0035] The beneficial effects of the computer program product provided in the fourth aspect are the same as the beneficial effects of the robot arm control method provided in the first aspect, and will not be repeated here.

[0036] In a fifth aspect, an embodiment of the present application provides a mobile robot, comprising:

[0037] Memory, for storing computer programs;

[0038] The processor is used to execute the computer program stored in the memory to implement the robot arm control method as described in the first aspect.

[0039] The beneficial effects of the mobile robot provided in the fifth aspect are the same as the beneficial effects of the robotic arm control method provided in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application is shown.

[0042] Figure 2 A structural schematic diagram of the mobile robot extension arm in a pre-action state provided in an embodiment of the present application is shown.

[0043] Figure 3 Shows Figure 2 Side view of.

[0044] Figure 4 A schematic structural diagram of the extension arm of the mobile robot provided in an embodiment of the present application is shown.

[0045] Figure 5 A flow chart of a robot arm control method provided in an embodiment of the present application is shown.

[0046] Figure 6 A flowchart of the sub-steps of step S120 of the robot arm control method provided in an embodiment of the present application is shown.

[0047] Figure 7 A block diagram of the composition of a robotic arm control device provided in an embodiment of the present application is shown.

[0048] Figure 8 A block diagram of the components of a controller of a robotic arm control device provided in an embodiment of the present application is shown.

[0049] Fig. 9 A block diagram of the composition of an electronic device provided in an embodiment of the present application is shown.

[0050] Figure markings: 100-mobile robot, 110-main body, 112-chassis, 113-walking wheel assembly, 114-auxiliary wheel assembly, 115-storage bin, 116-rotating motor, 117-base, 118-bin door, 120-extension arm, 122-mechanical arm, 122a-first mechanical arm, 122b-second mechanical arm, 122c-third mechanical arm, 122d-fourth mechanical arm, 124-rotation axis, 124a-first rotation axis, 124b-second rotation axis, 124c-third rotation axis, 124d-fourth rotation axis, 130-first detection member, 140-second detection member.

[0051] 300 - robot arm control device, 310 - receiver, 320 - controller, 321 - first determination unit, 322 - second determination unit, 323 - third determination unit, 324 - first control unit, 325 - second control unit.

[0052] 800 - electronic device, 810 - processor, 820 - memory, 821 - random access memory, 822 - cache memory, 823 - read-only memory, 825 - program module, 824 - program / utility; 830 - bus, 840 - display unit, 850 - I / O interface, 860 - network adapter; 900 - external device. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0055] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] With the development of intelligent hardware technology, mobile robots are widely used in daily life. Mobile robots include cleaning robots, service robots, etc. In order to increase the operating range of the mobile robot, a mechanical arm can be set on the main body of the mobile robot to increase the operating range of the mobile robot through the mechanical arm. For example, for a sweeping robot, a mechanical arm can be set on the robot body, and the mechanical arm can be used to clean places that the robot body cannot clean, or to move obstacles through the mechanical arm. In the case where there is no need to use the mechanical arm, the mechanical arm can be recovered in the robot body. In the related art, the mechanical arm may encounter obstacles during the recovery process, causing the mechanical arm to fail to reset normally. The mechanical arm control method provided in the embodiment of the present application can improve the above problems. The mechanical arm control method provided in the embodiment of the present application can improve the situation where the mechanical arm touches obstacles during the recovery process, causing damage to the mechanical arm.

[0058] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0059] Figure 1 A schematic diagram of the structure of the mobile robot 100 provided in an embodiment of the present application is shown. Figure 1 As shown, an embodiment of the present application provides a robotic arm control method. The robotic arm control method provided in the embodiment of the present application is applied to a mobile robot 100. The mobile robot 100 can be a cleaning robot such as a sweeping robot, or a service robot such as a food delivery robot and a cargo transport robot. The type of robot is not limited.

[0060] Figure 2 The structure diagram of the mobile robot 100 provided in the embodiment of the present application in the extended arm 120 is shown in the pre-action state. Figure 3 Shows Figure 2 The side view of Figure 2 and Figure 3 As shown, in some embodiments, the mobile robot 100 includes a main body 110 and an extension arm 120. The main body 110 is a main body 110 component of the mobile robot 100, and the main body 110 includes a chassis 112 and a running wheel assembly 113 installed on the chassis 112. The running wheel assembly 113 can guide the chassis 112 to move. The running wheel assembly 113 can be arranged at the rear side of the chassis 112, and a running wheel assembly 113 can be arranged on the left and right sides of the rear side respectively. The running wheel assembly 113 can also lift the front side of the chassis 112 by a certain distance, so that the main body 110 can cross obstacles.

[0061] The main body 110 further includes an auxiliary wheel assembly 114 disposed on the front side of the chassis 112. The auxiliary wheel assembly 114 may be a universal wheel. The auxiliary wheel assembly 114 may also guide the chassis 112 to move, and may also lift the front side of the chassis 112 so that the main body 110 can overcome obstacles.

[0062] That is, in some embodiments, at least one of the running wheel assembly 113 and the auxiliary wheel assembly 114 can guide the chassis 112 to move, and at least one of the running wheel assembly 113 and the auxiliary wheel assembly 114 can lift the front side of the chassis 112 so that the main body 110 can overcome obstacles.

[0063] Figure 4 FIG. 1 shows a schematic structural diagram of an extension arm 120 of a mobile robot 100 provided in an embodiment of the present application. Figure 4 The middle arrow indicates the rotation direction of each rotating shaft 124. Figure 4 As shown, in some embodiments, the extension arm 120 includes multiple robotic arms 122 and multiple rotating shafts 124. A robotic arm 122 and at least one rotating shaft 124 form an operating component. The rotating shaft 124 in the same operating component can drive the robotic arm 122 to act, so that the robotic arm 122 can achieve a corresponding action.

[0064] Among them, the robotic arm 122 can be a connecting arm or an operating component. If the robotic arm 122 is an operating component, the operating component is arranged at the end of the entire extended arm 120, and is used to clamp and fix objects or clean the surface to be cleaned. If the robotic arm 122 is a connecting arm, the connecting arm can be connected to the chassis 112 and the clamp to adjust the posture and position of the clamp.

[0065] In some embodiments, the operating component may be a clamping claw or a cleaning portion, and the cleaning portion may be a rag, a roller brush, a side brush, or the like.

[0066] The number of robotic arms can be one, two, or three, and the specific number is not limited. In the embodiment of the present application, for the convenience of description, the implementation method of the extension arm 120 including three connecting arms and an operating component is used to illustrate the specific structure and working process of the entire extension arm 120.

[0067] For the convenience of description, a first robotic arm 122a, a second robotic arm 122b, a third robotic arm 122c, and a fourth robotic arm 122d are defined respectively, wherein the first robotic arm 122a, the second robotic arm 122b, the third robotic arm 122c are robotic arms, and the fourth robotic arm 122d is an operating component.

[0068] Similarly, the rotating shafts 124 are respectively the first rotating shaft 124a, the second rotating shaft 124b, the third rotating shaft 124c and the fourth rotating shaft 124d. The first rotating shaft 124a and the first robotic arm 122a are the first section operating components, the second rotating shaft 124b and the second robotic arm 122b are the second section operating components, the third rotating shaft 124c and the third robotic arm 122c are the third section operating components, and the fourth rotating shaft 124d and the fourth robotic arm 122d are the fourth section operating components.

[0069] Among them, the first rotating axis 124a, the first robotic arm 122a, the second rotating axis 124b, the second robotic arm 122b, the third rotating axis 124c, the third robotic arm 122c, the fourth rotating axis 124d, and the fourth robotic arm 122d are connected in sequence, the second rotating axis 124b is the joint connecting the first robotic arm 122a and the second robotic arm 122b, the third rotating axis 124c is the joint connecting the second robotic arm 122b and the third robotic arm 122c, and the fourth rotating axis 124d is the joint connecting the third robotic arm 122c and the fourth robotic arm 122d.

[0070] The first robotic arm 122a can be a supporting arm, the second robotic arm 122b is a connecting arm, and the third robotic arm 122c is a working arm. The first rotating axis 124a can adjust the pitch angle of the first robotic arm 122a, the second rotating axis 124b can adjust the pitch angle of the second robotic arm 122b, and the third rotating axis 124c can adjust the pitch angle of the third robotic arm 122c. The position of the fourth robotic arm 122d (operating component) in space can be ultimately adjusted by the cooperation of the first rotating axis 124a, the second rotating axis 124b and the third rotating axis 124c, so that the fourth robotic arm 122d can be moved to the vicinity of the object or the surface to be cleaned. The fourth rotating axis 124d can adjust the axial rotation angle of the fourth robotic arm 122d along the third robotic arm 122c to adjust the posture of the fourth robotic arm 122d (operating component) so that the fourth robotic arm 122d (operating component) can act on the object or the surface to be cleaned.

[0071] In some embodiments, a rotating motor 116 and a base 117 may be further provided in the storage bin 115, and the entire extension arm 120 may be mounted on the base 117. The rotating motor 116 drives the entire extension arm 120 to rotate in the height direction, and the relative angle of the entire extension arm 120 on the main body 110 may be adjusted, so that the operating component may extend to different positions of the main body 110. Specifically, the operating component may be located at the front side of the main body 110, so that the operating component may act on the items at the front side of the main body 110, or the operating component may be located at the rear side, left side, right side, etc. of the main body 110, so that the operating range of the entire extension arm 120 may be increased.

[0072] In some embodiments, the main body 110 has a storage compartment 115 (eg, Figure 2 As shown in the figure, the rotating shaft 124 drives the mechanical arm 122 to move. The mechanical arm 122 is stored in the storage bin 115, which means that all the mechanical arms 122 can be stored in the storage bin 115, so that the mobile robot 100 can recycle the extension arm 120 in the storage bin 115 when the extension arm 120 is not needed to work, such as climbing stairs, overcoming obstacles or recharging, etc., to reduce the interference between the extension arm 120 and other structures, thereby reducing the loss of the extension arm 120 and increasing the service life of the whole machine.

[0073] In order to reduce the space occupied by the multiple robotic arms 122, the multiple robotic arms 122 are folded and stored in the storage bin 115. Each robotic arm 122 may be folded, or only some of the robotic arms 122 may be folded. The folding method is not limited.

[0074] Specifically, the rotating motor 116 is a folding joint, which enables the entire extended arm 120 to rotate around the vertical axis in the same direction as the rotation axis of the chassis 112. The first rotating axis 124a is a folding joint, which supports the first mechanical arm 122a through pitch rotation, and cooperates with the rotating motor 116 to realize the folding of the entire extended arm 120.

[0075] The second rotation axis 124b and the third rotation axis 124c are main motion joints. The first rotation axis 124a, the second rotation axis 124b and the third rotation axis 124c have the same pitch rotation direction. The first rotation axis 124a, the second rotation axis 124b and the third rotation axis 124c jointly determine the position of the fourth robotic arm 122d. The fourth rotation axis 124d adjusts the direction in which the fourth robotic arm 122d acts on the object and determines the posture of the fourth robotic arm 122d.

[0076] Since the pitch rotation directions of the first rotation axis 124a, the second rotation axis 124b, and the third rotation axis 124c are the same, for the convenience of description, the rotation direction of the first rotation axis 124a, the second rotation axis 124b, and the third rotation axis 124c when unfolding the corresponding robotic arm 122 is defined as the first direction, and the rotation direction of the retracted corresponding robotic arm 122 is defined as the second direction.

[0077] During the recycling process, the first rotating shaft 124a, the second rotating shaft 124b, and the third rotating shaft 124c are started at the same time, so that the first mechanical arm 122a, the second mechanical arm 122b, and the third mechanical arm 122c are folded and recycled at the same time. Alternatively, the first rotating shaft 124a is started first, so that the first mechanical arm 122a is folded and recycled first, the second rotating shaft 124b is started again, the second mechanical arm 122b is folded and recycled, and the third rotating shaft 124c is started last, and the third mechanical arm 122c is recycled last. Alternatively, the third rotating shaft 124c is started first, so that the third mechanical arm 122c is folded first, the second rotating shaft 124b is started again, the second mechanical arm 122b is folded and recycled, the first rotating shaft 124a is started last, and the first mechanical arm 122a is folded and recycled last. The order of starting the first rotating shaft 124a, the second driving shaft, and the third rotating shaft 124c during the recycling process may not be specifically limited.

[0078] After the mechanical arm 122 is extended out of the storage bin 115, the door 118 of the storage bin 115 is opened. During the operation of the mechanical arm 122, small items may easily fall into the storage bin 115. If the mechanical arm 122 is forcibly recovered when there are foreign objects in the storage bin 115, the mechanical arm 122 may be damaged, which may affect the service life of the mechanical arm 122. In addition, when each mechanical arm 122 is recovered, the edge of each mechanical arm 122 forms a shear force with the edge of the storage bin 115 during the folding process of the mechanical arm 122, which may easily pinch the user's hand or the pet's foot, tail, etc. If the posture of the mechanical arm 122 is not adjusted in time, it may easily pinch the user and the pet if the recovery continues, causing injury to the user and the pet. The mechanical arm control method provided in the embodiment of the present application can improve the above problems. The mechanical arm control method provided in the embodiment of the present application can adjust the movement of the mechanical arm 122 in time when the mechanical arm 122 touches an obstacle during the recovery process, thereby reducing damage to the mechanical arm 122 or reducing injury to the user or the pet.

[0079] It should be noted that, for the convenience of description, the user's fingers, the pet's tail, legs, and small items dropped into the storage bin 115 are collectively referred to as obstacles.

[0080] The robot arm control method provided in the embodiment of the present application is specifically as follows:

[0081] Figure 5A flow chart of a robot arm control method provided in an embodiment of the present application is shown. Figure 5 As shown, in step S110, parameter information of the robot arm 122 during the process of returning to the storage bin 115 is obtained.

[0082] Among them, the mobile robot 100 can respond to an operation instruction to control each robotic arm 122 to return to the storage bin 115. The operation instruction can be triggered by the user. The user can trigger it on the terminal, or through language information, or through a button set on the main body 110 or the robotic arm 122. The way in which the user triggers the operation instruction is not limited.

[0083] In addition, the operation instruction can also be automatically triggered by the mobile robot 100, for example, the mobile robot 100 can automatically trigger the operation instruction after completing the moving of items or cleaning, or automatically trigger the operation instruction after a set working time. The manner in which the mobile robot 100 automatically triggers the operation instruction is not limited.

[0084] The return of the robotic arms 122 to the warehouse means that all the robotic arms 122 return to the warehouse, and the rotating shafts 124 corresponding to the multiple robotic arms 122 can move simultaneously or one after another, and there is no specific limitation. The rotating shaft 124 of the same operating part drives the corresponding robotic arm 122 to move, so that the robotic arm 122 is deployed or retracted.

[0085] It should be noted that in the embodiment of the present application, the mobile robot 100 includes multiple robotic arms 122 and multiple rotating shafts 124. The robotic arm control method provided in the embodiment of the present application takes the same group of rotating shafts 124 and robotic arms 122 as an example to illustrate how to determine whether the robotic arm 122 encounters an obstacle in the process of returning to the storage bin 115. The determination methods of other groups of rotating shafts 124 and robotic arms 122 are the same unless otherwise specified.

[0086] Parameter information is obtained during the process of the robotic arm 122 returning to the storage bin 115, and it can be determined based on the parameter information whether the robotic arm 122 touches an obstacle. After encountering an obstacle, the movement of the robotic arm 122 can be controlled by the rotating shaft 124, which can prevent the robotic arm 122 from continuing to recycle and then continue to clamp the obstacle, thereby reducing the risk of the robotic arm 122 being damaged, increasing the service life of the robotic arm 122, and reducing the risk of the robotic arm 122 pinching the user or pet.

[0087] In some embodiments, the parameter information includes at least one of a current value of the rotating shaft 124 , a clamping signal of the robot arm 122 clamping the side wall of the storage bin 115 , and an in-position signal that the robot arm 122 has returned to the storage bin 115 .

[0088] When the rotating shaft 124 drives the robotic arm 122 to move or keeps the robotic arm 122 stationary, the current value of the rotating shaft 124 is different. For example, when the robotic arm 122 is extended out of the storage bin 115 and is stationary, the driving force provided by the rotating shaft 124 to the robotic arm 122 needs to overcome the gravity of the robotic arm 122 so that the robotic arm 122 can remain stationary. In the process of the rotating shaft 124 driving the robotic arm 122 to return to the storage bin 115 (the rotating shaft 124 rotates along the second direction), if the robotic arm 122 touches an obstacle, the robotic arm 122 basically will not continue to move, the rotating shaft 124 will be blocked, and the current value will surge. The state of the corresponding robotic arm 122 can be judged by the current value of the rotating shaft 124.

[0089] During the process of the robotic arm 122 returning to the storage bin 115, the rotating shaft 124 rotates along the second direction so that the robotic arm 122 can be retracted and folded. The position detection component can be used to detect whether the robotic arm 122 is retracted into the storage bin 115. If the robotic arm 122 is not retracted into the storage bin 115 for a long time, it can be determined that the robotic arm 122 encountered an obstacle during the retraction process.

[0090] Similarly, the robotic arm 122 will be stored in the storage bin 115 after recovery. Since the robotic arm 122 has a certain volume, the storage bin 115 has a certain depth. In particular, the first robotic arm 122a may easily collide with the side wall of the storage bin 115 or clamp obstacles if its position or posture is incorrect during recovery. Whether an obstacle is clamped can be determined by whether each robotic arm 122 is in contact with the side wall of the storage bin 115.

[0091] It should be noted that the above provides three modes of parameter information, and the parameter information may include one, two, or three of them. In some embodiments, the parameter information may also include at least one of the current value of the rotating shaft 124, the clamping signal of the mechanical arm 122 clamping the side wall of the storage bin 115, and the arrival signal of the mechanical arm 122 returning to the storage bin 115.

[0092] It should be noted that, since there are multiple groups of rotating shafts 124 and mechanical arms 122, that is, there are multiple groups of operating components, the above-mentioned parameter information refers to the data of the rotating shafts 124 and mechanical arms 122 in the same group of operating components.

[0093] Step S120 , controlling the robot arm 122 to move according to the parameter information.

[0094] After obtaining the parameter information, the action of the robotic arm 122 can be adjusted according to the parameter information, so that the robotic arm 122 in different positions can perform different actions, and then the action of the robotic arm 122 can be adjusted after the robotic arm 122 is not recovered normally, and the position and / or posture of the robotic arm 122 can be adjusted.

[0095] The specific process is as follows:

[0096] Figure 6 A flowchart of the sub-steps of step S120 of the robot arm control method provided in an embodiment of the present application is shown. Figure 6 As shown, in step S1211, if the current value of the rotating shaft 124 is greater than or equal to the third current value, it is determined that the robot arm 122 is stuck. The third current value is greater than the second current value.

[0097] If the current value of the rotating shaft 124 is greater than or equal to the third current value, it means that the current value of the rotating shaft 124 is very large and the rotating shaft 124 has been blocked. If the rotating shaft 124 is blocked, it means that the robot arm 122 has stopped moving, indicating that the robot arm 122 has been stuck.

[0098] The second current value is a current value that drives the rotating shaft 124 to maintain the mechanical arm 122 at a preset angle.

[0099] In step S1212 , if the robot arm 122 contacts the side wall of the storage bin 115 , it is determined that the robot arm 122 is stuck.

[0100] During the process of the robotic arm 122 being recovered into the storage bin 115, since the robotic arm 122 has a certain volume, the storage bin 115 has a certain depth. Especially the first robotic arm 122a, if its position or posture is wrong during recovery, it is easy to collide with the side wall of the storage bin 115 and it is also easy to clamp obstacles. Whether each robotic arm 122 is in contact with the side wall of the storage bin 115 can be used to determine whether an obstacle is clamped.

[0101] As for the method of determining the contact between the robot arm 122 and the storage bin 115 , the cleaning device may further include a first detection member 130 , which is disposed on the side wall of the storage bin 115 . If the first detection member 130 is triggered, it indicates that the robot arm 122 is in contact with the side wall of the storage bin 115 .

[0102] Specifically, the first detection member 130 is disposed on the side wall of the storage bin 115. The storage bin 115 has multiple side walls. The first detection member 130 can be disposed on each side wall of the storage bin 115, or the first detection member 130 can be disposed on the side wall closest to the robotic arm 122. The number and position of the first detection member 130 may not be specifically limited.

[0103] When a smaller obstacle falls into the storage bin 115, it occupies the space inside the storage bin 115, so that the obstacle blocks the robotic arm 122 in the process of returning to the storage bin 115. The side wall of the storage bin 115 and the robotic arm 122 clamp the obstacle from both sides of the obstacle respectively, and the obstacle triggers the first detection member 130 provided on the side wall. After the first detection member 130 is triggered, it can be said that the robotic arm 122 clamps the obstacle and the robotic arm 122 is stuck.

[0104] In step S1213, if the robot arm 122 does not return to the storage bin 115 within a set time, it is determined that the robot arm 122 is stuck.

[0105] Before returning to the storage bin 115, each robot arm 122 will maintain a pre-grasping posture. In the pre-action posture, the angle of each robot arm 122 is fixed. In some embodiments, the first robot arm 122a can be set vertically, the angle between the second robot arm 122b and the first robot arm 122a is 150 degrees (if returning to the storage bin 115, the rotation angle of the second rotation axis 124b is 150), the angle between the third robot arm 122c and the second robot arm 122b is 45 degrees (if returning to the storage bin 115, the rotation angle of the third rotation axis 124c is 45 degrees), and the fourth robot arm 122d is 0 degrees. In the pre-action posture, the posture of the robot arm 122 is determined, the angle of the rotation axis 124 is also determined, if the rotation speed of the rotation axis 124 is also certain, and the time from responding to the operation instruction to the robot arm 122 returning to the storage bin 115 is also determined, then it can be determined whether the robot arm 122 returns to the storage bin 115 according to the return time of the robot arm 122. If the robotic arm 122 has not returned to the storage bin 115 within the set time, it means that the robotic arm 122 has encountered an obstacle during the return process, and it can be determined that the robotic arm 122 is stuck.

[0106] Since the angles of the first robotic arm 122a, the second robotic arm 122b, and the third robotic arm 122c are different, the setting time of the first robotic arm 122a, the setting time of the second robotic arm 122b, and the setting time of the third robotic arm 122c may also be different.

[0107] As for how to determine whether the robot arm 122 returns to the storage bin 115, a second detection member 140 may be provided on the robot arm 122. If the second detection member 140 is triggered, it indicates that the robot arm 122 has returned to the bin. In some embodiments, during the process of the robot arm 122 returning to the storage bin 115, the bottom wall of the storage bin 115 or an adjacent robot arm 122 triggers the second detection member 140. Specifically, the robotic arm 122 is folded and stored in the storage bin 115, so that multiple robotic arms 122 are overlapped and arranged in the storage bin 115. For the convenience of description, taking the first robotic arm 122a as an example, the second detection component 140 is set on the first robotic arm 122a. After the first robotic arm 122a is folded, one side of the first robotic arm 122a is close to the bottom wall of the storage bin 115, and the other side is close to the second robotic arm 122b. The second detection component 140 can be set on the side close to the bottom wall. After the first robotic arm 122a is folded and retracted into the storage bin 115, the bottom wall of the storage bin 115 can trigger the second detection component 140. After the second detection component 140 is triggered, it means that the first robotic arm 122a has returned to the storage bin 115.

[0108] Of course, in some other embodiments, the second detection member 140 may also be disposed on the bottom wall, and after the first robotic arm 122a is recovered into the storage cavity, the second detection member 140 disposed on the bottom wall of the storage cavity is triggered.

[0109] If the second detection member 140 is not triggered within a set time after responding to the operation instruction, it means that the first robotic arm 122a has not returned to the storage cavity. It can be determined that the first robotic arm 122a is stuck, and the same can be applied to other robotic arms 122.

[0110] It should be noted that in the above three methods, if any one of the conditions is met, it can be determined that the robotic arm 122 has been stuck. If the robotic arm 122 is stuck, it means that the robotic arm 122 has encountered an obstacle.

[0111] In step S1221 , if it is determined according to the parameter information that the robotic arm 122 is stuck, the rotating shaft 124 is controlled to drive the robotic arm 122 to rotate in a first direction by a set angle.

[0112] After determining that the robotic arm 122 is stuck, if the state of the robotic arm 122 is not adjusted in time and continues to rotate in the second direction (opposite to the first direction and the second direction), the robotic arm 122 may be damaged or easily pinch the user or pet. If it is determined that the robotic arm 122 is stuck, the rotating shaft 124 is controlled to drive the robotic arm 122 to rotate in the first direction by a set angle, so that the robotic arm 122 can release the clamped obstacle.

[0113] Among them, since there are multiple robotic arms 122, the first robotic arm 122a, the second robotic arm 122b, and the third robotic arm 122c can all rotate in the first direction after being stuck (clamping an obstacle) in accordance with the method of step S1221, and can release the clamped obstacle so that the obstacle can be removed.

[0114] In some embodiments, the mechanical arm 122 can be connected to the main body 110. The connection between the mechanical arm 122 and the main body 110 is essentially connected to the rotating seat on the chassis 112, and the mechanical arm 122 is the first mechanical arm 122a. Since the first mechanical arm 122a is a support arm, in order to support the upper mechanical arm 122, the first mechanical arm 122a has a self-locking function. If only the first rotating shaft 124a corresponding to the first mechanical arm 122a is controlled to stop, the force applied may not be revoked, and there is still a force applied to the obstacle, and there is also a risk of damage to the mechanical arm 122. Directly control the first mechanical arm 122a to rotate in the first direction to release the obstacle so that the obstacle can be removed.

[0115] Of course, in some other embodiments, in addition to step S1221, the action of the robot arm 122 may also be adjusted by step S1222, as follows:

[0116] In step S1222 , if it is determined according to the parameter information that the robot arm 122 is stuck, the rotating shaft 124 is controlled to operate at a first current value.

[0117] The first current value is smaller than the second current value, and the second current value is the current value of the rotating shaft 124 when the robot arm 122 is located outside the storage bin 115 and the robot arm 122 remains stationary.

[0118] The second current value is the current value at which the rotating shaft 124 can keep the robotic arm 122 in a stationary state, that is, the robotic arm 122 can be kept in a pre-action state. In the pre-action state, the rotating shaft 124 needs to overcome the gravity of the robotic arm 122. The second current value is relatively large. After the robotic arm 122 is stuck, the rotating shaft 124 works with a smaller first current value, so that the driving force provided by the rotating shaft 124 is small and cannot support the robotic arm 122. The user can bend the robotic arm 122 in the first direction so that the robotic arm 122 can release the obstacle.

[0119] When the rotating shaft 124 operates at the second current value, it can be considered that the rotating shaft 124 is not exerting force. In this state, various data of the rotating shaft 124 can still be detected to provide accuracy in controlling the entire mobile robot 100.

[0120] Since there are multiple robotic arms 122, the first robotic arm 122a, the second robotic arm 122b, and the third robotic arm 122c may all follow the method of step S1222.

[0121] In some embodiments, the robotic arm 122 is spaced apart from the main body 110, which means that the robotic arm 122 is at a certain distance from the main body 110. The robotic arm 122 may be another robotic arm 122 other than the first robotic arm 122a, such as the second robotic arm 122b, the third robotic arm 122c, and the like.

[0122] Figure 7 The block diagram of the composition of the robot arm control device 300 provided in the embodiment of the present application is shown. Based on the same inventive concept, the embodiment of the present application also provides a robot arm control device 300, which is applied to the mobile robot 100. The robot arm control device 300 includes:

[0123] The receiver 310 is used to obtain parameter information of the robot arm 122 during the process of returning to the storage bin 115 . The parameter information includes at least one of the current value of the rotating shaft 124 and the arrival signal of the robot arm 122 having returned to the storage bin 115 .

[0124] Among them, step S110 of the robot arm control method provided in the embodiment of the present application can be executed by the receiver 310.

[0125] The controller 320 is used to control the movement of the robot arm 122 according to the parameter information.

[0126] Among them, step S120 of the robot arm control method provided in the embodiment of the present application can be executed by the controller 320.

[0127] Figure 8 FIG. 1 shows a block diagram of a controller 320 of a robot arm control device 300 provided in an embodiment of the present application. Figure 8 As shown, in some embodiments, the controller 320 further includes a first determination unit 321, which is used to determine that the robotic arm 122 is stuck if the current value of the rotating shaft 124 is greater than or equal to a third current value, wherein the third current value is greater than the second current value.

[0128] Among them, step S1211 of the robot arm control method provided in the embodiment of the present application can be executed by the first determination unit 321.

[0129] In some embodiments, the controller 320 further includes a second determination unit 322 , and the second determination unit 322 is configured to determine that the robotic arm 122 is stuck if the robotic arm 122 contacts a side wall of the storage bin 115 .

[0130] Among them, step S1212 of the robot arm control method provided in the embodiment of the present application can be executed by the second determination unit 322.

[0131] In some embodiments, the controller 320 further includes a third determination unit 323, and the third determination unit 323 is used to determine that the robotic arm 122 is stuck if the robotic arm 122 does not return to the storage bin 115 within a set time.

[0132] Among them, step S1213 of the robot arm control method provided in the embodiment of the present application can be executed by the third determination unit 323.

[0133] In some embodiments, the controller 320 further includes a first control unit 324 , and the first control unit 324 is used to control the rotating shaft 124 to drive the robotic arm 122 to rotate in the first direction by a set angle if it is determined based on the parameter information that the robotic arm 122 is stuck.

[0134] Among them, step S1221 of the robot arm control method provided in the embodiment of the present application can be executed by the first control unit 324.

[0135] In some embodiments, the controller 320 further includes a second control unit 325 , and the second control unit 325 is configured to control the rotating shaft 124 to operate at a first current value if it is determined according to the parameter information that the robot arm 122 is stuck.

[0136] Among them, step S1222 of the robot arm control method provided in the embodiment of the present application can be executed by the second control unit 325.

[0137] The specific details of each obstacle control device module mentioned above have been described in detail in the corresponding method, so they will not be repeated here.

[0138] It should be noted that, although several modules or units of the device for execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0139] Based on the same inventive concept, in an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. For example, the electronic device may be an intelligent robot capable of implementing the above method.

[0140] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0141] Refer to the following Fig. 9 The mobile robot 100 according to such an exemplary embodiment of the present disclosure is described, and the mobile robot 100 includes a main body 110 and an extended arm 120 , and an electronic device 800 mounted on the main body 110 . Fig. 9 The electronic device 800 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0142] like Fig. 9 As shown, the electronic device 800 is in the form of a general computing device. The components of the electronic device 800 may include but are not limited to: the at least one processor 810, the at least one memory 820, a bus 830 connecting different system components (including the memory 820 and the processor 810), and a display unit 840.

[0143] The memory stores program codes, which can be executed by the processor 810, so that the processor 810 executes the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processor 810 can execute Figure 5-Figure 6 The steps shown.

[0144] The memory 820 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 821 and / or a cache memory 822 , and may further include a read-only memory (ROM) 823 .

[0145] The memory 820 may also include a program / utility 824 having a set (at least one) of program modules 825, such program modules 825 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0146] Bus 830 may be a bus representing one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0147] The electronic device 800 may also communicate with one or more external devices 900 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 800, and / or communicate with any device that enables the electronic device 800 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 850. Furthermore, the electronic device 800 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 860. As shown, the network adapter 860 communicates with other modules of the electronic device 800 via a bus 830. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 800, including but not limited to: microcode, device spindles, redundant processors, external disk drive arrays, RAID systems, tape spindles, and data backup storage systems.

[0148] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0149] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0150] According to the program product for implementing the above method in the embodiment of the present disclosure, it can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0151] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0152] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0153] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0154] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0155] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0156] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0157] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A robot arm control method, characterized in that: Applied to a mobile robot (100), the mobile robot (100) comprising a main body (110), a mechanical arm (122) and a rotating shaft (124), the main body (110) having a storage bin (115) for storing the mechanical arm (122), the rotating shaft (124) driving the mechanical arm (122) to move; the mechanical arm control method comprising: Acquiring parameter information of the robot arm (122) in the process of returning to the storage bin (115), the parameter information including at least one of a current value of the rotating shaft (124), a clamping signal of the robot arm (122) clamping with the side wall of the storage bin (115), and an in-position signal indicating that the robot arm (122) has returned to the storage bin (115); The action of the robot arm (122) is controlled according to the parameter information.

2. The robot arm control method according to claim 1, characterized in that: The step of controlling the movement of the robot arm (122) according to the parameter information comprises: If it is determined based on the parameter information that the robotic arm (122) is stuck, the rotating shaft (124) is controlled to drive the robotic arm (122) to rotate in a first direction by a set angle, wherein the first direction is the direction in which the robotic arm (122) is deployed.

3. The robot arm control method according to claim 2, characterized in that: The mechanical arm (122) is connected to the main body (110).

4. The robot arm control method according to claim 1, characterized in that: The step of controlling the movement of the robot arm (122) according to the parameter information comprises: If it is determined based on the parameter information that the robotic arm (122) is stuck, the rotating shaft (124) is controlled to operate at a first current value, wherein the first current value is less than a second current value, and the second current value is the current value of the rotating shaft (124) when the robotic arm (122) is located outside the storage bin (115) and the robotic arm (122) remains stationary.

5. The robot arm control method according to claim 4, characterized in that: The mechanical arm (122) is spaced apart from the main body (110).

6. The robot arm control method according to any one of claims 1 to 5, characterized in that: The robot arm control method also includes: If the current value of the rotating shaft (124) is greater than or equal to a third current value, it is determined that the robot arm (122) is stuck, wherein the third current value is greater than the second current value.

7. The robot arm control method according to any one of claims 1 to 5, characterized in that: The robot arm control method also includes: If the robotic arm (122) contacts the side wall of the storage bin (115), it is determined that the robotic arm (122) is stuck.

8. The robot arm control method according to claim 7, characterized in that: The cleaning device further comprises a first detection member (130), wherein the first detection member (130) is arranged on a side wall of the storage bin (115), and if the first detection member (130) is triggered, it indicates that the robot arm (122) is in contact with the side wall of the storage bin (115).

9. The robot arm control method according to any one of claims 1 to 5, characterized in that: The robot arm control method also includes: If the robotic arm (122) does not return to the storage bin (115) within a set time, it is determined that the robotic arm (122) is stuck.

10. The robot arm control method according to claim 9, characterized in that: The robotic arm (122) is provided with a second detection component (140), and if the second detection component (140) is triggered, it indicates that the robotic arm (122) is returning to the warehouse.

11. The robot arm control method according to claim 10, characterized in that: There are multiple robotic arms (122), and during the process of the robotic arm (122) returning to the storage bin (115), the bottom wall of the storage bin (115) or the adjacent robotic arm (122) triggers the second detection component (140).

12. A robot arm control device, applied to a mobile robot (100), the mobile robot (100) comprising a main body (110), a robot arm (122) and a rotating shaft (124), the main body (110) having a storage bin (115) for storing the robot arm (122), the rotating shaft (124) driving the robot arm (122) to move; the robot arm control method comprising: a receiver (310) for acquiring parameter information of the robot arm (122) in the process of returning to the storage bin (115), the parameter information comprising at least one of a current value of the rotating shaft (124) and a signal indicating that the robot arm (122) has returned to the storage bin (115); A controller (320) is used to control the movement of the robot arm (122) according to the parameter information.

13. The robot arm control device according to claim 12, characterized in that: The controller (320) includes a first control unit (324), and the first control unit (324) is used to control the rotating shaft (124) to drive the robotic arm (122) to rotate in a first direction to a set angle if it is determined based on the parameter information that the robotic arm (122) is stuck, wherein the first direction is the direction in which the robotic arm (122) is deployed.

14. The robot arm control device according to claim 13, characterized in that: The controller (320) includes a second control unit (325), and the second control unit (325) is used to control the rotating shaft (124) to operate at a first current value if it is determined based on the parameter information that the robotic arm (122) is stuck, wherein the first current value is smaller than a second current value, and the second current value is the current value of the rotating shaft (124) when the robotic arm (122) is located outside the storage bin (115) and the robotic arm (122) remains stationary.

15. The robot arm control device according to claim 13, characterized in that: The controller (320) comprises a first determination unit (321), wherein the first determination unit (321) is used to determine that the robot arm (122) is stuck if the current value of the rotating shaft (124) is greater than or equal to a third current value, wherein the third current value is greater than the second current value.

16. The robot arm control device according to claim 13, characterized in that: The controller (320) includes a second determination unit (322), and the first determination unit (322) is used to determine whether the robotic arm (122) is stuck if the robotic arm (122) contacts the side wall of the storage bin (115).

17. The robot arm control device according to claim 13, characterized in that: The controller (320) includes a third determination unit (323), and the third determination unit (323) is used to determine that the robotic arm (122) is stuck if the robotic arm (122) has not returned to the storage bin (115) within a set time.

18. A computer storage medium, characterized in that: The computer-readable storage medium stores program codes, which are loaded and executed by a processor to implement the method according to any one of claims 1 to 11.

19. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 1 to 11.

20. A mobile robot, characterized in that: include: Memory, for storing computer programs; A processor, used to execute a computer program stored in the memory to implement the robot arm control method as described in any one of claims 1-11.

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