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 method comprises the steps that at least two clamping points are determined on a to-be-carried target object; a mechanical arm of each movable device in the at least two movable devices is synchronously controlled, one clamping point is correspondingly grabbed, and the target object is lifted in the vertical direction; and after the target object is lifted in place, the chassis of each movable device is synchronously controlled to move towards the target position, so that the target object is carried to the target position. According to the robot, objects in a room can be clamped and carried through cooperation of the at least two movable devices, especially objects with large sizes or heavy weights, smooth clamping and carrying are achieved, and the completion rate of tasks such as cleaning and tidying is increased.

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] A sweeping and mopping robot with a robotic arm is a household robot developed based on the chassis and robotic arm of a traditional sweeping and mopping robot, capable of cleaning and organizing floor items. Unlike traditional sweeping and mopping robots, which can only avoid floor obstacles, resulting in large areas of missed cleaning, a household robot, with the assistance of its robotic arm, can grasp and carry obstacles to clean the area below and around them, improving floor cleaning coverage. Furthermore, the household robot can implement automatic sorting functions, for example, automatically identifying and marking obstacles during floor cleaning, and automatically sorting and organizing them after cleaning.

[0003] However, the capabilities of household robots in related technologies are limited, and they are not effective in gripping objects that are large or heavy, which affects the ability of household robots to complete tasks. Summary of the Invention

[0004] In view of this, the present application provides a control method, device, movable device and readable storage medium for a movable device, which improves the completion rate of tasks such as cleaning and sorting by cooperating with at least two movable devices to perform clamping and transportation.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a mobile device, the method comprising:

[0006] Determine at least two gripping points on the target object to be transported;

[0007] Synchronously controlling the robotic arm of each of the at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction;

[0008] After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position, so as to transport the target object to the target position.

[0009] In a second aspect, an embodiment of the present application provides a control device for a mobile device, the device comprising:

[0010] A gripping point determination module, configured to determine at least two gripping points on a target object to be transported;

[0011] Control module for:

[0012] Synchronously controlling the robotic arm of each of the at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction;

[0013] After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position, so as to transport the target object to the target position.

[0014] 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.

[0015] 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.

[0016] In an embodiment of the present application, at least two gripping points are determined on the target object to be transported; the robotic arms of each of the at least two movable devices are synchronously controlled to grasp a corresponding gripping point and lift the target object vertically; after the target object is lifted into position, the chassis of each movable device is synchronously controlled to move toward the target position to transport the target object to the target position. In this embodiment of the present application, objects within a room can be collaboratively gripped and transported by at least two movable devices, particularly for larger or heavier objects, achieving smooth gripping and transport, thereby improving the completion rate of tasks such as cleaning and organizing.

[0017] 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

[0018] 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:

[0019] Figure 1 A schematic diagram of the structure of a mobile device according to an embodiment of the present application is shown;

[0020] Figure 2 A flowchart of a method for controlling a mobile device according to an embodiment of the present application is shown;

[0021] Figure 3A schematic diagram of determining a clamping point according to an embodiment of the present application is shown;

[0022] Figure 4 A schematic diagram showing movement to the vicinity of a clamping point according to an embodiment of the present application is shown;

[0023] Figure 5 A schematic diagram showing clamping and lifting of a clamping point according to an embodiment of the present application is shown;

[0024] Figure 6 A schematic diagram showing movement toward a target position according to an embodiment of the present application is shown;

[0025] Figure 7 A second flow chart of a method for controlling a mobile device according to an embodiment of the present application is shown;

[0026] Figure 8 A schematic diagram showing a method of passing through a narrow space according to an embodiment of the present application is shown;

[0027] Figure 9 A structural block diagram of a control device for a mobile device according to an embodiment of the present application is shown;

[0028] Figure 10 A structural block diagram of a mobile device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] 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.

[0030] 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 at least two. In addition, the term "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0031] In related technologies, the capabilities of a single mobile device are limited. For example, using only a single mobile device can cause the large object to obstruct the sensor on the device's chassis after gripping, resulting in the device not functioning properly. Alternatively, using only a single mobile device to operate an object larger than its rated load, such as a scale, can cause it to fail to grip or frequently drop, hindering the device's ability to complete its task.

[0032] An embodiment of the present application provides a solution for multiple movable devices to collaborate in gripping and transporting objects. Through the collaboration of multiple movable devices, objects that are larger in size or weight can be smoothly gripped and transported, thereby improving the task completion rate.

[0033] 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.

[0034] Mobile devices exist in indoor spaces, such as Figure 1 As shown, the movable device includes a chassis 101 , running wheels 102 , universal wheels 103 and a mechanical arm 104 installed on the chassis 101 .

[0035] In one embodiment, the chassis 101 can achieve linear motion along the x-axis and y-axis directions, linear motion along the z-axis, and rotation along the z-axis via the running wheels 102 and the universal wheels 103. The linear motion of the chassis 101 along the z-axis, i.e., the height adjustment of the chassis 101 from the ground, can be achieved via the running wheels 102 and / or the universal wheels 103. The running wheels 102 and the universal wheels 103 can be raised or lowered independently or together, thereby adjusting the height of the chassis 101 from the ground.

[0036] The end of the movable device's robotic arm 104 is equipped with a gripper and a camera. The robotic arm 104 includes multiple rotating shafts and connecting rods connecting the rotating shafts. The number of rotating shafts determines the flexibility of the robotic arm 104. The robotic arm 104 can be a multi-degree-of-freedom robotic arm, such as a three-degree-of-freedom, four-degree-of-freedom, or five-degree-of-freedom robotic arm. The specific number of degrees of freedom is not specifically limited in this application.

[0037] The rotation axis M1 can drive the robot arm 104 to rotate left or right as a whole ( Figure 1The rotation direction of the rotating shaft M2 is the same as that of the rotating shaft M3 and the rotating shaft M4. The rotating shaft M1 and the rotating shaft M2 are mainly responsible for the robot arm 104 to exit and return to the warehouse. After the robot arm 104 exits the warehouse, the rotating shaft M1 and the rotating shaft M2 maintain a fixed angle. A warehouse body for recovering the robot arm 104 can be provided on the chassis 101. The robot arm 104 can be folded and stored in the warehouse body. This state is the robot arm 104 returning to the warehouse. When the robot arm is unfolded, it can be extended from the warehouse body. This state is the robot arm 104 exiting the warehouse. The rotating shaft M3 and the rotating shaft M4 determine the position of the gripper of the robot arm 104 in space. The rotating shaft M5 is the spin joint of the gripper, which determines the posture of the gripper.

[0038] In one embodiment, the movable device also includes a camera installed on the chassis 101 and / or a camera installed on the chassis 101. The camera can be used to identify the object. After the object is identified, the object can be clamped and moved with the assistance of the robotic arm 104.

[0039] In one embodiment, an indoor space may include at least two movable devices. When a single movable device cannot grasp and carry an object, multiple movable devices can collaborate to achieve this. The movable device can be an intelligent cleaning device, including a sweeper, mop, sweeper-mop combination, household robot, etc. Through the collaboration of multiple movable devices, actions such as grasping and carrying large or heavy objects can be achieved to clean the bottom and surrounding ground of the object, thereby improving the room floor cleaning coverage, or to organize large or heavy objects, thereby improving the room organization effect.

[0040] The embodiment of the present application provides a control method for a mobile device, such as Figure 2 As shown, the method includes:

[0041] Step 201: Determine at least two gripping points on a target object to be transported.

[0042] In this step, at least two clamping points are determined for the target object that needs to be transported by the movable device. By determining the appropriate clamping points on the target object, the success rate of subsequent clamping of the target object is guaranteed to be higher and the probability of the target object falling when being transported is lower.

[0043] In one embodiment of the present application, before determining at least two clamping points on the target object to be transported, the method further includes: controlling at least two movable devices to respectively obtain object feature information at different angles, and identifying the target object to be transported based on the object feature information at different angles.

[0044] In this embodiment, before gripping an object, multiple mobile devices collaborate to identify object features from various angles, construct a three-dimensional spatial model based on the object features, and identify the target object. In some embodiments, object features can be identified using sensors such as ultrasonic sensors, infrared ranging sensors, lidar, and visual sensors. Object features include, but are not limited to, shape and size, material and surface features, color and texture features, and position and dynamic features.

[0045] When controlling at least two movable devices to separately acquire object feature information, the movable devices can be controlled to move to an area near the target object to collect information. If the distance to the object is closer, the movable devices can also remain in place to collect information about the object. In either case, it is necessary to ensure that there are movable devices corresponding to multiple different angles of the target object for information collection.

[0046] The embodiment of the present application can collect information on the target object at different angles through at least two movable devices, so that the target object can be identified more accurately, the recognition accuracy of the target object can be improved, and the smooth gripping and transportation of the target object can be improved.

[0047] In one embodiment of the present application, determining at least two gripping points on the target object to be transported includes:

[0048] Generate an external model of the target object based on the outline of the target object;

[0049] Divide the circumscribed model into N equal parts in the horizontal direction with the center of the circle as the center, and obtain N equal dividing lines, where N is an integer greater than 2;

[0050] For each bisector, the intersection point between the bisector and the outline of the target object is determined, and the clamping point is determined according to the intersection point.

[0051] In this embodiment, after identifying the target object, a circumscribed model of the target object is generated based on the surface contour of the target object. The circumscribed model may be a circumscribed circle, a circumscribed cylinder, or a circumscribed sphere, etc. For example, if the height of the target object is less than a second preset height, that is, the target object is thin in the vertical direction and is a planar object, then a circumscribed circle of the target object may be generated based on the contour of the target object. If the height of the target object is greater than or equal to the second preset height and the target object is a three-dimensional object, then a circumscribed cylinder or a circumscribed sphere of the target object may be generated based on the contour of the target object. The second preset height may be the gripper stroke of the robot arm's gripper, which refers to the maximum distance the gripper can reach after opening.

[0052] The circumscribed model is divided equally. Specifically, N equal divisions are made in the horizontal direction with the center of the circle as the center, resulting in N equal division lines, where N is an integer greater than 2. Each equal division line intersects with the surface contour of the target object, and a gripping point is determined based on the intersection point. The direction of the equal division line toward the center of the circle is used as the gripping direction of the manipulator arm of each movable device for gripping the gripping point, or the movement direction of the chassis of each movable device toward the target object.

[0053] It can be understood that N can be the number of movable devices that can be used, or N can be a preset value, which is related to the properties of the target object. For example, it can be the number of easily clamped positions of the target object; for example, the larger the volume of the target object, the larger the value of N, that is, more clamping points are determined for larger objects to ensure stable transportation of larger objects.

[0054] In one embodiment, the method of determining the clamping point based on the intersection includes: if the height of the target object is less than a second preset height, that is, the target object is thinner in the vertical direction, then determining the intersection of the bisector and the upper edge contour of the target object, and using the x-coordinate and y-coordinate of the projection point of the intersection on the horizontal plane as the x-coordinate and y-coordinate of the clamping point, without determining the z-coordinate; if the height of the target object is greater than or equal to the second preset height, then determining the intersection of the bisector and the upper edge contour, lower edge contour, or outermost edge contour of the target object, and using the x-coordinate and y-coordinate of the projection point of the intersection on the horizontal plane as the x-coordinate and y-coordinate of the clamping point, and randomly determining a z-coordinate on the intersection line of the bisector corresponding to the projection point and the contour, or finding an easy-to-clamp position based on the shape of the target object near the bisector position to determine the z-coordinate, and finally determining the x-coordinate, y-coordinate, and z-coordinate to obtain the clamping point. It should be noted that the various clamping points may be on the same height plane or may not be on the same height plane.

[0055] Take the example of four mobile devices working together to lift a simple irregular flat object. Figure 3 As shown, the circumscribed circle 300 of the target object 200 is calculated based on the three-dimensional information of the target object 200, and the circumscribed circle 300 is divided into four equal parts. The direction along each bisector toward the center of the circle is used as the movement direction of each movable device toward the target object 200, and the intersection points of each bisector with the upper edge contour of the target object 200 are the clamping points, which are A1, A2, A3 and A4 respectively.

[0056] In an embodiment of the present application, multiple movable devices model the target object, and determine the clamping points evenly distributed around the target object through the circumscribed circle, circumscribed cylinder or circumscribed sphere light circumscribed model and bisectors, so that when the multiple movable devices clamp the object according to the clamping points, they can keep the resultant force upward and the resultant torque as close to zero as possible, so as to stably lift the target object.

[0057] In one embodiment of the present application, the method further includes: after determining the clamping point, if the shape of the clamping point position on the target object and / or the clamping stroke of the robotic arm of the movable device do not meet the grasping conditions, then a new clamping point is determined within a preset distance range of the clamping point, and the clamping point is replaced with the new clamping point, or the external model is re-divided into M equal parts in the vertical direction, thereby re-determining M clamping points, where M is an integer greater than 2, and M is equal to or unequal to N.

[0058] In this embodiment, after determining the gripping point, if the shape of the gripping point position on the target object and / or the gripping stroke of the manipulator of the movable device do not meet the gripping conditions, then a replacement gripping point is determined around the gripping point, or the circumscribed model is re-divided into equal parts. For example, after randomly determining the z coordinate of the gripping point on the intersection of the bisector corresponding to the projection point and the contour, if the shape of the gripping point position is a shape that is difficult to grip, then it is determined that the gripping conditions are not met; for another example, after randomly determining the z coordinate of the gripping point on the intersection of the bisector corresponding to the projection point and the contour, or after determining the z coordinate of the gripping point based on the shape of the target object near the bisector position, if it is determined that the width or height of the gripping point position exceeds the gripping stroke of the manipulator, then it is determined that the gripping conditions are not met.

[0059] When determining replacement gripping points around a gripping point, the new gripping points can be determined on the intersection line corresponding to the gripping point, that is, above or below the gripping point. Alternatively, the new gripping points can be determined outside the intersection line corresponding to the gripping point, for example, to the left or right of the gripping point. Of course, to ensure that the gripping points are evenly distributed on the target object, it is preferred to determine the new gripping points on the intersection line corresponding to the gripping point.

[0060] The external model is divided equally again to redetermine the clamping points. When the external model is divided equally again, it can be divided into N equal parts (M equals N) or unequal parts (M does not equal N).

[0061] In an embodiment of the present application, after the clamping point is determined, the determined clamping point can be confirmed. If the determined clamping point is not suitable, the clamping point is re-determined to ensure that the clamping point is evenly distributed around the target object and the clamp can clamp it.

[0062] Step 202 : synchronously controlling the robotic arm of each movable device of at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction.

[0063] In this step, the robot arm of each movable device in at least two movable devices is controlled to grasp a corresponding gripping point, for example, Figure 4As shown, there are four movable devices (B1, B2, B3, B4) and four gripping points (A1, A2, A3, A4). Then, each movable device grips one gripping point, and the four movable devices grip the gripping points synchronously. After gripping the gripping points, the target object is lifted vertically synchronously.

[0064] In one embodiment of the present application, synchronously controlling a robotic arm of each of at least two movable devices to grasp a corresponding gripping point includes:

[0065] For each movable device, determining the gripping point corresponding to the movable device, and controlling the movable device to move to a preset spatial position in front of the corresponding gripping point;

[0066] After reaching the preset spatial position, the robotic arm of the movable device is controlled to face the center direction of the target object and adjusted to a preset gripping angle to grasp the gripping point corresponding to the movable device.

[0067] In this embodiment, after determining the positions of each clamping point on the target object, for each movable device, the clamping point corresponding to the movable device is determined, that is, the clamping point that the movable device needs to clamp, and the movable device is controlled to move to a preset spatial position in front of its corresponding clamping point.

[0068] In one embodiment of the present application, determining the gripping point corresponding to the movable device includes: determining the gripping point corresponding to the movable device with the goal of minimizing the moving distance or the moving time to reach the preset spatial position of the gripping point. In this embodiment, for each movable device, the moving distance or the moving time between the position of the movable device before moving and the preset spatial position of each gripping point is planned, and the gripping point corresponding to the shortest moving distance or moving time among multiple moving distances or moving times is determined as the gripping point that needs to be gripped by the movable device. In this way, it is possible to ensure that the moving distance or moving time of the movable device in the process of gripping the gripping point is the shortest, thereby reducing the energy consumption of the movable device.

[0069] Furthermore, after the movable device reaches the preset spatial position, Figure 4 As shown, the manipulator arm of the movable device is controlled to face the center direction of the target object. The manipulator arm can be controlled to face the center direction of the target object by controlling the chassis of the movable device. In addition, the rotating shaft of the manipulator arm is controlled to rotate to a suitable clamping angle (that is, a preset clamping angle), and the chassis of the movable device is controlled to move, so as to grasp the clamping point corresponding to the movable device. Figure 4 The direction of the middle arrow is the moving direction of the chassis of the movable device.

[0070] In the embodiment of the present application, for each movable device, its corresponding clamping point is determined, and the movable device is controlled to move in front of the clamping point, so that the clamping of the clamping point is precisely controlled, ensuring the efficiency of clamping and carrying of the clamping point.

[0071] In one embodiment of the present application, lifting the target object in a vertical direction includes:

[0072] After the robotic arm of the movable device grasps the corresponding gripping point, the robotic arm of each movable device is controlled to lift the target object in the vertical direction;

[0073] During the lifting process, the first speed of each robotic arm's upward movement is controlled to meet a first preset condition so that the difference in the vertical movement distance of the grippers of each robotic arm is less than a first preset height. The first preset condition includes that the first speed of each robotic arm's upward movement is the same or the speed difference is less than the first preset speed.

[0074] In this embodiment, after all the grippers of the manipulator arms of the movable device have successfully gripped, Figure 5 As shown, each gripper is lifted upward at the same time (as shown in the direction of the arrow), and it is necessary to ensure that the target object is in a stable state during the lifting process of the target object. The target object is in a stable state when the difference in the vertical movement distance of the grippers of each robotic arm, that is, the difference in the vertical movement distance of each clamping point, is less than a first preset height during the lifting process. That is, if the gripping points are in the same horizontal plane during the initial gripping, then the distances moved by each gripping point during the lifting process are as close as possible, so that each gripping point remains in the same horizontal plane; if there is a height difference in the vertical direction between the gripping points during the initial gripping, then the distances moved by each gripping point during the lifting process are as close as possible, so that each gripping point remains in the same height difference.

[0075] During control, the target object is kept in a stable state during the lifting process by controlling the first speed of the upward movement of each robotic arm to be the same or the speed difference to be less than the first preset speed.

[0076] In the embodiment of the present application, each movable device is controlled to achieve synchronous clamping and synchronous lifting of the target object to ensure the stability of the target object and prevent the target object from tilting.

[0077] In one embodiment of the present application, controlling the first speed of each robotic arm to move upward to meet a first preset condition includes:

[0078] Through mutual communication between various movable devices, the robot arm position information of the movable device is transmitted;

[0079] Based on the posture information of the manipulator arms of each movable device, determining the difference in vertical movement distance of the grippers of each manipulator arm;

[0080] Negative feedback control of the speed of the robotic arms is performed based on the difference in the moving distances, so that a first speed at which each robotic arm moves upward satisfies a first preset condition.

[0081] In this embodiment, each movable device can communicate wirelessly via WiFi, Bluetooth, or radio frequency to exchange chassis posture information and robotic arm posture information, and convert the chassis posture information and robotic arm posture information to the same world coordinate to achieve unified control of the movable device.

[0082] For any movable device, the vertical movement distance of its gripper is calculated based on its robotic arm's posture information, and then the difference in movement distance of each gripper is calculated. Based on this difference in movement distance, negative feedback control of the robotic arm's speed is performed to ensure that the first upward movement speed of each robotic arm meets a first preset condition, that is, to achieve smooth lifting of the target object.

[0083] For example, for two movable devices, if the difference in the moving distances of the clamps of the two movable devices is greater than a preset value, the lifting speed of the clamp with the smaller moving distance will be increased, and the lifting speed of the clamp with the larger moving distance will be reduced, so as to maintain the goal of keeping the resultant force direction upward and the resultant torque small, thereby achieving smooth lifting of the target object.

[0084] In one embodiment, the robot arm posture information can be determined based on visual information, or the position where the robot arm is connected to the main body is a fixed height, and the robot arm posture information can be calculated based on the rotation angle of each axis and the length of the connecting rod.

[0085] In one embodiment, by communicating with each other among the movable devices, the lifting speed information of the clamping jaws of the movable device can also be transmitted, so that the lifting speed of each clamping jaw is the same, thereby achieving smooth lifting of the target object.

[0086] In one embodiment of the present application, the method further includes: while the robotic arm lifts the target object in the vertical direction, controlling the chassis of the movable device to move toward the center of the target object to compensate for the horizontal coordinate change of the robotic arm's gripper.

[0087] In this embodiment, while controlling the robotic arm to lift the target object in the vertical direction, the chassis of the movable device is controlled to move toward the center of the target object, thereby compensating for the coordinate changes of the robotic arm's grippers in the horizontal direction, so that each gripper and the corresponding gripping point only moves upward at the same speed without moving in the horizontal direction, thereby ensuring the stability of the target object.

[0088] Step 203 : After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position to carry the target object to the target position.

[0089] In this step, after the target object is lifted into position, the chassis of each movable device is controlled to move synchronously toward the target position, thereby transporting the target object to the target location. Once the target object reaches the target location, it is lowered. The target object's descent also needs to be smooth. The method for ensuring a smooth descent of the target object can be referred to the lifting process and will not be repeated here.

[0090] It should be noted that the movable device used for target object information recognition can be all or part of the movable device present in the indoor space, and the movable device used for gripping and transporting the target object can be all or part of the movable device present in the indoor space. Furthermore, the movable device used for target object information recognition and the movable device used for gripping and transporting the target object can be the same or different.

[0091] For the coordinated control of at least two movable devices, a master movable device can control itself and the other movable devices to achieve coordinated gripping and transport of the target object. Alternatively, the preceding movable device can transmit a gripping and transporting signal to the next movable device in a clockwise or counterclockwise direction to achieve coordinated gripping and transport of the target object.

[0092] In one embodiment of the present application, a method for determining that a target object is lifted into place includes: when the robotic arms of at least two movable equipment lift the target object smoothly in the vertical direction, and each clamping point of the target object is lifted the same preset distance, it is determined that the target object is lifted into place.

[0093] In this embodiment, by controlling the lifting speed, the robotic arm can lift the target object smoothly in the vertical direction. Under this premise, when each clamping point of the target object is lifted by the same preset distance, that is, when each clamping point rises the same moving distance, it is determined that the target object is lifted into place.

[0094] It should be noted that the preset distance can be determined based on the weight of the target object, the mechanical structure of the robotic arm, and the home environment. The threshold height limits the minimum value of the preset distance, and the mechanical structure of the robotic arm limits the maximum value of the preset distance.

[0095] In one embodiment of the present application, after the target object is lifted into position, synchronously controlling the chassis of each movable device to move toward the target position to transport the target object to the target position includes:

[0096] After the target object is lifted into place, the chassis of each movable device is controlled to move to a carrying posture;

[0097] Synchronously control each chassis to move toward the target position, and during the movement, control the second speed of each chassis to meet a second preset condition, wherein the second preset condition includes that the second speeds of each chassis are the same or the speed difference is less than the second preset speed.

[0098] In this embodiment, after the target object is lifted into position, the chassis of each movable device is controlled to move to a carrying posture, that is, Figure 6 As shown, the direction is toward the target position, and then the chassis moves synchronously toward the target position (as shown in the direction of the arrow) to achieve the object carrying action. During the moving process, the second speed of each chassis is controlled to meet the second preset condition so that the target object remains in a stable state during the moving process.

[0099] In one embodiment of the present application, a method of controlling the second speed of movement of each chassis to meet the second preset condition includes:

[0100] The movable devices communicate with each other to transmit the chassis position information of the movable devices;

[0101] During the movement process, negative feedback control of the chassis speed is performed based on the chassis posture information of each movable device, so that the second speed of each chassis movement meets the second preset condition.

[0102] In this embodiment, each movable device can communicate wirelessly via WiFi, Bluetooth, or radio frequency to exchange chassis posture information and robotic arm posture information, and convert the chassis posture information and robotic arm posture information to the same world coordinate to achieve unified control of the movable device.

[0103] For each movable device, the horizontal distance moved by the chassis is calculated based on its chassis posture information, and then the difference in the distances moved by each chassis is calculated. Based on this difference in distance, negative feedback control of the chassis' speed is performed to ensure that the second horizontal speed of each chassis meets the second preset condition, that is, to achieve smooth transport of the target object.

[0104] In the embodiment of the present application, objects in a room can be clamped and carried collaboratively by at least two movable devices, especially objects that are larger in size or heavier in weight, so that smooth clamping and carrying can be achieved, thereby improving the completion rate of tasks such as cleaning and organizing.

[0105] As a refinement and extension of the above embodiment, the embodiment of the present invention provides another control method for a mobile device, such as Figure 7 As shown, the method includes:

[0106] Step 701: Determine at least two gripping points on a target object to be transported.

[0107] Step 702 : Synchronously control the robotic arm of each of the at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction.

[0108] Step 703 : After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position to carry the target object to the target position.

[0109] Step 704, during the process of transporting the target object, if it is necessary to pass through a narrow space, the chassis of each movable device is controlled to move toward the center of the target object, and the robotic arms of each movable device are controlled to move upward synchronously to compensate for the horizontal coordinate changes of the grippers of the robotic arms.

[0110] In this embodiment, the mobile device performs environmental detection during the process of transporting the target object, thereby detecting whether there is a narrow space on the moving route, such as an environment such as an aisle. The narrow space refers to a space whose width is less than or equal to the maximum distance between two relatively movable devices during the process of the mobile device currently transporting the target object. That is, the width of the narrow space is less than or equal to the maximum distance between the two relatively movable devices before they move toward the center of the target object. The existence of the narrow space can be determined by comparing the width of the space with the maximum distance between the two relatively movable devices before they move toward the center of the target object. If it is determined that a narrow space exists and needs to be passed through, the chassis of each movable device is controlled to move toward the center of the target object, that is, to move an appropriate distance closer to the center of the circumscribed model of the target object, so that the maximum distance between the two relatively positioned movable devices is less than the width of the narrow space, thereby ensuring smooth passage.

[0111] It is worth noting that after determining that there is a narrow space on the moving route, it is necessary to determine whether the chassis of each movable device can pass through the narrow space smoothly if it moves to the maximum movable distance toward the center of the target object, thereby reducing the overall width. If the maximum distance between the two relative movable devices is less than the width of the narrow space after the chassis of each movable device moves to the maximum movable distance toward the center of the target object, then the narrow space can be passed smoothly; if the maximum distance between the two relative movable devices is still greater than the width of the narrow space after the chassis of each movable device moves to the maximum movable distance toward the center of the target object, then the narrow space cannot be passed. The maximum movable distance of each movable device can be determined based on factors such as whether the movable device is allowed to squeeze the target object, the maximum allowable squeezing degree of the target object, and the angle of the movable device chassis toward the target position.

[0112] When it is determined that the narrow space cannot be passed, the movement route can be replanned, or an alarm can be issued through an alarm device of a movable device or through a user terminal.

[0113] If it is determined that the route cannot be re-planned (that is, the narrow space is the only way to go), an alarm is issued through an alarm device of a mobile device or through a user terminal, thereby reminding the user to take corresponding measures.

[0114] In addition, while the chassis of each movable device moves toward the center of the target object, the robotic arms of each movable device are controlled to move upward synchronously to compensate for the horizontal coordinate changes of the robotic arm's grippers, so that each gripping point only moves the same distance in the height direction, and the relative distance in the horizontal direction does not change.

[0115] For example, Figure 8 As shown, for movable device B2 and movable device B4, the maximum distance between them is the distance between point B21 on movable device B2 and point B41 on movable device B4. Point B21 is the farthest point on movable device B2 from movable device B4, and point B41 is the farthest point on movable device B4 from movable device B2. If the maximum distance between the two is greater than or equal to the width of the narrow space, and it is determined that all four movable devices can pass through the narrow space after converging toward the center of the target object, the four movable devices are controlled to converging toward the center of the target object (as shown in the direction of the arrows), reducing the overall width to facilitate passage through the narrow space.

[0116] In an embodiment of the present application, multiple movable devices model a target object. By equally dividing the target object's circumscribed circle, circumscribed cylinder, or circumscribed sphere, the evenly distributed gripping points on the target object, as well as the horizontal projection directions of the chassis and robotic arms, are determined. The robotic arms of the multiple movable devices simultaneously grip the corresponding gripping points and lift upward at the same speed to achieve gripping of the target object. The robotic arms then maintain their posture while the chassis simultaneously moves toward the target location at the same speed to achieve transport.

[0117] Multiple movable devices can realize real-time remote communication, exchange chassis posture information and robotic arm posture information, and achieve consistency of robotic arm movement through negative feedback algorithm based on robotic arm posture information. The direction of the resultant force of each clamping point is consistent, and the resultant torque is zero along the target direction, ensuring smooth clamping and lifting of the target object. In addition, the consistency of chassis movement is achieved through negative feedback algorithm based on chassis posture information to ensure smooth handling.

[0118] During the process of gripping and transporting the target object, each movable device can move closer to the center of the target object through the chassis, and the end of the robotic arm can be lifted a certain distance to compensate for the change in the horizontal relative distance of each gripping point.

[0119] When passing through a narrow space, each movable device can move closer to the center of the target object through the chassis, reducing the overall width and passing through the narrow environment.

[0120] As a specific implementation of the above-mentioned control method for a mobile device, an embodiment of the present application provides a control device for a mobile device. Figure 9 As shown, the control device 900 of the movable device includes: a clamping point determination module 901 and a control module 902.

[0121] The gripping point determination module 901 is used to determine at least two gripping points on the target object to be transported;

[0122] The control module 902 is configured to:

[0123] Synchronously controlling a robotic arm of each of at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction;

[0124] After the target object is lifted into position, the chassis of each movable device is synchronously controlled to move toward the target position to carry the target object to the target position.

[0125] Furthermore, the control module 902 is further configured to: control at least two movable devices to respectively acquire feature information of the object at different angles;

[0126] The device also includes an object recognition module, which is used to recognize the target object to be transported based on object feature information at different angles.

[0127] Furthermore, the clamping point determination module 901 is specifically configured to:

[0128] Generate an external model of the target object based on the outline of the target object;

[0129] Divide the circumscribed model into N equal parts in the horizontal direction with the center of the circle as the center, and obtain N equal dividing lines, where N is an integer greater than 2;

[0130] For each bisector, the intersection point between the bisector and the outline of the target object is determined, and the clamping point is determined according to the intersection point.

[0131] Furthermore, the gripping point determination module 901 is further configured to:

[0132] After determining the clamping point, if the shape of the clamping point position on the target object and / or the gripper stroke of the robotic arm of the movable device do not meet the grasping conditions, a new clamping point is determined within the preset distance range of the clamping point, and the clamping point is replaced with the new clamping point, or the external model is re-divided into M equal parts in the vertical direction to re-determine M clamping points, where M is an integer greater than 2, and M is equal to or unequal to N.

[0133] Furthermore, the control module 902 is specifically configured to:

[0134] For each movable device, determining the gripping point corresponding to the movable device, and controlling the movable device to move to a preset spatial position in front of the corresponding gripping point;

[0135] After reaching the preset spatial position, the robotic arm of the movable device is controlled to face the center direction of the target object and adjusted to a preset gripping angle to grasp the gripping point corresponding to the movable device.

[0136] Furthermore, the control module 902 is specifically configured to determine the gripping point corresponding to the movable device with the goal of minimizing the moving distance or the moving time to reach the preset spatial position of the gripping point.

[0137] Furthermore, the control module 902 is specifically configured to:

[0138] After the robotic arm of the movable device grasps the corresponding gripping point, the robotic arm of each movable device is controlled to lift the target object in the vertical direction;

[0139] During the lifting process, the first speed of each robotic arm's upward movement is controlled to meet a first preset condition so that the difference in the vertical movement distance of the grippers of each robotic arm is less than a first preset height. The first preset condition includes that the first speed of each robotic arm's upward movement is the same or the speed difference is less than the first preset speed.

[0140] Furthermore, controlling the first speed of each robotic arm to move upward to meet a first preset condition includes:

[0141] Through mutual communication between various movable devices, the robot arm position information of the movable device is transmitted;

[0142] Based on the posture information of the manipulator arms of each movable device, determining the difference in vertical movement distance of the grippers of each manipulator arm;

[0143] Negative feedback control of the speed of the robotic arms is performed based on the difference in the moving distances, so that a first speed of the upward movement of each robotic arm meets a first preset condition.

[0144] Furthermore, the control module 902 is further configured to:

[0145] While the robotic arm lifts the target object in the vertical direction, the chassis of the movable device is controlled to move toward the center of the target object to compensate for the coordinate change of the gripper of the robotic arm in the horizontal direction.

[0146] Furthermore, the control module 902 is specifically configured to: determine that the target object is lifted into place when the robotic arms of at least two movable devices lift the target object steadily in the vertical direction and each gripping point of the target object is lifted the same preset distance.

[0147] Furthermore, the control module 902 is specifically configured to:

[0148] After the target object is lifted into place, the chassis of each movable device is controlled to move to a carrying posture;

[0149] Synchronously control each chassis to move toward the target position, and during the movement, control the second speed of each chassis to meet a second preset condition, wherein the second preset condition includes that the second speeds of each chassis are the same or the speed difference is less than the second preset speed.

[0150] Furthermore, the method of controlling the second speed of movement of each chassis to meet the second preset condition includes:

[0151] The movable devices communicate with each other to transmit the chassis position information of the movable devices;

[0152] During the movement process, negative feedback control of the chassis speed is performed based on the chassis posture information of each movable device, so that the second speed of each chassis movement meets the second preset condition.

[0153] Furthermore, the control module 902 is also used to: during the process of transporting the target object, if it is necessary to pass through a narrow space, control the chassis of each movable device to move toward the center of the target object, and control the robotic arms of each movable device to move upward synchronously to compensate for the horizontal coordinate changes of the robotic arm's grippers.

[0154] The control device 900 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 900 of the mobile device provided in the embodiment of the present application can realize Figure 1 and Figure 7 To avoid repetition, the various processes implemented in the embodiment of the control method for a mobile device are not described here.

[0155] The present application also provides a mobile device, such as Figure 10As shown, the mobile device 1000 includes a processor 1001 and a memory 1002. The memory 1002 stores programs or instructions that can be run on the processor 1001. When the program or instructions are executed by the processor 1001, the various steps of the control method embodiment of the above-mentioned mobile device are implemented and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0156] The memory 1002 can be used to store software programs and various data. The memory 1002 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.). In addition, the memory 1002 may include a volatile memory or a non-volatile memory, or the memory 1002 may include both volatile and non-volatile memory. 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. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 1002 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0157] Processor 1001 may include one or at least two processing units. Optionally, processor 1001 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while 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 processor 1001.

[0158] 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.

[0159] 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.

[0160] 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 method comprises: Determine at least two gripping points on the target object to be transported; Synchronously controlling the robotic arm of each of the at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction; After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position, so as to transport the target object to the target position.

2. The method according to claim 1, characterized in that Before determining at least two gripping points on the target object to be transported, the method further includes: The at least two movable devices are controlled to respectively obtain feature information of the object at different angles, and the target object to be transported is identified based on the feature information of the object at different angles.

3. The method according to claim 1, characterized in that Determining at least two gripping points on the target object to be transported includes: generating a circumscribed model of the target object based on the contour of the target object; Divide the circumscribed model into N equal parts in the horizontal direction with the center of the circle as the center to obtain N equal dividing lines, where N is an integer greater than 2; For each of the bisectors, an intersection point between the bisector and the contour of the target object is determined, and the clamping point is determined according to the intersection point.

4. The method according to claim 3, characterized in that The method further comprises: After determining the clamping point, if the shape of the clamping point position on the target object and / or the clamping stroke of the robotic arm of the movable device do not meet the grasping conditions, a new clamping point is determined within the preset distance range of the clamping point, and the clamping point is replaced by the new clamping point, or the external model is re-divided into M equal parts in the vertical direction to redetermine M clamping points, where M is an integer greater than 2, and M is equal to or unequal to N.

5. The method according to claim 1, wherein Synchronously controlling the mechanical arm of each of the at least two movable devices to grasp one of the gripping points, including: For each movable device, determining a clamping point corresponding to the movable device, and controlling the movable device to move to a preset spatial position in front of the corresponding clamping point; After reaching the preset spatial position, the mechanical arm of the movable device is controlled to face the center direction of the target object and adjusted to a preset clamping angle to grasp the clamping point corresponding to the movable device.

6. The method according to claim 5, characterized in that Determining the clamping point corresponding to the movable device includes: The gripping point corresponding to the movable device is determined with the goal of minimizing the moving distance or the moving time to reach the preset spatial position of the gripping point.

7. The method according to claim 1, characterized in that The step of lifting the target object in a vertical direction includes: After the mechanical arm of the movable device grasps the corresponding gripping point, controlling the mechanical arm of each movable device to lift the target object in a vertical direction; During the lifting process, the first speed at which each of the robotic arms moves upward is controlled to meet a first preset condition so that the difference in vertical movement distance of the grippers of each of the robotic arms is less than a first preset height. The first preset condition includes that the first speed at which each of the robotic arms moves upward is the same or the speed difference is less than the first preset speed.

8. A control device for a movable device, characterized in that: The device comprises: A gripping point determination module, configured to determine at least two gripping points on a target object to be transported; Control module for: Synchronously controlling the robotic arm of each of the at least two movable devices to grasp a corresponding gripping point and lift the target object in a vertical direction; After the target object is lifted to a position, the chassis of each movable device is synchronously controlled to move toward the target position, so as to transport the target object to the target position.

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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