Overweight detection method and device and self-moving cleaning equipment

Abstract

The embodiment of the invention is applicable to the technical field of smart home, and provides an overweight detection 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 a self-moving chassis, the mechanical arm is mounted on the self-moving chassis, and the mechanical arm is mounted on the self-moving chassis. The method comprises the steps that the mechanical arm is controlled to execute object grabbing operation; acquiring current data and / or chassis state information of the self-moving cleaning equipment; wherein the current data comprises the current of a driving motor of a specified joint of the mechanical arm, and the chassis state information is the position relation of the self-moving chassis relative to a moving plane; and according to the current data and / or the chassis state information, whether the object grabbed by the mechanical arm is overweight or not is determined. Through the method, whether the object grabbed by the mechanical arm is overweight or not can be detected, and therefore the mechanical arm is prevented from being damaged.

Description

Technical Field

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

[0002] The robotic arm can grab objects and thus change their position. For example, the robotic arm on a household robot can grab objects and thus organize household items for easier household cleaning.

[0003] The load-bearing capacity of the robotic arm is limited. When using the robotic arm to grab an object, if the object is too heavy, the robotic arm will be damaged due to excessive load, the object will fall, the chassis will tilt forward or the center of gravity will be unstable, etc., affecting the execution of subsequent tasks. Summary of the invention

[0004] In view of this, the embodiments of the present application provide an overweight detection method, device and self-moving cleaning equipment to detect whether the object grasped by the robotic arm is overweight, thereby avoiding damage to the robotic arm.

[0005] A first aspect of an embodiment of the present application provides an overweight detection method, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device comprises a mechanical arm and a self-moving chassis, wherein the mechanical arm is mounted on the self-moving chassis, and the method comprises:

[0006] Controlling the robotic arm to perform an operation of grasping an object;

[0007] Acquire current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of the specified joint of the robot arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane;

[0008] Whether the object grasped by the robot arm is overweight is determined according to the current data and / or the chassis status information.

[0009] A second aspect of an embodiment of the present application provides an overweight detection device, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device comprises a mechanical arm and a self-moving chassis, wherein the mechanical arm is mounted on the self-moving chassis, and the device comprises:

[0010] A grasping module, used to control the robot arm to perform the operation of grasping an object;

[0011] An acquisition module, used to acquire current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of the specified joint of the robot arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane;

[0012] A determination module is used to determine whether the object grasped by the robot arm is overweight according to the current data and / or the chassis status information.

[0013] 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, the self-moving cleaning device comprising a robotic arm and a self-moving chassis, the robotic arm being mounted on the self-moving chassis, and the processor implementing the method described in the first aspect above when executing the computer program.

[0014] 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.

[0015] 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.

[0016] Compared with the prior art, the embodiments of the present application have the following advantages:

[0017] By using the method in the embodiment of the present application, it is possible to determine whether the object grasped by the robot arm is overweight. After the self-mobile cleaning device controls the robot arm to perform the operation of grasping the object, the current data and / or chassis status information of the self-mobile cleaning device can be used to determine whether the object grasped by the robot arm is overweight. Wherein, the current data includes the current of the drive motor of the designated joint of the robot arm, and the designated joint is used to change the posture of the robot arm. In the process of changing the posture of the robot arm, the drive motor of the designated joint outputs torque, so that the robot arm can overcome the gravity of the object. When the gravity that the designated joint needs to overcome is greater, the corresponding output torque of the drive motor is higher. The output torque of the drive motor has a positive correlation with the current, therefore, the greater the current of the drive motor, the higher the output torque of the drive motor can be indicated, that is, the greater the gravity that the designated joint needs to overcome. The gravity that the designated joint needs to overcome comes from the weight of the object, therefore, the current of the drive motor of the designated joint can be used to determine whether the object is overweight. In addition, when the object grasped by the robot arm is overweight, it will cause the center of gravity of the self-mobile cleaning device to be unstable, thereby causing the self-mobile chassis to produce an offset relative to the moving plane. The above chassis status information is the positional relationship of the self-moving chassis relative to the moving plane. Therefore, based on the chassis status information, it can be determined whether the object is overweight. The method in the embodiment of the present application can determine whether the object grasped by the robot arm is overweight in at least one way, thereby avoiding damage to the robot arm or falling of the object, and improving the operating stability and safety of the self-moving cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 is a schematic diagram of a self-moving cleaning device provided in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the steps of an overweight detection method provided in an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of the steps of another overweight detection method provided in an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of an overweight detection device provided in an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of another self-moving cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] The overweight 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.

[0027] 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 first connecting rod is connected between the second joint M2 and the third joint M3; a second connecting rod is connected between the third joint M3 and the fourth joint M4; a third 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.

[0028] 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.

[0029] Each joint of the robot arm can be driven by a corresponding drive motor. By controlling the drive motor, the self-moving cleaning device can drive each joint to rotate, thereby controlling the robot arm to change its posture.

[0030] When the self-moving cleaning device uses a robotic arm to grasp an object, the grasping point of the object can be calculated. Based on the grasping point, the target angle of each joint when the end gripper reaches the grasping point of the object can be calculated. Based on the target angle of each joint, the self-moving cleaning device can control each drive motor to operate, thereby changing the posture of the robotic arm so that the end gripper of the robotic arm can reach the grasping point of the object. After reaching the grasping point, the end gripper can clamp the object by closing. After the end gripper grasps the object, the third and fourth joints of the robotic arm can be controlled to rotate, thereby lifting the object.

[0031] The load-bearing capacity of the robot arm is limited. If the object is too heavy, the robot arm will be damaged due to excessive load, causing economic losses to the user. It may also cause the object to fall and be damaged. It may also cause the chassis to tilt forward or the center of gravity to be unstable, making the self-propelled cleaning equipment unstable or overturning.

[0032] Based on this, an embodiment of the present application provides an overweight detection method for determining whether an object grasped by a robotic arm is overweight.

[0033] The technical solution of the present application is described below through specific embodiments.

[0034] Reference Figure 2 , shows a schematic flow chart of the steps of an overweight detection method provided in an embodiment of the present application, which may specifically include the following steps:

[0035] S201, controlling the robotic arm to perform an operation of grasping an object.

[0036] The execution subject of this embodiment is the self-moving cleaning device mentioned above. The self-moving cleaning device can be a sweeping and mopping machine with a mechanical arm, a household robot with a mechanical arm, etc. The specific type of the self-moving cleaning device is not limited in this embodiment of the application.

[0037] When the self-mobile cleaning device needs to organize and store objects or clean the ground covered by objects during the cleaning task, it can grab objects. When grabbing objects, the self-mobile cleaning device can control the robotic arm to perform the operation of grabbing objects. The self-mobile cleaning device can drive the third joint and the fourth joint of the robotic arm to rotate, thereby changing the posture of the end gripper. When the end gripper reaches the gripping point of the object, the self-mobile cleaning device can control the fifth joint to rotate and change the direction of the end gripper. When the direction of the end gripper reaches the specified direction, the end gripper can be controlled to close so that the robotic arm can grab the object.

[0038] After gripping the object, the self-moving cleaning device can drive the third joint and the fourth joint of the robot arm to rotate, thereby lifting the object to a specified position. During the lifting process, it can be detected whether the object gripped by the robot arm is overweight.

[0039] S202, obtaining current data and / or chassis status information of the self-moving cleaning device.

[0040] The current data includes the current of the drive motor of the designated joint of the robot arm. The designated joint is a joint used to change the position of the end gripper of the robot arm. The robot arm may include one or more designated joints. As an example, the designated joint may be Figure 1 The second joint M2, the third joint M3 and the fourth joint M4 in the robot arm are shown. The above current data may include the current of the driving motor of the third joint and the current of the driving motor of the fourth joint.

[0041] The above chassis state information is the positional relationship of the self-moving chassis relative to the moving plane. The chassis state information can be represented by the angle between the bottom surface of the self-moving chassis and the moving plane, or the chassis state information can be represented by the change in the angle between the bottom surface of the self-moving chassis and the moving plane before and after the operation of grabbing the object.

[0042] The self-moving cleaning device can obtain the roll angle and / or pitch angle of the self-moving chassis, so as to determine the angle between the bottom surface of the self-moving chassis and the moving plane. The roll angle refers to the angle of rotation of the self-moving chassis around its longitudinal axis. The pitch angle refers to the angle of rotation of the self-moving chassis around its transverse axis, where the transverse axis is an axis perpendicular to the longitudinal axis and located in the symmetry plane of the object. For example, the straight line corresponding to the forward direction of the self-moving chassis can be the longitudinal axis of the self-moving chassis. The roll angle and / or pitch angle can be determined by sensors, such as visual sensors, laser radars, etc.

[0043] As an example, the self-moving cleaning device may have an inertial measurement unit, through which the roll angle and / or pitch angle of the self-moving cleaning device may be obtained. The inertial measurement unit can sense the motion state and posture changes of the self-moving chassis in space in real time through built-in sensors such as accelerometers and gyroscopes. For example, the accelerometer can detect the components of gravity acceleration in different axes, thereby calculating the tilt angle of the self-moving chassis; the gyroscope accurately tracks the rotation of the self-moving chassis by measuring the angular velocity. The method of determining the roll angle and / or pitch angle based on the inertial measurement unit can refer to the prior art and will not be repeated here.

[0044] S203: Determine whether the object grasped by the robot arm is overweight according to the current data and / or the chassis status information.

[0045] The self-propelled cleaning device can determine whether the object grasped by the robot arm is overweight based on the current of the drive motor of the specified joint. Each specified joint can have a corresponding first current threshold. When the current of the drive motor of any specified joint is greater than the corresponding first current threshold and the duration is greater than a preset time threshold, it can be determined that the object grasped by the robot arm is overweight.

[0046] As an example, specifying a joint could be Figure 1 The second joint M2, the third joint M3 and the fourth joint M4 in the robot arm are shown. The above current data may include the current of the driving motor of the third joint and the current of the driving motor of the fourth joint.

[0047] After the robotic arm grabs the object, the self-moving cleaning device can monitor the current of the drive motor of the second joint, the current of the drive motor of the third joint, and the current of the drive motor of the fourth joint, thereby determining whether the object grabbed by the robotic arm is overweight based on the current of the drive motor of the third joint and the current of the drive motor of the fourth joint.

[0048] When the current of the driving motor of the second joint, the third joint and / or the fourth joint is greater than the corresponding first current threshold and the duration is greater than the preset time threshold, it is determined that the object grasped by the robotic arm is overweight.

[0049] For example, when it is detected that the current of the driving motor of the second joint is greater than the corresponding first current threshold, the duration that the current of the driving motor of the second joint is greater than the corresponding first current threshold can be counted. If the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0050] For example, when it is detected that the current of the driving motor of the third joint is greater than the corresponding first current threshold, the duration that the current of the driving motor of the third joint is greater than the corresponding first current threshold can be counted. If the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0051] For example, when it is detected that the current of the driving motor of the fourth joint is greater than the corresponding first current threshold, the duration that the current of the driving motor of the fourth joint is greater than the corresponding first current threshold can be counted. If the duration is greater than the preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0052] Exemplarily, if the duration of the current of the driving motor of the third joint being greater than the corresponding first current threshold is greater than the preset time threshold; and the duration of the current of the driving motor of the fourth joint being greater than the corresponding first current threshold is greater than the preset time threshold, it is determined that the object grasped by the robotic arm is overweight.

[0053] Among them, the first current threshold corresponding to the third joint and the first current threshold corresponding to the fourth joint may be the same or different. The first current threshold corresponding to the third joint and the first current threshold corresponding to the fourth joint can be obtained by testing in advance. Based on the test, the correspondence between the output current of the specified joint and overcoming gravity can be determined, so that the first current threshold corresponding to the specified joint can be determined according to the maximum weight that the specified joint can bear. The method of obtaining the current of the drive motor can refer to the prior art and will not be repeated here. As an example, the above-mentioned preset time threshold can be 100ms.

[0054] Since the output torque and current of the drive motor are positively correlated, the greater the current of the drive motor, the greater the torque output by the drive motor, and thus the greater the gravity that the specified joint can overcome. Therefore, in this embodiment, it is possible to determine whether the object grasped by the robot arm is overweight by the current of the drive motor of the specified joint.

[0055] The self-moving cleaning device can also determine whether the object grasped by the robotic arm is overweight based on the chassis status information.

[0056] In a possible implementation, when there is an angle greater than a predetermined threshold between the bottom surface of the self-moving chassis and the moving plane, it is determined that the object grasped by the robot arm is overweight. For example, the predetermined threshold may be 1.5 degrees. When the roll angle is greater than 1.5 degrees, the pitch angle is greater than 1.5 degrees, or the angle formed by the combination of the roll angle and the pitch angle and the moving plane is greater than 1.5 degrees, it can be determined that the object grasped by the robot arm is overweight. Among them, it is determined by the design requirements of the self-moving chassis and the actual working environment, and it represents the range of posture changes allowed by the chassis under normal working conditions.

[0057] In another possible implementation, when the amount of change in the roll angle and / or the amount of change in the pitch angle of the mobile chassis before and after the operation of grasping the object is greater than the corresponding predetermined amount of change, it is determined that the object grasped by the robot arm is overweight. For example, the predetermined amount of change may be 1.5 degrees, and when the amount of change in the roll angle is greater than 1.5 degrees, the amount of change in the pitch angle is greater than 1.5 degrees, or the amount of change in the angle formed by the combination of the roll angle and the pitch angle is greater than 1.5 degrees, it may be determined that the object grasped by the robot arm is overweight.

[0058] When the object grasped by the robot arm is overweight, the center of gravity of the self-moving cleaning device shifts upward, resulting in an unstable center of gravity. When the center of gravity is unstable, the self-moving chassis is prone to lose balance, so that there may be an angle between the self-moving chassis and the moving plane. Therefore, it is possible to judge whether the object grasped by the robot arm is overweight based on the angle between the self-moving chassis and the moving plane.

[0059] In an embodiment of the present application, the current data can be used alone to determine whether the object grasped by the robot arm is overweight, the chassis status information can be used alone to determine whether the object grasped by the robot arm is overweight, or the current data and the chassis status information can be used together to determine whether the object grasped by the robot arm is overweight. For example, after grasping the object, the current of the drive motor of the third joint, the current of the drive motor of the fourth joint, and the angle between the bottom surface of the self-moving chassis and the moving plane can be monitored. When the current of the drive motor of the third joint is greater than the first current threshold for a duration exceeding a preset time threshold, the current of the drive motor of the fourth joint is greater than the first current threshold for a duration exceeding a preset time threshold, or there is an angle greater than the preset threshold between the bottom surface of the self-moving chassis and the moving plane, it can be determined that the object grasped by the robot arm is overweight.

[0060] It is understandable that the self-moving cleaning device can grasp the object through the mechanical arm, and after grasping the object, the mechanical arm needs to realize the change of the posture of the object by rotating the designated joint. The designated joint has a corresponding drive motor. When the mechanical arm grasps and lifts the object, the torque output by the drive motor needs to overcome the gravity of the object so that the object can be lifted and kept at a certain height. When the gravity that the designated joint needs to overcome is greater, the output torque of the corresponding drive motor is higher. The output torque of the drive motor has a positive correlation with the current. Therefore, the greater the current of the drive motor, the higher the output torque of the drive motor, that is, the greater the gravity that the designated joint needs to overcome. The gravity that the designated joint needs to overcome comes from the weight of the object, so the current of the drive motor can be used to detect whether the object is overweight. When the current of the drive motor is greater than the current threshold, it can be indicated that the gravity that the designated joint needs to overcome is too high, that is, the object is overweight. The embodiment of the present application can determine whether the gravity that the designated joint needs to overcome is too high according to the current of the designated joint drive motor, thereby determining that the object grasped by the mechanical arm is overweight. Whether the object is overweight can be judged in time based on the current of the driving motor, and timely processing can be performed when the object is overweight, thereby avoiding damage to the specified joints and protecting the specified joints.

[0061] When lifting an object through multiple designated joints, each designated joint is used to overcome the gravity of the object. The gravity that each designated joint needs to overcome is not equal to the gravity of the object. Therefore, judging whether the object is overweight based on the gravity of the object alone does not conform to the actual application scenario. The embodiment of the present application can determine whether the pressure overcome by each designated joint is overweight by determining whether the motor current of the designated joint is too large, thereby making the judgment of the object overweight more accurate and facilitating timely protection of the designated joint.

[0062] This embodiment timely monitors whether the object grasped by the robot arm is overweight through current data and chassis offset status, thereby timely monitoring the overweight situation, avoiding damage to the robot arm, and preventing the object from being dropped, thereby ensuring that the self-moving cleaning equipment can run smoothly.

[0063] Reference Figure 3 , shows a schematic flow chart of another overweight detection method provided in an embodiment of the present application, which may specifically include the following steps:

[0064] S301, controlling the robotic arm to perform an operation of grabbing an object.

[0065] The execution subject of this embodiment is the first cleaning device mentioned above. S301 of this embodiment can refer to S201 of the previous embodiment, and will not be repeated here.

[0066] S302, obtaining the current of the driving motor corresponding to the opening and closing axis.

[0067] The opening and closing shaft of the end clamp has a corresponding drive motor, which can drive the end clamp to open or close. The self-moving cleaning device can monitor the current of the drive motor corresponding to the opening and closing shaft to determine whether the end clamp has performed a grasping operation.

[0068] S303: If the current of the driving motor corresponding to the opening and closing axis is greater than the corresponding second current threshold, it is determined that the end clamp has performed a grasping operation.

[0069] If the current of the drive motor corresponding to the opening and closing axis is greater than the corresponding second current threshold, it can be determined that the end clamp has performed the grasping operation. After determining that the end clamp has performed the grasping operation, it can be detected whether the grasped object is overweight.

[0070] S304, obtaining current data and / or chassis status information of the self-moving cleaning device.

[0071] The current data includes the current of the driving motor of the designated joint of the robotic arm, and the chassis state information is the positional relationship of the self-moving chassis relative to the moving plane.

[0072] S305: Determine whether the object grasped by the robot arm is overweight according to the current data and / or the chassis status information.

[0073] S304-S305 of this embodiment may refer to S202-S203 of the previous embodiment, and will not be described in detail here.

[0074] After determining that the object grasped by the robot arm is overweight, the robot arm can be controlled to place the object, thereby avoiding damage to the robot arm and preventing the object from being dropped during movement, thereby protecting the object and the robot arm from damage. For example, the third joint and the fourth joint can be driven to rotate, so that the end gripper reaches the placement point of the ground attachment, and then the end gripper is driven to open, thereby placing the object.

[0075] Before performing the overweight detection, this embodiment can first determine whether the end gripper performs a grabbing operation. After the end gripper has performed the grabbing operation, the object overweight detection is performed through the current of the drive motor of the specified joint and the angle between the self-moving chassis and the moving plane. Based on this, when the end gripper does not perform the grabbing operation, data detection and judgment of whether the object is overweight can be omitted, thereby avoiding useless work of the self-moving cleaning equipment. If the object grasped by the robotic arm is overweight, the robotic arm can stop grasping and placing the object to avoid damage to the robotic arm due to excessive load, or causing the object to fall, the chassis to tilt forward or the center of gravity to be unstable, etc., thereby improving the safety and reliability of the robotic arm grasping the object and ensuring the operational stability and safety of the self-moving cleaning equipment.

[0076] 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.

[0077] Reference Figure 4 , shows a schematic diagram of an overweight detection device provided in an embodiment of the present application, the overweight detection device is applied to a self-moving cleaning device, the self-moving cleaning device includes a mechanical arm and a self-moving chassis, the mechanical arm is installed on the self-moving chassis, the overweight detection device may specifically include a grasping module 41, an acquisition module 42 and a determination module 43, wherein:

[0078] A grasping module 41 is used to control the robot arm to grasp an object;

[0079] An acquisition module 42 is used to acquire current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of the specified joint of the robot arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane;

[0080] The determination module 43 is used to determine whether the object grasped by the robot arm is overweight according to the current data and / or the chassis status information.

[0081] In a possible implementation, the mechanical arm includes a plurality of the designated joints, and the determination module 43 includes:

[0082] The first judgment submodule is used to determine that the object grasped by the robot arm is overweight if the current of the driving motor of any of the specified joints is greater than the corresponding first current threshold and the duration is greater than a preset time threshold.

[0083] In a possible implementation, the robotic arm includes a first joint, a second joint, a third joint, a fourth joint, and a fifth joint;

[0084] The designated joints include the second joint, the third joint, and the fourth joint;

[0085] A first connecting rod is connected between the second joint and the third joint;

[0086] A second connecting rod is connected between the third joint and the fourth joint;

[0087] A third connecting rod is connected between the fourth joint and the fifth joint.

[0088] In a possible implementation, the determining module 43 includes:

[0089] An angle determination submodule, used to determine whether there is an angle greater than a predetermined threshold between the bottom surface of the self-moving chassis and the moving plane, or whether there is a change in the angle greater than a predetermined threshold before and after the operation of grabbing the object;

[0090] The second judgment submodule is used to determine whether the object grasped by the robot arm is overweight according to the judgment result.

[0091] In a possible implementation, the angle determination submodule includes:

[0092] An angle acquisition unit, used to acquire the roll angle and / or pitch angle of the self-moving chassis, or acquire the change amount of the roll angle and / or the change amount of the pitch angle of the self-moving chassis before and after the operation of grabbing the object;

[0093] The judgment unit is used to determine whether the roll angle and / or the pitch angle are respectively greater than the corresponding preset angles; or determine whether the change amount of the roll angle and / or the change amount of the pitch angle is greater than the corresponding predetermined change amount.

[0094] In a possible implementation manner, the self-moving chassis is equipped with an inertial measurement unit, and the inertial measurement unit is used to obtain a roll angle and / or a pitch angle of the self-moving chassis.

[0095] In a possible implementation, the mechanical arm includes an end gripper, the end gripper has a corresponding opening and closing axis, a drive motor corresponding to the opening and closing axis is used to drive the end gripper to open or close, and the end gripper is used to grasp the object, and the device further includes:

[0096] An opening and closing axis current acquisition module, used to acquire the current of the drive motor corresponding to the opening and closing axis;

[0097] The grasping judgment module is used to determine that the end clamp has performed a grasping operation if the current of the driving motor corresponding to the opening and closing axis is greater than the corresponding second current threshold.

[0098] 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.

[0099] Figure 5 This is a schematic diagram of the structure of another self-moving cleaning device provided in an embodiment of the present application. Figure 5 As shown, the self-moving cleaning device 500 of this embodiment includes: at least one processor 50 ( Figure 5Only one is shown in the figure), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the processor 50 implements the steps of any of the above-mentioned method embodiments when executing the computer program 52.

[0100] The self-moving cleaning device 500 may be a household robot or a sweeping robot with a mechanical arm. The self-moving cleaning device may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 This is merely an example of the self-moving cleaning device 500 and does not constitute a limitation on the self-moving cleaning device 500. The self-moving cleaning device 500 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.

[0101] The processor 50 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.

[0102] The memory 51 can be the internal storage unit of the self-mobile cleaning device 500 in some embodiments, such as the hard disk or memory of the self-mobile cleaning device 500. The memory 51 can also be the external storage device of the self-mobile cleaning device 500 in other embodiments, such as the plug-in hard disk equipped on the self-mobile cleaning device 500, the smart memory card (Smart Media Card, SMC), the secure digital (Secure Digital, SD) card, the flash card (FlashCard) etc. Further, the memory 51 can also include both the internal storage unit of the self-mobile cleaning device 500 and the external storage device. The memory 51 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 51 can also be used to temporarily store data that has been output or is about to be output.

[0103] 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.

[0104] 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.

[0105] 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. An overweight detection method, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device comprises a mechanical arm and a self-moving chassis, the mechanical arm is mounted on the self-moving chassis, the method comprises: Controlling the robotic arm to perform an operation of grasping an object; Acquire current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of the specified joint of the robot arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; Whether the object grasped by the robot arm is overweight is determined according to the current data and / or the chassis status information.

2. The method according to claim 1, characterized in that The robotic arm includes a plurality of the designated joints, and determining whether the object grasped by the robotic arm is overweight according to the current data and / or the chassis state information includes: If the current of the driving motor of any of the designated joints is greater than the corresponding first current threshold and the duration is greater than the preset time threshold, it is determined that the object grasped by the robotic arm is overweight.

3. The method according to claim 1 or 2, characterized in that The robotic arm comprises a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; The designated joints include the second joint, the third joint and the fourth joint; 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.

4. The method according to claim 1 or 2, characterized in that: The determining, according to the current data and / or the chassis status information, whether the object grasped by the robot arm is overweight comprises: Determine whether there is an angle between the self-moving chassis and the moving plane that is greater than a predetermined threshold, or whether there is a change in the angle before and after the operation of grabbing the object that is greater than a predetermined threshold; According to the determination result, it is determined whether the object grasped by the robot arm is overweight.

5. The method according to claim 4, characterized in that The determining whether there is an angle between the self-moving chassis and the moving plane that is greater than a predetermined threshold, or whether there is a change in the angle before and after the operation of grabbing the object that is greater than a predetermined threshold, includes: Acquiring a roll angle and / or a pitch angle of the self-moving chassis, or acquiring a change in the roll angle and / or a change in the pitch angle of the self-moving chassis before and after an operation of grabbing an object; Determine whether the roll angle and / or the pitch angle are respectively greater than the corresponding preset angles; or, determine whether the change amount of the roll angle and / or the change amount of the pitch angle is greater than the corresponding predetermined change amount.

6. The method according to claim 5, characterized in that The self-moving chassis is equipped with an inertial measurement unit, and the inertial measurement unit is used to obtain the roll angle and / or pitch angle of the self-moving chassis.

7. The method according to any one of claims 1-2 or 5-6, characterized in that: The mechanical arm includes an end clamp, the end clamp has a corresponding opening and closing axis, the drive motor corresponding to the opening and closing axis is used to drive the end clamp to open or close, and the end clamp is used to grasp the object. Before obtaining the current data and / or chassis status information of the self-moving cleaning device, the method also includes: Obtaining the current of the driving motor corresponding to the opening and closing axis; If the current of the driving motor corresponding to the opening and closing axis is greater than the corresponding second current threshold, it is determined that the end clamp has performed a grasping operation.

8. An overweight detection device, characterized in that: Applied to a self-moving cleaning device, the self-moving cleaning device comprises a mechanical arm and a self-moving chassis, the mechanical arm is mounted on the self-moving chassis, and the device comprises: A grasping module, used to control the robot arm to perform the operation of grasping an object; An acquisition module, used to acquire current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of the specified joint of the robot arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; A determination module is used to determine whether the object grasped by the robot arm is overweight according to the current data and / or the chassis status information.

9. The device according to claim 8, characterized in that The robotic arm includes a plurality of the specified joints, and the determination module includes: The first judgment submodule is used to determine that the object grasped by the robot arm is overweight if the current of the driving motor of any of the specified joints is greater than the corresponding first current threshold and the duration is greater than a preset time threshold.

10. The device according to claim 8 or 9, characterized in that The robotic arm comprises a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; The designated joints include the second joint, the third joint, and the fourth joint; 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.

11. The device according to claim 8 or 9, characterized in that The determining module comprises: An angle determination submodule, used to determine whether there is an angle between the self-moving chassis and the moving plane that is greater than a predetermined threshold, or whether there is a change in the angle before and after the operation of grabbing the object that is greater than a predetermined threshold; The second judgment submodule is used to determine whether the object grasped by the robotic arm is overweight according to the judgment result.

12. The device according to claim 11, characterized in that The angle determination submodule comprises: An angle acquisition unit, used to acquire the roll angle and / or pitch angle of the self-moving chassis, or acquire the change amount of the roll angle and / or the change amount of the pitch angle of the self-moving chassis before and after the operation of grabbing the object; The judgment unit is used to determine whether the roll angle and / or the pitch angle are respectively greater than the corresponding preset angles; or, determine whether the change amount of the roll angle and / or the change amount of the pitch angle is greater than the corresponding predetermined change amount.

13. The device according to claim 12, characterized in that The self-moving chassis is equipped with an inertial measurement unit, and the inertial measurement unit is used to obtain the roll angle and / or pitch angle of the self-moving chassis.

14. The device according to any one of claims 8-9 or 12-13, characterized in that: The mechanical arm includes an end clamp, the end clamp has a corresponding opening and closing axis, the drive motor corresponding to the opening and closing axis is used to drive the end clamp to open or close, and the end clamp is used to grasp the object. The device also includes: An opening and closing axis current acquisition module, used to acquire the current of the drive motor corresponding to the opening and closing axis; The grasping judgment module is used to determine that the end clamp has performed a grasping operation if the current of the driving motor corresponding to the opening and closing axis is greater than the corresponding second current threshold.

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 mechanical arm and a self-moving chassis, wherein the mechanical arm is mounted on the self-moving chassis, 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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