Mobile equipment control method and device, mobile equipment and storage medium

Abstract

The invention provides a control method and device of mobile equipment, the mobile equipment and a storage medium, and relates to the field of smart home. The mobile equipment comprises an equipment body and a mechanical arm arranged on the equipment body, the equipment body is further provided with an emergency stop module, and the control method comprises the steps that when it is detected that the emergency stop module is pressed and the mechanical arm is in a working action or a reset action, the mechanical arm is controlled to enter an emergency stop state; wherein in the sudden stop state, the mechanical arm is powered off, or the mechanical arm is electrified and keeps the current pose. According to the embodiment of the invention, when a user uses related functions of the mechanical arm, sudden stop of the key can be realized at any time, emergency situations can be intervened and handled in time, damage to surrounding pets, people, articles and facilities due to out-of-control of the mobile equipment can be avoided, the safety of the pets, people and properties is protected, the use safety of the equipment is improved, and the user experience is improved. And the damage to the movable equipment is also avoided.

Description

Technical Field

[0001] The present application relates to the field of smart home, and in particular to a control method and device for a mobile device, a mobile device, and a readable storage medium. Background Art

[0002] Compared to traditional cleaning robots, new household robots, with their relatively flexible and wide-ranging robotic arms, offer a wider range of applications, such as obstacle removal during cleaning and item organization, solving more household chores for users. However, this also raises safety concerns for users, especially those with pets or children. If a household robot encounters an emergency, such as pausing and becoming unresponsive, uncontrolled robotic arm movement could cause harm to pets, people, or furniture. Summary of the Invention

[0003] In view of this, the present application provides a control method and device for a movable device, a movable device and a readable storage medium, which solve the problem of uncontrolled movement of a robotic arm when there is no response when it is paused.

[0004] In a first aspect, an embodiment of the present application provides a control method for a movable device, wherein the movable device includes a device body and a robotic arm disposed on the device body, and the device body is further provided with an emergency stop module, the method comprising:

[0005] When it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered and maintains the current posture.

[0006] In a second aspect, an embodiment of the present application provides a control device for a movable device, the movable device comprising a device body and a robotic arm disposed on the device body, the device body further being provided with an emergency stop module, the device comprising:

[0007] A detection module, used to detect whether the emergency stop module is pressed;

[0008] The control module is used to detect that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, and then control the robotic arm to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered and maintains the current posture.

[0009] In a third aspect, an embodiment of the present application provides a removable device comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

[0010] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of the method of the first aspect are implemented.

[0011] The embodiments of the present application provide a control method, device, removable device and readable storage medium for a movable device. When it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered and maintains the current posture. In the embodiments of the present application, when the user is using the functions related to the robotic arm, the user can press the button to perform an emergency stop at any time, thereby achieving timely intervention to handle emergencies, and preventing the movable device from causing damage to surrounding pets, people, objects, and facilities due to loss of control, thereby protecting the safety of pets, people and property, improving the safety of equipment use, and also avoiding damage to the movable device.

[0012] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0014] Figure 1 One of the structural schematic diagrams of a mobile device according to an embodiment of the present application is shown;

[0015] Figure 2 A second structural diagram of a mobile device according to an embodiment of the present application is shown;

[0016] Figure 3 A schematic flow chart showing a method for controlling a mobile device according to an embodiment of the present application is shown;

[0017] Figure 4 A structural block diagram of a control device for a mobile device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0019] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0020] The control method, device, removable device and readable storage medium provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0021] The embodiment of the present application provides a movable device, which can be a household robot, a cleaning device, etc. Figure 1 and Figure 2 As shown, the movable device includes a device body 101 and a robotic arm 104 mounted on the device body 101, and also includes a walking assembly mounted on the device body 101, the walking assembly including walking wheels 102 and universal wheels 103. The device body 101 can realize linear motion along the x-axis and y-axis directions of the plane, linear motion along the z-axis direction, and rotation along the z-axis direction through the walking wheels 102 and universal wheels 103. The linear motion of the device body 101 along the z-axis direction, that is, the adjustment of the height of the device body 101 from the ground, can be achieved through the walking wheels 102 and / or universal wheels 103. The walking wheels 102 and universal wheels 103 can be raised and lowered separately or together, thereby achieving the adjustment of the height of the device body 101 from the ground.

[0022] The device body 101 is provided with a housing 105 for accommodating a robotic arm 104. The distal end of the robotic arm 104 of the mobile device is provided with a gripper. The robotic arm 104 includes multiple rotating shafts and connecting rods. The number of rotating shafts determines the flexibility of the robotic arm 104. The robotic arm 104 can have multiple degrees of freedom, such as three, four, or five degrees of freedom. The specific number of degrees of freedom is not specifically limited in this application.

[0023] In one embodiment, the robot arm 104 includes a rotation axis M1, a rotation axis M2, a rotation axis M4, a rotation axis M5, wherein the rotation axis M1 can drive the robot arm 104 to rotate left or right as a whole ( Figure 1The direction of rotation of the shaft M2 is the same as that of the shaft M4 and the shaft M5. The shaft M1 and the shaft M2 are mainly responsible for the robot arm 104 to go out of the warehouse and return to the warehouse. After the robot arm 104 goes out of the warehouse, the shaft M1 and the shaft M2 maintain a fixed angle. A warehouse body 105 for recovering the robot arm 104 can be provided on the device body 101. The robot arm 104 can be folded and stored back in the warehouse body 105. This state is that the robot arm 104 is in the warehouse. When the robot arm is unfolded, it can be extended from the warehouse body 105. This state is that the robot arm 104 is out of the warehouse. The shaft M4 and the shaft M5 determine the position of the gripper of the robot arm 104 in space. The shaft M5 is the spin joint of the gripper, which determines the posture of the gripper.

[0024] In one embodiment, the movable device also includes a camera (not shown in the figure) installed on the device body 101 and / or a camera (not shown in the figure) installed on the device body 101. The camera can be used to identify objects. After the object is identified, the object can be clamped and moved with the assistance of the robotic arm 104.

[0025] Features of removable devices include:

[0026] (1) Auxiliary floor cleaning function

[0027] When traditional cleaning robots perform floor cleaning tasks, they often encounter many obstacles along their route. Cleaning robots with obstacle avoidance functions will actively avoid obstacles and maintain a certain distance while moving to reduce collisions and scrapes. However, this can result in missed cleaning of the ground below and around obstacles, resulting in a low cleaning coverage rate. Compared to traditional cleaning robots that can only avoid obstacles, resulting in large areas of missed cleaning, the mobile device of the present application can, with the assistance of a robotic arm, perform actions such as gripping and carrying obstacles to clean the ground below and around the obstacle, thereby improving the floor cleaning coverage rate and increasing user satisfaction with the floor cleaning function.

[0028] (2) Automatic sorting function

[0029] Users may randomly place or drop objects on the floor of their home, making the floor messy. Therefore, in addition to cleaning the floor, the robot also needs to be able to automatically sort out the obstacles. The mobile device of this application can automatically identify obstacles on the ground and mark their locations when cleaning or cruising. After cleaning, it can automatically sort and sort out the obstacles on the ground, such as slippers placed at the door, toys placed in the children's room, and paper balls left in the trash can.

[0030] In addition, the mobile device of the present application may also have other functions for handling household chores, such as: cleaning skirting boards, real-time home monitoring, and pet companionship.

[0031] In one embodiment, the device body 101 of the mobile device of the present application may also be provided with a power on / off module (not shown in the figure) and a recharge module (not shown in the figure). Among them, the basic functions of the power on / off module include: long pressing the power on / off module to turn on or off the mobile device, and short pressing the power on / off module to start, continue or pause the task; the basic functions of the recharge module include: short pressing the recharge module to realize recharge, dust collection, and pause functions, and long pressing the recharge module to realize backwashing, cloth washing, and pause functions. In one embodiment, the power on / off module includes a power on / off button and a power on / off button light, the power on / off button is used to respond to the user's pressing operation, and the power on / off button light is used to indicate the power status of the host of the mobile device; the recharge module includes a recharge button and a recharge button light, the recharge button is used to respond to the user's pressing operation, and the recharge button light is used to indicate the status of the mobile device related to the base station.

[0032] In one embodiment, the device body 101 of the mobile device of the present application may also be provided with an emergency stop module 106, which may be specifically provided in an easily accessible position on the top surface of the device body 101. The emergency stop module 106 is different from other keys. Upon triggering the emergency stop module 106, the mobile device immediately enters an emergency stop state. In the emergency stop state, the running wheels 102, the universal wheels 103, and the robotic arm 104 are powered off, or the robotic arm 104 remains powered. In an emergency, the emergency stop module 106 can be used to bring the mobile device to an emergency stop, thereby avoiding the problem of uncontrolled movement of the robotic arm.

[0033] It should be noted that emergency stop of a mobile device is different from automatic pause and manual pause. Emergency stop refers to an emergency situation in which the emergency stop module 106 is triggered, causing the power to the running wheels 102, universal wheels 103, and robotic arm 104 to be cut off, or the robotic arm 104 to remain powered and require manual recovery. Automatic pause refers to an automatic stop caused by a shutdown error. During the stop, the running wheels 102, universal wheels 103, and robotic arm 104 are powered on. Operation can be resumed by the power on / off module or using the user device app. Specific scenarios include: stuck and unable to escape, overcurrent of the main brush, side brush, mop, and other chassis cleaning components, an emergency stop of the robotic arm due to overcurrent, and an error caused by an intrusion. Manual pause means that the mobile device can be stopped immediately by manually pressing a button on the device or using the user device app in any situation. During the stop, the running wheels 102, universal wheels 103, and robotic arm 104 are powered on and can be resumed by the power on / off module or using the user device app. After an automatic or manual pause, the current task can be continued, while after an emergency stop, a new task can only be started.

[0034] In one embodiment, the emergency stop module 106 of the present application includes an emergency stop button and an emergency stop button light. The emergency stop button is used to respond to the user's pressing operation. The emergency stop button light can be off, always on, and flash at different frequencies. It can also be lit according to different brightness and different colors to distinguish the robot arm's emergency stop state, in-warehouse state, in the process of returning to the warehouse, standby state, pause state, working state, non-working state, etc., wherein the return to the warehouse process includes the process of performing a reset action, or the process of returning to the warehouse after the work is completed, and the working state includes the process of performing an out-of-warehouse action, as well as the gripping, lifting and placing of objects. For example, when the robot arm is in the warehouse state or in the process of returning to the warehouse, the emergency stop button light flashes breathily; when the robot arm is in the standby state, automatic pause state, or manual pause state, the emergency stop button light is always on; when the robot arm is in the working state, the emergency stop button light flashes quickly; when the robot arm is in the emergency stop state, the emergency stop button light flashes slowly; when the robot arm is in the non-working state, the emergency stop button light is off.

[0035] In one embodiment, a function adjustment module 107 may also be provided on the device body 101 of the movable device of the present application, and the function adjustment module 107 may be used to select and control the operation mode of the movable device. For example, when the movable device is a cleaning device, the operation mode of the cleaning device includes but is not limited to: mopping mode, sweeping mode, dust collection mode, high-efficiency obstacle avoidance cleaning mode, scheduled cleaning mode, etc. In addition to adjusting the operation mode of the cleaning device, the function adjustment module 107 may also control the specific cleaning method of the cleaning device, such as adjusting the travel speed of the cleaning device, controlling the cleaning frequency of the cleaning parts of the cleaning device, etc. Through the function adjustment module 107, the user can directly control the operation of the movable device, which can improve the user experience.

[0036] In one embodiment, a status indicator light 108 may also be provided on the device body 101 of the movable device of the present application. The status indicator light 108 may indicate the WiFi connection status, the robotic arm function switch status, etc. For example, when the robotic arm function is turned on, the status indicator light 108 is 100% bright; when the robotic arm function is turned off, the status indicator light 108 is 20% bright.

[0037] The embodiment of the present application provides a control method for a mobile device, such as Figure 3 As shown, the method includes:

[0038] S301, when it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered on and maintains the current posture.

[0039] In this step, the emergency stop module is detected by detecting the level of the corresponding circuit or whether an electrical signal is generated to determine whether the emergency stop module has been effectively pressed. If it is determined that the emergency stop module has been effectively pressed, and if the robot arm is currently in a working action or a reset action, the robot arm is controlled to enter an emergency stop state. In the emergency stop state, the robot arm is powered off, or the robot arm is powered and maintains the current posture, achieving an immediate stop of the robot arm. The working action of the robot arm includes the process of executing the out-of-warehouse action, as well as the states of gripping, lifting, and placing objects. The reset action refers to the process of folding the robot arm back into the warehouse body.

[0040] In one embodiment, the duration of the effective pressing of the emergency stop module can also be determined by detecting the level state or the duration of the generated electrical signal. The emergency stop module is determined to be effectively pressed when it is determined that the pressing of the emergency stop module reaches a second duration threshold. The second duration threshold is a pre-set threshold used to determine the duration of the pressing of the emergency stop module, that is, the effectiveness of the pressing. By setting the second duration threshold to determine the effectiveness of the pressing of the emergency stop module, the situation of the emergency stop caused by the user's accidental touch is avoided, thereby preventing the operation of the robotic arm from being affected.

[0041] In related technologies, in the event of an emergency, the pause function of the movable device's robotic arm is triggered, causing the robotic arm to temporarily stop. However, if the software fails to respond during an emergency, there is a risk of uncontrolled robotic arm movement, causing damage to pets, people, or furniture.

[0042] An embodiment of the present application provides a method for controlling the immediate stop of a device body and a robotic arm of a movable device by triggering an emergency stop module. When a user is using functions related to the robotic arm, he or she can press a button to perform an emergency stop at any time, thereby achieving timely intervention to handle emergencies. It can prevent the movable device from causing damage to surrounding pets, people, objects, and facilities due to loss of control, protect the safety of pets, people, and property, improve the safety of device use, and also avoid damage to the movable device.

[0043] In one embodiment of the present application, when it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, the robotic arm is controlled to enter an emergency stop state, including: when it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, an emergency stop instruction is generated; in response to the emergency stop instruction, the robotic arm is controlled to enter an emergency stop state.

[0044] In this embodiment, when the robotic arm is in a working action or a reset action, if it is detected that the emergency stop module is effectively pressed, an emergency stop command, that is, a control signal, is generated. The control signal is used to drive the control circuit to cut off the power supply of the robotic arm, so that the robotic arm is powered off, or the control signal is used to drive the control circuit so that the robotic arm is powered on and maintains the current posture.

[0045] In one embodiment of the present application, the method further includes: when it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, controlling the walking component of the movable device to stop.

[0046] In this embodiment, by detecting the level state of the circuit corresponding to the emergency stop module or whether an electrical signal is generated, it is determined whether the emergency stop module is effectively pressed. If it is determined that the emergency stop module is effectively pressed, and if the robotic arm is currently in a working action or a reset action, the walking components (i.e., the walking wheels and the universal wheels) of the movable device are controlled to be powered off and stopped, so that the movable device stops moving. In one embodiment, when the robotic arm is in a working action or a reset action, if it is detected that the emergency stop module is effectively pressed, an emergency stop command, i.e., a control signal, is generated. The control signal is used to drive the control circuit to cut off the power supply of the walking component, so that the walking component is powered off and stopped.

[0047] In some embodiments, when the emergency stop module is effectively pressed, both the robotic arm and the walking assembly can be emergency stopped, or only one of them can be emergency stopped. For example, when the emergency stop module is effectively pressed, when the robotic arm fails or makes a dangerous movement, but the running wheels are operating normally and do not pose a threat, only the power supply of the robotic arm can be cut off; when the running wheels move out of control in a dangerous direction, but the movement of the robotic arm is safe, only the power supply of the running wheels can be cut off. In addition, when a very urgent situation occurs, such as when the entire movable device loses control and may cause serious harm to personnel or the environment, the power supply of both devices can be cut off at the same time, causing the entire movable device to stop operating immediately.

[0048] In one embodiment of the present application, the method further includes: obtaining a task control instruction, and if the robotic arm is in an emergency stop state, not responding to the task control instruction.

[0049] In this embodiment, in the emergency stop state, after receiving a task control instruction, the system does not respond to the task control instruction, that is, does not execute a new task, nor does it continue the original task. For example, in the emergency stop state, user manual operations, voice operations, and software controls are ignored.

[0050] When the robotic arm is in the emergency stop state, it indicates that the robotic arm may have a loss of control problem, so it will no longer respond to mission control instructions, ensuring that no tasks are performed in the emergency stop state to avoid the robotic arm continuing to lose control and causing harm to pets, people or furniture, thereby improving the safety of equipment use.

[0051] In one embodiment of the present application, the method further includes: if the robotic arm is in an emergency stop state and the duration of the emergency stop state is greater than a first duration threshold, controlling the robotic arm to perform a reset action, wherein the reset action includes returning the robotic arm to the warehouse; or

[0052] The device body is also provided with a power on / off module. The method further includes: when it is detected that the power on / off module and the emergency stop module are pressed at the same time and the robotic arm is in a working action or an emergency stop state, the robotic arm is controlled to perform a reset action.

[0053] In this embodiment, a method for triggering the resetting of the robotic arm is defined, and the resetting of the robotic arm refers to the action of folding the robotic arm back into the warehouse body.

[0054] In one embodiment, the robotic arm automatically resets. If the robotic arm is in an emergency stop state and the duration of the emergency stop state exceeds a first duration threshold (e.g., 10 minutes), that is, if the robotic arm remains in the emergency stop state without any operation for a long period of time, the robotic arm is controlled to perform a reset action. The first duration threshold is a pre-set threshold used to determine the duration of the emergency stop state.

[0055] In addition, the automatic reset action can also be triggered when the robot arm is in standby or paused for a long time without operation.

[0056] In another embodiment, a reset action of the robotic arm can be triggered by a button. Specifically, when the power on / off module and the emergency stop module are detected to be pressed simultaneously, and the robotic arm is in an operating state or in an emergency stop state, the robotic arm is controlled to perform a reset action. In one embodiment, when the power on / off module and the emergency stop module are detected to be pressed simultaneously while the robotic arm is in an operating state or in an emergency stop state, a reset command is generated; in response to the reset command, the robotic arm is controlled to perform a reset action.

[0057] It should be noted that during the resetting process of the robotic arm, that is, before the robotic arm is fully recovered, if a mission control command is received, the robotic arm can respond to the mission control command. For example, manual operation or voice operation by the user will execute the mission control command.

[0058] In one embodiment, the reset action is performed as follows: determine whether there is an object in the gripper of the robotic arm. If so, the robotic arm slowly puts down the object, then opens the gripper and returns to the cabin; if not, directly opens the gripper and then returns to the cabin.

[0059] In the embodiment of the present application, controlling the reset of the robotic arm can ensure that the robotic arm returns to its initial position (that is, inside the warehouse), facilitating precise control of subsequent work, and also avoiding collisions with other equipment, obstacles, or personnel, pets, etc., helping to protect the safety of the robotic arm itself and surrounding equipment, personnel, and pets.

[0060] In one embodiment of the present application, the device body is also provided with a recharge module, and the method further includes: when the robotic arm is in a reset action and detects that the power on / off module or the recharge module is pressed, the robotic arm is controlled to enter a reset pause state; wherein, in the reset pause state, the robotic arm pauses the reset action.

[0061] In this embodiment, when the robotic arm is in a reset action, if it detects that the power on / off module or the recharge module is pressed, the robotic arm is controlled to pause the reset action. In one embodiment, when the robotic arm is in a reset action, if it detects that the power on / off module or the recharge module is pressed, a reset pause instruction is generated. In response to the reset pause instruction, the robotic arm is controlled to pause the reset action.

[0062] By controlling the robotic arm to pause and reset, the flexibility of operation is increased. Users can pause the reset action at any time according to actual conditions or emergency needs, avoiding unnecessary waiting or errors, as well as potential collision risks.

[0063] In one embodiment of the present application, the method further comprises:

[0064] If it is detected that the power on / off module is pressed and the robot arm is in the reset pause state, the robot arm is controlled to continue to perform the reset action; or,

[0065] If it is detected that the power on / off module and the emergency stop module are pressed at the same time and the robotic arm is in the reset pause state, the robotic arm is controlled to re-execute the reset action.

[0066] In this embodiment, after the robot arm pauses during the reset action, it can choose to continue resetting or reset again.

[0067] When the robotic arm is in the reset pause state, if it detects that the power on / off module is pressed, the robotic arm is controlled to continue the reset action. In one embodiment, when the robotic arm is in the reset pause state, if it detects that the power on / off module is pressed, a continue reset instruction is generated. In response to the continue reset instruction, the robotic arm is controlled to continue the reset action.

[0068] When the robotic arm is in a reset pause state, if it detects that the power on / off module and the emergency stop module are pressed simultaneously, the robotic arm is controlled to re-execute the reset action. In one embodiment, when the robotic arm is in a reset pause state, if it detects that the power on / off module and the emergency stop module are pressed simultaneously, a re-reset instruction is generated, and in response to the re-reset instruction, the robotic arm is controlled to re-execute the reset action.

[0069] There are certain differences between continuing the reset and resetting in terms of continuity and starting points. When the robot arm is paused during the reset action, choosing to continue the reset means starting from the pause point and continuing according to the original reset process until the entire reset action is completed. Continuing the reset maintains the continuity of the reset action and does not interrupt the original reset process. It is suitable for situations where the reset is paused due to a short-term fault, operation interruption or temporary demand, and the fault has been eliminated or the demand has been met, and the reset can be continued seamlessly. When the robot arm is paused during the reset action, choosing to re-reset means abandoning the current reset process and restarting the entire reset process from the initial state or starting point of the reset. Resetting will interrupt the original reset process and perform the reset operation from the beginning. It is suitable for situations due to serious faults, operational errors, or when the robot arm status needs to be completely reset. In these cases, continuing the reset may not achieve the desired effect or safety requirements, so the reset process needs to be restarted.

[0070] In practical applications, an appropriate reset method can be selected according to the specific situation to ensure the safety and stability of the robotic arm.

[0071] In one embodiment of the present application, the method further includes: upon detecting that a power on / off module of the movable device is pressed and the robotic arm has switched from an emergency stop state to an in-warehouse state, controlling the movable device to perform a task.

[0072] In this embodiment, the robotic arm performs a reset action from an emergency stop state. After the reset action is completed and the robot arm transitions to the in-storage state, upon detecting that the power on / off module has been pressed, the robot arm controls the movable device to perform a task. In other words, to initiate a task after the robotic arm is in an emergency stop state, a two-step process is required: first, transitioning from the emergency stop state to the in-storage state, and then receiving a task start command from the in-storage state to initiate the task. In one embodiment, after the robotic arm has transitioned from an emergency stop state to the in-storage state, upon detecting that the power on / off module of the movable device has been pressed, a task start command is generated. In response to the task start command, the robot arm controls the movable device to perform the task.

[0073] It should be noted that starting a task in an emergency stop state is different from starting a task in a paused state. Starting a task in a paused state only requires one step, receiving the start task command. Starting a task in an emergency stop state requires two steps: first performing a reset action to enter the warehouse, and then receiving the start task command to start the task.

[0074] If the robot arm stops due to various external or internal emergencies and enters an emergency stop state, restarting the task without resetting it may cause the robot arm to start in an uncertain position or state, increasing the risk of accidents or incidents. Resetting the robot arm from the emergency stop state before restarting the task ensures that the robot arm restarts in a safe initial state, avoiding potential dangers.

[0075] In one embodiment of the present application, the method further includes: when it is detected that the power on / off module and the emergency stop module of the movable device are pressed at the same time and the robotic arm is in the warehouse state, turning on or off the robotic arm function of the movable device.

[0076] In this embodiment, when the robotic arm is in the warehouse state, if it is detected that the power on / off module and the emergency stop module of the movable device are pressed at the same time, which can be that the power on / off module and the emergency stop module are long pressed at the same time (for example, long pressing the power on / off module and the emergency stop module for more than 4 seconds), then the robotic arm function of the movable device is turned on or off. Specifically, if the robotic arm is in the warehouse and the robotic arm function is turned off, then in response to the power on / off module and the emergency stop module being pressed at the same time, the robotic arm function is turned on; if the robotic arm is in the warehouse and the robotic arm function is turned on, then in response to the power on / off module and the emergency stop module being pressed at the same time, the robotic arm function is turned off. If the robotic arm is outside the warehouse, it is necessary to long press the power on / off module and the emergency stop module to perform a reset action first, and then long press the power on / off module and the emergency stop module to turn off the robotic arm function. In one embodiment, when it is detected that the power on / off module and the emergency stop module of the movable device are pressed at the same time, and the robotic arm is in the warehouse state, a robotic arm function control instruction is generated, and in response to the robotic arm function control instruction, the robotic arm function of the movable device is turned on or off.

[0077] In one embodiment, when a user uses a removable device for the first time, the user can turn on the robotic arm function by pressing the power module and the emergency stop module at the same time, or turn on the robotic arm function through the user device App, and then control the robotic arm to assist in floor cleaning, organize floor objects, and clean skirting boards.

[0078] If the robotic arm function is not turned on, the related functions of the robotic arm cannot be used, but the basic cleaning functions of the movable device, such as sweeping and mopping, will not be affected.

[0079] In the embodiment of the present application, a method in which the user manually turns on or off the robotic arm function ensures that the user has authorized the turning on of the robotic arm function, thereby improving security.

[0080] In an embodiment of the present application, an emergency stop module is provided on the movable device, and different control functions can be realized through the emergency stop module, or through a combination of the emergency stop module and other buttons, such as emergency stop, reset, pause reset, continue reset, re-reset, switching of the robotic arm function, etc., thereby realizing flexible control of the movable device.

[0081] In one embodiment of the present application, the emergency stop module includes an emergency stop button and an emergency stop button light; the method also includes: controlling the emergency stop button light according to different brightness, color and / or flashing frequency according to different states of the robotic arm.

[0082] In this embodiment, the emergency stop module includes an emergency stop button and an emergency stop button light. The emergency stop button is used to respond to the user's pressing operation, and the emergency stop button light is used to represent various states of the robotic arm, including emergency stop state, in-warehouse state, out-warehouse state, back-warehouse state, standby state, pause state, and working state. Various states can be distinguished by on and off, brightness, color or flashing frequency. For example, when the robotic arm is in the in-warehouse state, out-warehouse state, and back-warehouse state, the emergency stop button light flashes in a breathing manner; when the robotic arm is in the standby state, automatic pause state, and manual pause state, the emergency stop button light is always on; when the robotic arm is in the working state, including grabbing, lifting, and placing, the emergency stop button light flashes quickly; when the robotic arm is in the emergency stop state, the emergency stop button light flashes slowly; when the robotic arm is in the non-working state, the emergency stop button light is off.

[0083] In an embodiment of the present application, the different states of the robotic arm can be indicated by the on and off, brightness, color or flashing frequency of the emergency stop button light, so that the user can intuitively and clearly understand the current state of the robotic arm.

[0084] As a specific implementation of the control method of the above-mentioned movable device, the embodiment of the present application provides a control device for a movable device, wherein the movable device includes a device body and a mechanical arm provided on the device body, and the device body is also provided with an emergency stop module. Figure 4 As shown, the control device 400 of the movable device includes: a detection module 401 and a control module 402 .

[0085] Among them, the detection module 401 is used to detect whether the emergency stop module is pressed;

[0086] The control module 402 is used to control the robotic arm to enter an emergency stop state when the detection module 401 detects that the emergency stop module is pressed and the robotic arm is in a working action or a reset action; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered on and maintains the current posture.

[0087] Furthermore, the control module 402 is also used to generate an emergency stop instruction when the detection module 401 detects that the emergency stop module is pressed and the robotic arm is in a working action or a reset action; and in response to the emergency stop instruction, control the robotic arm to enter an emergency stop state.

[0088] Furthermore, the control module 402 is also used to obtain a task control instruction. If the robotic arm is in an emergency stop state, it will not respond to the task control instruction.

[0089] Furthermore, the control module 402 is further configured to control the robotic arm to perform a reset action when the robotic arm is in an emergency stop state and the duration of the emergency stop state is greater than a first duration threshold, wherein the reset action includes returning the robotic arm to the warehouse; or

[0090] The device body is also provided with a power on / off module and a detection module 401, which is also used to detect whether the power on / off module and the emergency stop module are pressed at the same time;

[0091] The control module 402 is further configured to control the robotic arm to perform a reset action when the detection module 401 detects that the power on / off module and the emergency stop module are pressed simultaneously and the robotic arm is in a working action or an emergency stop state.

[0092] Furthermore, the device body is further provided with a recharge module, a detection module 401, which is also used to detect whether the power on / off module or the recharge module is pressed;

[0093] The control module 402 is also used to control the robotic arm to enter a reset pause state when the robotic arm is in a reset action and the detection module 401 detects that the power on / off module or the recharge module is pressed; wherein, in the reset pause state, the robotic arm pauses the reset action.

[0094] Furthermore, the control module 402 is further configured to control the robotic arm to continue to perform the reset action when the detection module 401 detects that the power on / off module is pressed and the robotic arm is in the reset pause state; or

[0095] The control module 402 is further configured to control the robotic arm to re-execute the reset action when the detection module 401 detects that the power on / off module and the emergency stop module are pressed simultaneously and the robotic arm is in the reset pause state.

[0096] Furthermore, the control module 402 is also used to control the movable device to perform a task when the detection module 401 detects that the power on / off module of the movable device is pressed and the robotic arm has changed from the emergency stop state to the in-warehouse state.

[0097] Furthermore, the control module 402 is also used to turn on or off the robotic arm function of the movable device when the detection module 401 detects that the power on / off module and the emergency stop module of the movable device are pressed at the same time and the robotic arm is in the warehouse state.

[0098] Furthermore, the emergency stop module includes an emergency stop button and an emergency stop button light;

[0099] The control module 402 is further configured to control the emergency stop button light according to different brightness, colors and / or flashing frequencies according to different states of the robotic arm.

[0100] The control device 400 of the mobile device in the embodiment of the present application can be a mobile device, or a component in the mobile device, such as an integrated circuit or a chip. The control device 400 of the mobile device provided in the embodiment of the present application can realize Figure 1 To avoid repetition, the various processes implemented in the embodiment of the control method for a mobile device are not described here.

[0101] An embodiment of the present application also provides a removable device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor. When the program or instructions are executed by the processor, the various steps of the control method embodiment of the above-mentioned removable device are implemented and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0102] The memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a volatile memory or a non-volatile memory, or the memory may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM), and a direct memory bus random access memory (DRRAM). The memory in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0103] The processor may include one or more processing units; optionally, the processor may integrate an application processor and a modem processor, wherein the application processor primarily handles operations related to the operating system, user interface, and application programs, and the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into the processor.

[0104] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned control method embodiment of the movable device are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0105] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0106] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for controlling a movable device, characterized in that: The movable device includes a device body and a robotic arm provided on the device body, the device body is further provided with an emergency stop module, and the method includes: When it is detected that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered and maintains the current posture.

2. The method according to claim 1, characterized in that The detecting that the emergency stop module is pressed and the robotic arm is in a working action or a reset action, and controlling the robotic arm to enter an emergency stop state, includes: When it is detected that the emergency stop module is pressed and the robot arm is in a working action or a reset action, an emergency stop command is generated; In response to the emergency stop instruction, the robotic arm is controlled to enter an emergency stop state.

3. The method according to claim 1, characterized in that The method further comprises: Obtaining a task control instruction; if the robotic arm is in the emergency stop state, not responding to the task control instruction.

4. The method according to claim 1, wherein The method further comprises: If the robotic arm is in the emergency stop state and the duration of the emergency stop state is greater than a first duration threshold, the robotic arm is controlled to perform the reset action, wherein the reset action includes returning the robotic arm to the warehouse; or The device body is further provided with a power on / off module, and the method further comprises: When it is detected that the power on / off module and the emergency stop module are pressed at the same time and the robotic arm is in a working action or an emergency stop state, the robotic arm is controlled to perform the reset action.

5. The method according to claim 4, characterized in that The device body is further provided with a recharging module, and the method further comprises: The robotic arm is in a reset action and detects that the power on / off module or the recharge module is pressed, then the robotic arm is controlled to enter a reset pause state; wherein, in the reset pause state, the robotic arm pauses the reset action.

6. The method according to claim 5, characterized in that The method further comprises: detecting that the power on / off module is pressed and the robotic arm is in the reset pause state, then controlling the robotic arm to continue to perform the reset action; or, If it is detected that the power on / off module and the emergency stop module are pressed at the same time and the robotic arm is in the reset pause state, the robotic arm is controlled to re-execute the reset action.

7. The method according to claim 1, characterized in that The method further comprises: When it is detected that the power on / off module of the movable device is pressed and the robotic arm has been switched from the emergency stop state to the in-warehouse state, the movable device is controlled to perform a task.

8. A control device for a movable device, characterized in that: The movable device includes a device body and a mechanical arm provided on the device body, the device body is further provided with an emergency stop module, and the device includes: A detection module, used to detect whether the emergency stop module is pressed; A control module is used to control the robotic arm to enter an emergency stop state when the detection module detects that the emergency stop module is pressed and the robotic arm is in a working action or a reset action; wherein, in the emergency stop state, the robotic arm is powered off, or the robotic arm is powered on and maintains the current posture.

9. A movable device, characterized in that: The device comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the mobile device according to any one of claims 1 to 7 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the control method of the mobile device according to any one of claims 1 to 7 are implemented.

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