Mechanical arm posture adjusting method and device and self-moving equipment

Abstract

The invention discloses a mechanical arm posture adjusting method and device and self-moving equipment. The mechanical arm posture adjusting method is applied to the self-moving equipment, the self-moving equipment comprises a body and a mechanical arm connected with the body, and the method comprises the steps that a posture adjusting instruction for the mechanical arm is received; executing space detection operation to obtain a space detection result; wherein the space detection result comprises a result meeting the preset posture adjustment of the mechanical arm or a result not meeting the preset posture adjustment of the mechanical arm; and controlling the mechanical arm to perform attitude adjustment based on the space detection result.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and in particular to a robot arm posture adjustment method, cleaning method, device and electronic equipment. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, autonomous devices have been continuously integrated into our daily lives. Currently, autonomous devices can use robotic arms to grasp or move objects.

[0003] A robotic arm can have different postures. Directly adjusting the posture upon receiving a posture adjustment command can cause the actual spatial environment to not meet the posture adjustment requirements, leading to a collision. Therefore, it is necessary to provide a method to detect whether the spatial environment meets the posture adjustment requirements before the robotic arm adjusts its posture. Summary of the Invention

[0004] The embodiments of the present application provide a method, device and self-moving device for adjusting the posture of a robotic arm, which can at least to a certain extent detect whether the spatial environment meets the requirements of the posture adjustment before the robotic arm adjusts its posture, thereby avoiding collision of the robotic arm.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a method for adjusting the posture of a robotic arm is provided, which is applied to a self-moving device, wherein the self-moving device includes a body and a robotic arm connected to the body. The method includes:

[0007] Receive posture adjustment instructions for the robotic arm;

[0008] Performing a space detection operation to obtain a space detection result; wherein the space detection result includes a result that satisfies the predetermined posture adjustment of the robotic arm or a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0009] The robotic arm is controlled to adjust its posture based on the spatial detection result.

[0010] In some possible implementations, performing the space detection operation to obtain a space detection result includes:

[0011] Acquiring target point cloud data collected by the sensor, and determining an environmental state based on the target point cloud data, wherein the target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data including point cloud data collected by the sensor at a current position, and the second point cloud data including point cloud data collected by the sensor as the body rotates; the environmental state includes a safe state or an unsafe state;

[0012] The space detection result is determined based on the environmental state.

[0013] In some possible implementations, the target point cloud data includes first point cloud data and second point cloud data;

[0014] The acquiring target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes:

[0015] When the sweeper is at the current position, first point cloud data is collected;

[0016] If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0017] If it is detected based on the first point cloud data that the environmental state is a safe state, controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0018] When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0019] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0020] In some possible implementations, the target point cloud data includes second point cloud data;

[0021] The acquiring target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes:

[0022] controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0023] When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0024] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0025] In some possible implementations, the sensor rotates from the current position to the target position along with the body, corresponding to a rotation angle of 360° for the body.

[0026] In some possible implementations, the robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint;

[0027] The current point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction;

[0028] If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

[0029] In some possible implementations, determining the environmental state based on the target point cloud data includes:

[0030] Determining a current posture of the robotic arm;

[0031] Determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction;

[0032] If the current space information meets the target space requirement information, the environment state is a safe state; or if the current space information does not meet the target space requirement information, the environment state is an unsafe state.

[0033] In some possible implementations, determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction includes:

[0034] Based on the current posture and the adjusted posture, the corresponding target space requirement information is queried from the database, wherein the database includes the space requirement information corresponding to the various postures of the robotic arm, and the space requirement information of the motion path corresponding to the adjustment between different postures of the robotic arm.

[0035] In some possible implementations, the field of view of the sensor covers every posture of the robotic arm after leaving the cabin, and the database is constructed in the following manner:

[0036] When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data corresponding to the motion path adjusted between different postures, wherein the preset environmental condition is that there are no obstructions in the field of view of the sensor;

[0037] The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

[0038] In some possible implementations, the main body is provided with a recovery cabin, the current posture is the recovery posture of the robotic arm folded and accommodated in the recovery cabin, the adjusted posture indicated by the posture adjustment instruction is the exit posture, and querying corresponding target space requirement information from a database based on the current posture and the adjusted posture includes:

[0039] querying first space requirement information corresponding to the extravehicular posture from the database;

[0040] determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database;

[0041] The target space requirement information is determined based on the first space requirement information and the second space requirement information.

[0042] In some possible implementations, the main body is provided with a recovery cabin, the adjustment posture indicated by the posture adjustment instruction is the recovery posture folded and accommodated in the recovery cabin, and querying corresponding target space requirement information from a database based on the current posture and the adjustment posture includes:

[0043] querying the database for third space requirement information corresponding to the posture to be returned to the cabin;

[0044] determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database;

[0045] determining a third motion path corresponding to adjusting the posture of the cabin to be returned to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database;

[0046] The target space requirement information is determined based on the third space requirement information, the fourth space requirement information, and the fifth space requirement information.

[0047] In some possible implementations, controlling the robotic arm to adjust its posture based on the spatial detection result includes:

[0048] If the space detection result satisfies the predetermined posture adjustment of the robotic arm, controlling the robotic arm to adjust to the exit posture;

[0049] The method further comprises:

[0050] If the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result;

[0051] Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

[0052] In some possible implementations, determining the target location includes:

[0053] Acquire a plurality of historical movement locations of the mobile device within a preset range of the current location, wherein each historical movement location corresponds to historical point cloud data collected by the sensor;

[0054] A historical moving location whose historical point cloud data meets the target space requirement information is screened out from a plurality of historical moving locations as the target location.

[0055] According to a second aspect of an embodiment of the present application, a robotic arm posture adjustment device is provided, characterized in that it is configured on a self-moving device, the self-moving device including a body and a robotic arm connected to the body, and the device includes:

[0056] a space detection unit, configured to, upon receiving a posture adjustment instruction for the robotic arm, perform a space detection operation and obtain a space detection result, wherein the space detection result includes a result that satisfies the predetermined posture adjustment of the robotic arm or a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0057] A posture adjustment unit is used to control the robot arm to adjust its posture based on the spatial detection result.

[0058] In some possible implementations, the body is provided with a sensor, and when the space detection unit performs a space detection operation, it is used to:

[0059] Acquiring target point cloud data collected by the sensor, and determining an environmental state based on the target point cloud data, wherein the target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data including point cloud data collected by the sensor at a current position, and the second point cloud data including point cloud data collected by the sensor as the body rotates; the environmental state includes a safe state or an unsafe state;

[0060] The space detection result is determined based on the environmental state.

[0061] In some possible implementations, the target point cloud data includes first point cloud data and second point cloud data. When the space detection unit acquires the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is configured to:

[0062] When the sweeper is at the current position, first point cloud data is collected;

[0063] If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0064] If it is detected based on the first point cloud data that the environmental state is a safe state, controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0065] When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0066] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0067] In some possible implementations, the target point cloud data includes second point cloud data;

[0068] When the space detection unit acquires the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is specifically used to:

[0069] controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0070] When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0071] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0072] In some possible implementations, the sensor rotates from the current position to the target position along with the body, corresponding to a rotation angle of 360° for the body.

[0073] In some possible implementations, the robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint;

[0074] The current point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction;

[0075] If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

[0076] In some possible implementations, when determining the environmental state based on the target point cloud data, the space detection unit is configured to:

[0077] Determining a current posture of the robotic arm;

[0078] Determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction;

[0079] If the target point cloud data meets the target space requirement information, the environmental state is a safe state.

[0080] In some possible implementations, when determining the corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction, the space detection unit is configured to:

[0081] Based on the current posture and the adjusted posture, the corresponding target space requirement information is queried from the database, wherein the database includes the space requirement information corresponding to the various postures of the robotic arm, and the space requirement information of the motion path corresponding to the adjustment between different postures of the robotic arm.

[0082] In some possible implementations, the field of view of the sensor covers every posture of the robotic arm after leaving the cabin, and the space detection unit is further used to:

[0083] When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data corresponding to the motion path adjusted between different postures, wherein the preset environmental condition is that there are no obstructions in the field of view of the sensor;

[0084] The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

[0085] In some possible embodiments, the main body is provided with a recovery cabin, the current posture is the recovery posture of the robotic arm folded and accommodated in the recovery cabin, the adjusted posture indicated by the posture adjustment instruction is the exit posture, and the space detection unit, when querying the corresponding target space requirement information from the database based on the current posture and the adjusted posture, is used to:

[0086] querying first space requirement information corresponding to the extravehicular posture from the database;

[0087] determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database;

[0088] The target space requirement information is determined based on the first space requirement information and the second space requirement information.

[0089] In some possible implementations, the main body is provided with a recovery cabin, and the adjustment posture indicated by the posture adjustment instruction is the recovery posture of being folded and accommodated in the recovery cabin. When the space detection unit queries the corresponding target space requirement information from the database based on the current posture and the adjustment posture, it is configured to:

[0090] querying the database for third space requirement information corresponding to the posture to be returned to the cabin;

[0091] determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database;

[0092] determining a third motion path corresponding to adjusting the posture of the cabin to be returned to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database;

[0093] The target space requirement information is determined based on the third space requirement information, the fourth space requirement information, and the fifth space requirement information.

[0094] In some possible implementations, the posture adjustment unit is used to:

[0095] If the space detection result satisfies the predetermined posture adjustment of the robotic arm, controlling the robotic arm to adjust to the exit posture;

[0096] The space detection unit is further used for:

[0097] If the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result;

[0098] Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

[0099] In some possible implementations, when determining the target location, the space detection unit is configured to:

[0100] Acquire a plurality of historical movement locations of the mobile device within a preset range of the current location, wherein each historical movement location corresponds to historical point cloud data collected by the sensor;

[0101] A historical moving location whose historical point cloud data meets the target space requirement information is screened out from a plurality of historical moving locations as the target location.

[0102] According to a third aspect of an embodiment of the present application, a self-moving device is provided, comprising a main body and a robotic arm connected to the main body, a memory, a processor, and a computer program stored on the memory, characterized in that the processor executes the steps of the method described in the above embodiment.

[0103] According to a fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method of the above embodiment are implemented.

[0104] According to a sixth aspect of the embodiments of the present application, a computer program product is provided, including a computer program, which implements the steps of the above-mentioned embodiment method when the computer program is executed by a processor.

[0105] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0106] The beneficial effects of the technical solution provided by the embodiments of the present application are:

[0107] When receiving a posture adjustment instruction for the robotic arm, a space detection operation is first performed to obtain a space detection result, and then it is judged whether the current environment of the mobile device meets the requirements for the robotic arm to make a predetermined posture adjustment. Then, based on the space detection result, the robotic arm is controlled to make a posture adjustment. Before the robotic arm adjusts its posture, it can detect whether the spatial environment meets the requirements for posture adjustment to avoid collision of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0109] Figure 1 A schematic diagram of the structure of a self-propelled device provided in an embodiment of the present application;

[0110] Figure 2 A schematic top view of a mobile device provided as an example of this application;

[0111] Figure 3 A flowchart of a method for adjusting the posture of a robotic arm provided in an embodiment of the present application;

[0112] Figure 4 A schematic diagram of the field of view of the sensor provided in an embodiment of the present application;

[0113] Figure 5 A schematic diagram of a solution for determining spatial detection results provided in an embodiment of the present application;

[0114] Figure 6 A schematic diagram of a solution for determining spatial detection results provided in an embodiment of the present application;

[0115] Figure 7 A schematic diagram of the structure of a robotic arm in an out-of-cabin posture provided as an example of this application;

[0116] Figure 8A schematic structural diagram of a gripping posture of a robotic arm provided as an example of this application;

[0117] Figure 9 A simplified structural diagram of a self-moving device provided as an example of this application;

[0118] Figure 10 A schematic structural diagram of a robotic arm posture adjustment device provided in an embodiment of the present application;

[0119] Figure 11 A schematic diagram of the structure of an electronic device for adjusting the posture of a robotic arm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0120] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0121] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0122] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0123] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0124] It should also be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects, and are not necessarily 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 the present application described herein can be implemented in an order other than that shown or described.

[0125] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0126] First, the structure of the self-moving device of this application is described. Figure 1 As shown, the self-mobile device 100 includes a body 110 and a mechanical arm 120 connected to the body. The mechanical arm 120 can have multiple postures, such as Figure 1 Egress attitude shown.

[0127] like Figure 2 As shown, the body 110 includes a recovery cabin 111 for accommodating the folded robotic arm, and the robotic arm 120 can be retracted into the recovery cabin 111 by folding.

[0128] The robot arm posture adjustment method of the present application can be applied to a self-moving device, and specifically, can be applied to a controller of the self-moving device.

[0129] In some possible implementations, such as Figure 3 As shown, a method for adjusting the posture of a robotic arm is provided. Taking a self-moving device as an example, the self-moving device includes a body and a robotic arm connected to the body. The method includes:

[0130] Step S301: receiving a posture adjustment instruction for the robotic arm.

[0131] Among them, the self-moving device refers to a robot or intelligent device with autonomous movement capability. The self-moving device may also have cleaning capability, for example, it may be a sweeping robot.

[0132] Among them, the posture adjustment instruction can be triggered by the mobile device detecting that a task is completed, for example, completing a specified action, such as putting down an object; or detecting that the mobile device moves to a specified location; or the control terminal sends a posture adjustment instruction to the mobile device.

[0133] Step S302: perform a space detection operation to obtain a space detection result.

[0134] The spatial detection result includes a result that satisfies the predetermined posture adjustment of the robotic arm or a result that does not satisfy the predetermined posture adjustment of the robotic arm.

[0135] Specifically, the spatial detection operation can be to detect whether the surrounding environment of the mobile device location meets the spatial requirements for posture adjustment through the point cloud data collected by the sensors set by the main body. The specific process of the spatial detection operation will be explained in detail below.

[0136] Step S302: Control the robotic arm to adjust its posture based on the spatial detection result.

[0137] Specifically, if the spatial detection result is that the robotic arm meets the requirements for the predetermined posture adjustment, the corresponding posture adjustment can be performed according to the posture adjustment instruction; if the spatial detection result is that the robotic arm does not meet the requirements for the predetermined posture adjustment, it is necessary to prompt that the posture adjustment cannot be performed, and control the mobile device to move to a location where the posture adjustment can be performed before the posture adjustment is performed.

[0138] In the above embodiment, when a posture adjustment instruction for the robotic arm is received, a space detection operation is first performed to obtain a space detection result, and it is determined whether the environment in which the mobile device is currently located meets the requirements for the robotic arm to perform a predetermined posture adjustment. Then, based on the space detection result, the robotic arm is controlled to perform posture adjustment. Before the robotic arm adjusts its posture, it can be detected whether the spatial environment meets the requirements for posture adjustment to avoid collision of the robotic arm.

[0139] In some possible implementations, the body is provided with a sensor, and performing the space detection operation to obtain the space detection result includes:

[0140] (1) Obtain target point cloud data collected by the sensor, and determine the environmental state based on the target point cloud data.

[0141] Point cloud data is three-dimensional spatial data collected by sensors, consisting of a large number of discrete points, each of which contains three-dimensional coordinate information.

[0142] The sensor may include a solid-state LiDAR (Light Detection and Ranging) or a ToF (Time-of-Flight) depth camera, which is arranged on the body.

[0143] Specifically, the sensor's field of view needs to cover various postures of the robotic arm after leaving the cabin. The sensor can be set on the top of the body, such as Figure 4 As shown, the field of view of the sensor 401 covers various postures of the robotic arm.

[0144] The target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data includes point cloud data collected by the sensor at the current position, and the second point cloud data includes point cloud data collected by the sensor as the body rotates.

[0145] Specifically, when the sensor is at its current position, the first point cloud data can be collected by the sensor; when the sensor rotates with the body, the second point cloud data can be collected in real time by the sensor during the rotation process.

[0146] The environmental state includes a safe state or an unsafe state.

[0147] Among them, the environmental state is used to characterize the spatial environment judged based on point cloud data, whether it can meet the spatial requirements of the robotic arm for posture adjustment. The specific process of determining the environmental state will be further elaborated below.

[0148] (2) Determine the space detection result based on the environmental state.

[0149] In some possible implementations, the target point cloud data includes second point cloud data;

[0150] The acquiring target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes:

[0151] (1) controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0152] (2) when the sensor rotates with the body, for a preset point cloud acquisition point during the rotation, corresponding second point cloud data is obtained, and if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0153] (3) If, during the process of the body rotating by a preset angle, the sensor rotates from the current position to the target position along with the body, and the second point cloud data corresponding to the preset point cloud acquisition point detects that the environmental state is a safe state, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0154] The main body may include multiple point cloud collection points during the rotation process, and the preset point cloud collection point may include any one of the multiple point cloud collection points.

[0155] That is to say, when the sensor rotates with the body, if the environmental state is judged to be an unsafe state based on the second point cloud data corresponding to any one of the multiple point cloud acquisition points, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; if the environmental state is judged to be a safe state based on the second point cloud data corresponding to each of the multiple point cloud acquisition points, the spatial detection result is a result that satisfies the predetermined posture adjustment of the robotic arm.

[0156] like Figure 5 As shown, the body can be controlled to rotate. During the rotation of the body, the sensor is controlled to continuously collect second point cloud data at each point cloud collection point, and the environmental state is determined based on the second point cloud data; if during the rotation, at the preset point cloud collection point, the environmental state is detected to be unsafe based on the corresponding second point cloud data, then the spatial detection result is a result that does not meet the requirements for the predetermined posture adjustment of the robotic arm, and the body is controlled to stop rotating at this time; if during the rotation, the environmental state is detected to be safe based on the second point cloud data, and has not rotated to the preset angle, then the rotation and detection continue until the sensor rotates with the body to the preset angle; if the sensor rotates with the body to the preset angle, and the second point cloud data corresponding to the preset point cloud collection point all detect that the environmental state is safe, then the spatial detection result is a result that meets the requirements for the predetermined posture adjustment of the robotic arm.

[0157] Specifically, the sensor rotates from the current position to the target position along with the main body, and the corresponding rotation angle of the main body is 360°. In this way, point cloud data from the area where the mobile device is located can be collected in a full range to avoid the limitation of the viewing angle while avoiding invalid rotation and repeated collection of the second point cloud data.

[0158] In the above embodiment, by controlling the rotation of the body so that the sensor follows the rotation of the body, point cloud data from the area where the mobile device is located is collected in a full range to avoid the limitation of the viewing angle and the misjudgment of the environmental status, which can effectively improve the accuracy of the spatial detection results and avoid collision of the robotic arm.

[0159] In some other possible implementations, the target point cloud data includes first point cloud data and second point cloud data; and obtaining the target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes:

[0160] When the sweeper is at the current position, first point cloud data is collected;

[0161] If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0162] If it is detected based on the first point cloud data that the environmental state is a safe state, controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0163] When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or

[0164] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0165] like Figure 6 As shown, the first point cloud data can be collected by the sensor first. If the environmental state is detected to be an unsafe state based on the first point cloud data, the spatial detection result is a result that does not meet the requirements for the predetermined posture adjustment of the robotic arm; if the environmental state is detected to be a safe state based on the first point cloud data, the body is controlled to rotate, and then the second point cloud data is combined to make a judgment; similarly, during the rotation of the body, the sensor is controlled to continuously collect the second point cloud data, and then the environmental state is determined in combination with the second point cloud data, thereby determining the spatial detection result.

[0166] In the above embodiment, the environmental state is first judged in combination with the first point cloud data. If the first point cloud data judges that the environmental state is an unsafe state, the spatial detection result is a result that does not meet the requirements for the predetermined posture adjustment of the robotic arm, and there is no need to control the rotation of the main body to obtain the second point cloud data; if the first point cloud data judges that the environmental state is a safe state, the main body is controlled to rotate to obtain the second point cloud data for further judgment, which can improve the accuracy of the spatial detection results while avoiding invalid rotation energy consumption and effectively saving data calculation amount.

[0167] The above embodiment describes the specific process of determining the spatial detection result based on the environmental state. The following will further describe the specific process of determining the environmental state based on the target point cloud data in conjunction with the embodiment.

[0168] In some possible implementations, the robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint;

[0169] The target point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction;

[0170] If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

[0171] Combine Figure 7 and Figure 8 As shown, the robot arm 120 includes a robot hand 121 and a working arm 122. Figure 7 is the exit posture of the robotic arm 120, Figure 8 The gripping posture of the robot arm 120 is different. Under different postures of the robot arm 120, the angle of the working arm 121 is different. The working arm 122 can be driven to rotate to different angles by the joint elbow driving motor 123 to achieve switching between different postures.

[0172] In some possible implementations, such as Figure 9 As shown, the robotic arm 90 includes a base 901, a rotary joint 902, and a robotic arm 903 currently out of the cabin. The robotic arm 903 currently out of the cabin is rotatably connected to the base 901 via the rotary joint 902. The target point cloud data includes the second point cloud data, which is collected by the body 900 rotating at a first speed and in a first direction. If the current posture of the robotic arm is an out-of-cabin posture, during the process of the body 900 rotating to collect the second point cloud data, the robotic arm 903 currently out of the cabin rotates on the base 901 at the first speed and in the second direction via the rotary joint 902, so that the absolute position of the robotic arm 903 currently out of the cabin remains fixed, wherein the first direction is opposite to the second direction.

[0173] If the robotic arm is currently in an out-of-vehicle posture, and the body 900 rotates to collect the second point cloud data without determining spatial information, the robotic arm may cause a collision due to the rotation if it rotates with the body 900. The body 900 rotates at a first speed and in a first direction, and the robotic arm 903 currently out of the vehicle rotates on the base 901 via the rotary joint 902 at the first speed and in a second direction, so that the absolute position of the robotic arm 903 currently out of the vehicle remains fixed, thereby avoiding collisions caused by the rotation.

[0174] In the above embodiment, if the current posture of the robotic arm is an out-of-cabin posture, when the main body rotates at a first speed and along a first direction to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base at the first speed and second direction through the rotary joint, so that the absolute position of the robotic arm currently out of the cabin remains fixed, and spatial information can be collected in all directions while avoiding the risk of collision of the robotic arm.

[0175] In some possible implementations, determining the environmental state based on the target point cloud data may include:

[0176] (1) Determine the current posture of the robotic arm.

[0177] Among them, the robotic arm can have multiple different postures, and the current posture can include the out-of-cabin posture, the carrying posture, the clamping posture, etc.

[0178] (2) Determine corresponding target space requirement information based on the current posture and the adjustment posture indicated by the posture adjustment instruction.

[0179] Specifically, different postures of the robotic arm correspond to different occupied spaces, and the switching between different postures corresponds to different motion paths, resulting in different space requirement information.

[0180] Specifically, determining the corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction may include:

[0181] Based on the current posture and the adjusted posture, corresponding target space requirement information is queried from a database.

[0182] The database includes space requirement information corresponding to various postures of the robotic arm, and space requirement information of motion paths corresponding to adjustments between different postures of the robotic arm.

[0183] Specifically, in the absence of any obstructions, the space requirement information corresponding to different postures and the space requirement information corresponding to different motion paths may be determined in advance.

[0184] In a specific implementation, the field of view of the sensor covers every posture of the robotic arm after leaving the cabin, and the database is constructed in the following way:

[0185] When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data of the corresponding motion path adjusted between different postures;

[0186] The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

[0187] The preset environmental condition is that there is no obstruction in the field of view of the sensor, that is, an unobstructed environment is established in a standard experimental field.

[0188] Specifically, the robotic arm is controlled to switch to different postures. When the robotic arm switches to each posture, the sensor collects point cloud data corresponding to each posture after the robotic arm leaves the cabin; whenever the robotic arm switches posture, the sensor collects point cloud data corresponding to different motion paths.

[0189] For example, for a certain posture of the robotic arm, the center of the body can be used as the three-dimensional coordinate center, such as how much space is required in the X, Y, and Z directions respectively, to represent the space requirement information corresponding to this posture.

[0190] (3) If the target point cloud data meets the target space requirement information, the environmental state is a safe state.

[0191] Specifically, the target point cloud data meets the target space requirement information, indicating that the target point cloud data can accommodate the current posture of the robotic arm and the adjusted posture of the robotic arm, and in the process of switching from the current posture to the motion path corresponding to the adjusted posture, the motion trajectory of the robotic arm will not collide with environmental obstacles.

[0192] In the specific implementation process, a three-dimensional point cloud map can be generated based on the target point cloud data and the simultaneous localization and mapping (SLAM) algorithm, and then the three-dimensional point cloud map can be used to determine whether it meets the target space requirement information.

[0193] The following will illustrate the scenario of the robotic arm exiting the cabin with reference to an embodiment.

[0194] In some possible implementations, the main body is provided with a recovery cabin, the current posture is the recovery posture of the robotic arm folded and accommodated in the recovery cabin, and the adjustment posture indicated by the posture adjustment instruction is the exit posture.

[0195] Specifically, querying corresponding target space requirement information from a database based on the current posture and the adjusted posture may include:

[0196] ① Querying the first space requirement information corresponding to the extravehicular posture from the database;

[0197] ② determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database;

[0198] ③ Determine the target space requirement information based on the first space requirement information and the second space requirement information.

[0199] Specifically, the database pre-stores space requirement information corresponding to multiple postures, as well as space requirement information corresponding to the adjustment between different postures of the robotic arm. Then, you can directly query the first space requirement information of the out-of-cabin posture and the second space requirement information corresponding to the first motion path.

[0200] In a specific implementation process, the target space requirement information is the minimum space requirement information that covers both the first space requirement information and the second space requirement information. It can be understood that the target space requirement information is the union of the first space requirement information and the second space requirement information.

[0201] It should be noted that in the above embodiments, the target spatial requirement information is first determined based on the first spatial requirement information and the second spatial requirement information, and then it is determined whether the target point cloud data meets the target spatial requirement information; in other embodiments, when the first spatial requirement information and the second spatial requirement information are queried, it is also possible to determine whether the target point cloud data meets the first spatial requirement information and the second spatial requirement information respectively. If the target point cloud data meets the first spatial requirement information and the second spatial requirement information respectively, the environmental state is a safe state; if the target point cloud data does not meet the first spatial requirement information or the second spatial requirement information, the environmental state is an unsafe state.

[0202] In some possible implementations, step S303 controls the robotic arm to adjust its posture based on the spatial detection result, including:

[0203] If the space detection result satisfies the predetermined posture adjustment of the robotic arm, the robotic arm is controlled to be adjusted to the out-of-cabin posture.

[0204] Specifically, when it is confirmed that the spatial detection result is consistent with the posture adjustment, the posture adjustment can be performed according to the posture adjustment instruction.

[0205] The method further comprises:

[0206] (1) If the spatial detection result does not satisfy the result of the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result;

[0207] (2) Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

[0208] Specifically, if the spatial detection result is that the robot arm does not meet the requirements for the predetermined posture adjustment, it means that the current location of the mobile device is not suitable for the posture adjustment of the robot arm. It is necessary to move the mobile device to the target location and then re-judge whether the posture adjustment can be performed, that is, re-perform the spatial detection operation.

[0209] The specific space detection operation has been described in detail in the above embodiments and will not be repeated here.

[0210] Similarly, if the new spatial detection result satisfies the predetermined posture adjustment of the robotic arm, the robotic arm is controlled to perform the posture adjustment.

[0211] Specifically, determining the target location may include:

[0212] ① Obtain multiple historical moving locations of the mobile device within a preset range of the current location.

[0213] ② Filter out a historical moving location whose historical point cloud data meets the target space requirement information from multiple historical moving locations as the target location.

[0214] Each historical moving location corresponds to historical point cloud data collected by the sensor.

[0215] The preset range may be a range within a preset diameter centered on the self-moving device, for example, a range within 5 meters centered on the self-moving device.

[0216] Specifically, when the mobile device is moving, it will collect corresponding point cloud data through sensors.

[0217] It should be noted that, at each historical moving location, the first point cloud data corresponding to the historical moving location is collected by the sensor to obtain the historical point cloud data of the historical moving location.

[0218] Specifically, if a plurality of historical movement locations that meet the target space requirement information are screened out, the historical movement location closest to the current location may be selected as the target location.

[0219] The following describes the return scenario of the robotic arm to the cabin in conjunction with embodiments.

[0220] In some possible implementations, the main body is provided with a recovery cabin, the adjustment posture indicated by the posture adjustment instruction is the recovery posture folded and accommodated in the recovery cabin, and querying corresponding target space requirement information from a database based on the current posture and the adjustment posture includes:

[0221] ① Querying the third space requirement information corresponding to the posture to be returned to the cabin from the database;

[0222] ② determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database;

[0223] ③ determining a third motion path corresponding to adjusting the posture of the waiting return capsule to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database;

[0224] ④ Determine the target space requirement information based on the third space requirement information, the fourth space requirement information and the fifth space requirement information.

[0225] Among them, the waiting-to-return-to-cabin posture is a fixed posture of the robotic arm after it leaves the cabin and before returning to the cabin each time.

[0226] That is to say, except for the current waiting-to-return posture, the robotic arm needs to adjust from the current posture to the waiting-to-return posture, and then adjust from the waiting-to-return posture to the recovery posture when it needs to return to the cabin in other situations after leaving the cabin.

[0227] Specifically, in the process of the robotic arm returning to the cabin, it is necessary to first determine the second motion path from the current posture of the robotic arm to the posture to be returned to the cabin, and the third motion path corresponding to the posture to be returned to the cabin to the recovery posture, and calculate the space requirement information corresponding to these two motion paths and the third space requirement information corresponding to the posture to be returned to the cabin respectively.

[0228] Similarly, in the above embodiment, the target space requirement information is first determined based on the third space requirement information, the fourth space requirement information and the fifth space requirement information, and then it is determined whether the target point cloud data meets the target space requirement information; in other embodiments, when the third space requirement information, the fourth space requirement information and the fifth space requirement information are queried, it is also possible to determine whether the target point cloud data meets the third space requirement information, the fourth space requirement information and the fifth space requirement information respectively. If the target point cloud data meets the third space requirement information, the fourth space requirement information and the fifth space requirement information respectively, the environmental state is a safe state; if the target point cloud data does not meet the third space requirement information, the fourth space requirement information or the fifth space requirement information, the environmental state is an unsafe state.

[0229] The above-mentioned method for adjusting the posture of the robotic arm, when receiving a posture adjustment instruction for the robotic arm, first performs a space detection operation to obtain a space detection result, judges whether the current environment of the mobile device is suitable for posture adjustment, and then controls the robotic arm to adjust the posture based on the space detection result. Before the robotic arm adjusts its posture, it can detect whether the spatial environment meets the requirements of the posture adjustment to avoid collision of the robotic arm.

[0230] Furthermore, by controlling the rotation of the body so that the sensor follows the rotation of the body, point cloud data from the area where the mobile device is located can be collected in the entire range to avoid the limitation of viewing angle and the misjudgment of the environmental status. This can effectively improve the accuracy of the spatial detection results and avoid collision of the robotic arm.

[0231] Furthermore, the environmental status is first judged in combination with the first point cloud data. If the first point cloud data judges that the environmental status is an unsafe status, the spatial detection result is an unadjustable posture, and there is no need to control the rotation of the main body to obtain the second point cloud data; if the first point cloud data judges that the environmental status is a safe status, the rotation of the main body is controlled to obtain the second point cloud data for further judgment. This can improve the accuracy of the spatial detection results while avoiding invalid rotation energy consumption and effectively saving data calculation amount.

[0232] In some possible implementations, a robotic arm posture adjustment device 100 is provided, which is configured on a self-moving device. The self-moving device includes a body and a robotic arm connected to the body. The device includes:

[0233] The receiving unit 1001 is configured to receive a posture adjustment instruction for the robotic arm;

[0234] A space detection unit 1002 is configured to perform a space detection operation to obtain a space detection result, wherein the space detection result includes a result that satisfies the predetermined posture adjustment of the manipulator or a result that does not satisfy the predetermined posture adjustment of the manipulator;

[0235] The posture adjustment unit 1003 is used to control the robot arm to adjust its posture based on the spatial detection result.

[0236] In some possible implementations, the body is provided with a sensor, and when the space detection unit 1002 performs a space detection operation, it is used to:

[0237] Acquiring target point cloud data collected by the sensor, and determining an environmental state based on the target point cloud data, wherein the target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data including point cloud data collected by the sensor at a current position, and the second point cloud data including point cloud data collected by the sensor as the body rotates; the environmental state includes a safe state or an unsafe state;

[0238] The space detection result is determined based on the environmental state.

[0239] In some possible implementations, the target point cloud data includes first point cloud data and second point cloud data. When the space detection unit 1002 acquires the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is configured to:

[0240] When the sweeper is at the current position, first point cloud data is collected;

[0241] If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0242] If it is detected based on the first point cloud data that the environmental state is a safe state, controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0243] When the sensor rotates with the body, for a preset point cloud collection point during the rotation, corresponding second point cloud data is obtained, and if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0244] If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0245] In some possible implementations, the target point cloud data includes second point cloud data;

[0246] When the space detection unit 1002 obtains the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is specifically used to:

[0247] controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data;

[0248] When the sensor rotates with the body, for a preset point cloud collection point during the rotation, corresponding second point cloud data is obtained, and if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm;

[0249] If, when the body rotates by a preset angle and the sensor rotates from the current position to the target position along with the body, the second point cloud data corresponding to the preset point cloud acquisition point detects that the environmental state is a safe state, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

[0250] In some possible implementations, the sensor rotates from the current position to the target position along with the body, corresponding to a rotation angle of 360° for the body.

[0251] In some possible implementations, the robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint;

[0252] The current point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction;

[0253] If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

[0254] In some possible implementations, when determining the environmental state based on the target point cloud data, the space detection unit 1002 is configured to:

[0255] Determining a current posture of the robotic arm;

[0256] Determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction;

[0257] If the target point cloud data meets the target space requirement information, the environmental state is a safe state.

[0258] In some possible implementations, when determining the corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction, the space detection unit 1002 is configured to:

[0259] Based on the current posture and the adjusted posture, the corresponding target space requirement information is queried from the database, wherein the database includes the space requirement information corresponding to the various postures of the robotic arm, and the space requirement information of the motion path corresponding to the adjustment between different postures of the robotic arm.

[0260] In some possible implementations, the field of view of the sensor covers every posture of the robotic arm after leaving the cabin, and the space detection unit 1002 is further configured to:

[0261] When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data corresponding to the motion path adjusted between different postures, wherein the preset environmental condition is that there are no obstructions in the field of view of the sensor;

[0262] The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

[0263] In some possible embodiments, the main body is provided with a recovery cabin, the current posture is the recovery posture of the robotic arm folded and accommodated in the recovery cabin, the adjusted posture indicated by the posture adjustment instruction is the exit posture, and the space detection unit, when querying the corresponding target space requirement information from the database based on the current posture and the adjusted posture, is used to:

[0264] querying first space requirement information corresponding to the extravehicular posture from the database;

[0265] determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database;

[0266] The target space requirement information is determined based on the first space requirement information and the second space requirement information.

[0267] In some possible implementations, the main body is provided with a recovery cabin, and the adjustment posture indicated by the posture adjustment instruction is the recovery posture of being folded and accommodated in the recovery cabin. When the space detection unit 1002 queries the corresponding target space requirement information from the database based on the current posture and the adjustment posture, it is configured to:

[0268] querying the database for third space requirement information corresponding to the posture to be returned to the cabin;

[0269] determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database;

[0270] determining a third motion path corresponding to adjusting the posture of the cabin to be returned to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database;

[0271] The target space requirement information is determined based on the third space requirement information, the fourth space requirement information, and the fifth space requirement information.

[0272] In some possible implementations, the posture adjustment unit 1003 is used to:

[0273] If the space detection result satisfies the predetermined posture adjustment of the robotic arm, controlling the robotic arm to adjust to the exit posture;

[0274] The space detection unit 1002 is further configured to:

[0275] If the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result;

[0276] Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

[0277] In some possible implementations, when determining the target location, the space detection unit 1002 is configured to:

[0278] Acquire a plurality of historical movement locations of the mobile device within a preset range of the current location, wherein each historical movement location corresponds to historical point cloud data collected by the sensor;

[0279] A historical moving location whose historical point cloud data meets the target space requirement information is screened out from a plurality of historical moving locations as the target location.

[0280] The above-mentioned robotic arm posture adjustment device, when receiving a posture adjustment instruction for the robotic arm, first performs a space detection operation to obtain a space detection result, determines whether the environment in which the mobile device is currently located is suitable for posture adjustment, and then controls the robotic arm to adjust the posture based on the space detection result. Before the robotic arm adjusts its posture, it can detect whether the spatial environment meets the posture adjustment requirements to avoid collision of the robotic arm.

[0281] Furthermore, by controlling the rotation of the body so that the sensor follows the rotation of the body, point cloud data from the area where the mobile device is located can be collected in the entire range to avoid the limitation of viewing angle and the misjudgment of the environmental status. This can effectively improve the accuracy of the spatial detection results and avoid collision of the robotic arm.

[0282] Furthermore, the environmental status is first judged in combination with the first point cloud data. If the first point cloud data judges that the environmental status is an unsafe status, the spatial detection result is an unadjustable posture, and there is no need to control the rotation of the main body to obtain the second point cloud data; if the first point cloud data judges that the environmental status is a safe status, the rotation of the main body is controlled to obtain the second point cloud data for further judgment. This can improve the accuracy of the spatial detection results while avoiding invalid rotation energy consumption and effectively saving data calculation amount.

[0283] In an optional embodiment, a controller, a body, and a robotic arm connected to the body are provided, wherein the controller is configured to execute the steps of the above embodiment.

[0284] In an alternative embodiment, an electronic device is provided, such as Figure 11 As shown, Figure 11 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which may be used for data exchange between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the number of transceivers 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0285] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0286] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, for example. Bus 4002 may be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, the figure shows only a single thick line, but this does not indicate that there is only one bus or only one type of bus.

[0287] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation here.

[0288] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0289] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0290] An embodiment of the present application also provides a computer program product, including a computer program, which can implement the steps and corresponding contents of the aforementioned method embodiment when executed by a processor.

[0291] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the order of implementation of these steps is not limited to the order indicated by the arrows. Unless otherwise clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. Under different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0292] The above are only optional implementation methods for some implementation scenarios of this application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of this application, the use of other similar implementation methods based on the technical ideas of this application also falls within the protection scope of the embodiments of this application.

Claims

1. A method for adjusting the posture of a robotic arm, characterized in that: Applied to a self-moving device, the self-moving device includes a body and a mechanical arm connected to the body, the method includes: Receive posture adjustment instructions for the robotic arm; Performing a space detection operation to obtain a space detection result; wherein the space detection result includes a result that satisfies the predetermined posture adjustment of the robotic arm or a result that does not satisfy the predetermined posture adjustment of the robotic arm; The robotic arm is controlled to adjust its posture based on the spatial detection result.

2. The method according to claim 1, characterized in that The body is provided with a sensor, and performing a space detection operation to obtain a space detection result includes: Acquiring target point cloud data collected by the sensor, and determining an environmental state based on the target point cloud data; wherein the target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data including point cloud data collected by the sensor at a current position, and the second point cloud data including point cloud data collected by the sensor as the body rotates; the environmental state includes a safe state or an unsafe state; The space detection result is determined based on the environmental state.

3. The method according to claim 2, characterized in that The target point cloud data includes first point cloud data and second point cloud data; The acquiring target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes: When the sweeper is at the current position, first point cloud data is collected; If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or If the environmental state is detected as a safe state based on the first point cloud data, the body is controlled to rotate so that the sensor rotates with the body and collects the second point cloud data; when the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point in the rotation; if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

4. The method according to claim 2, characterized in that The target point cloud data includes second point cloud data; The acquiring target point cloud data collected by the sensor and determining the environmental state based on the target point cloud data includes: controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data; When the sensor rotates with the body, corresponding second point cloud data is obtained for a preset point cloud collection point during the rotation. If the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

5. The method according to claim 3 or 4, characterized in that The sensor rotates from the current position to the target position along with the body, and the corresponding rotation angle of the body is 360°.

6. The method according to claim 3, characterized in that The robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint; The current point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction; If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

7. The method according to claim 2, characterized in that The determining of the environmental state based on the target point cloud data includes: Determining a current posture of the robotic arm; Determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction; If the current space information meets the target space requirement information, the environment state is a safe state; or if the current space information does not meet the target space requirement information, the environment state is an unsafe state.

8. The method according to claim 7, characterized in that The determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction includes: Based on the current posture and the adjusted posture, the corresponding target space requirement information is queried from the database, wherein the database includes the space requirement information corresponding to the various postures of the robotic arm, and the space requirement information of the motion path corresponding to the adjustment between different postures of the robotic arm.

9. The method according to claim 8, characterized in that The sensor's field of view covers every posture of the robotic arm after leaving the cabin. The database is constructed in the following way: When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data corresponding to the motion path adjusted between different postures, wherein the preset environmental condition is that there are no obstructions in the field of view of the sensor; The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

10. The method according to claim 8, characterized in that The main body is provided with a recovery cabin, the current posture is the recovery posture of the mechanical arm folded and accommodated in the recovery cabin, the adjustment posture indicated by the posture adjustment instruction is the cabin exit posture, and the querying of corresponding target space requirement information from a database based on the current posture and the adjustment posture includes: querying first space requirement information corresponding to the extravehicular posture from the database; determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database; The target space requirement information is determined based on the first space requirement information and the second space requirement information.

11. The method according to claim 8, characterized in that The main body is provided with a recovery cabin, the adjustment posture indicated by the posture adjustment instruction is the recovery posture of being folded and accommodated in the recovery cabin, and querying corresponding target space requirement information from a database based on the current posture and the adjustment posture includes: querying the database for third space requirement information corresponding to the posture to be returned to the cabin; determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database; determining a third motion path corresponding to adjusting the posture of the cabin to be returned to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database; The target space requirement information is determined based on the third space requirement information, the fourth space requirement information, and the fifth space requirement information.

12. The method according to claim 8, characterized in that The controlling the robotic arm to adjust the posture based on the spatial detection result includes: If the space detection result satisfies the predetermined posture adjustment of the robotic arm, controlling the robotic arm to adjust to the exit posture; The method further comprises: If the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result; Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

13. The method according to claim 12, characterized in that Determining the target location includes: Acquire a plurality of historical movement locations of the mobile device within a preset range of the current location, wherein each historical movement location corresponds to historical point cloud data collected by the sensor; A historical moving location whose historical point cloud data meets the target space requirement information is screened out from a plurality of historical moving locations as the target location.

14. A robot arm posture adjustment device, characterized in that: The device is configured on a self-moving device, the self-moving device including a body and a mechanical arm connected to the body, and the device includes: A receiving unit, configured to receive posture adjustment instructions for the robotic arm; A space detection unit, configured to perform a space detection operation and obtain a space detection result; wherein the space detection result includes a result that satisfies the predetermined posture adjustment of the robotic arm or a result that does not satisfy the predetermined posture adjustment of the robotic arm; A posture adjustment unit is used to control the robot arm to adjust its posture based on the spatial detection result.

15. The device according to claim 14, characterized in that The body is provided with a sensor, and when the space detection unit performs a space detection operation, it is used to: Acquiring target point cloud data collected by the sensor, and determining an environmental state based on the target point cloud data, wherein the target point cloud data includes at least one of first point cloud data and second point cloud data, the first point cloud data including point cloud data collected by the sensor at a current position, and the second point cloud data including point cloud data collected by the sensor as the body rotates; the environmental state includes a safe state or an unsafe state; The space detection result is determined based on the environmental state.

16. The device according to claim 15, characterized in that The target point cloud data includes first point cloud data and second point cloud data. When the space detection unit acquires the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is used to: When the sweeper is at the current position, first point cloud data is collected; If the environmental state is detected as an unsafe state based on the first point cloud data, the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; If it is detected based on the first point cloud data that the environmental state is a safe state, controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data; When the sensor rotates with the body, for a preset point cloud collection point during the rotation, corresponding second point cloud data is obtained, and if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or, If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

17. The device according to claim 15, characterized in that The target point cloud data includes second point cloud data; When the space detection unit acquires the target point cloud data collected by the sensor and determines the environmental state based on the target point cloud data, it is specifically used to: controlling the body to rotate so that the sensor rotates with the body and collects the second point cloud data; When the sensor rotates with the body, for a preset point cloud collection point during the rotation, corresponding second point cloud data is obtained, and if the environmental state is detected as an unsafe state based on the corresponding second point cloud data, the body is controlled to stop rotating, and the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm; or, If, when the body rotates by a preset angle, the sensor detects that the environmental state is a safe state based on the second point cloud data corresponding to the preset point cloud acquisition point during the process of the body rotating from the current position to the target position along with the body, then the spatial detection result satisfies the predetermined posture adjustment of the robotic arm.

18. The device according to claim 16 or 17, characterized in that The sensor rotates from the current position to the target position along with the body, and the corresponding rotation angle of the body is 360°.

19. The device according to claim 16, characterized in that The robotic arm includes a base, a rotary joint, and a robotic arm currently exiting the cabin, wherein the robotic arm currently exiting the cabin is rotatably connected to the base via the rotary joint; The current point cloud data includes the second point cloud data, where the second point cloud data is collected when the body rotates at a first speed and in a first direction; If the current posture of the robotic arm is an out-of-cabin posture, during the process of the main body rotating to collect the second point cloud data, the robotic arm currently out of the cabin rotates on the base through the rotation joint at the first speed and second direction, so that the position of the robotic arm currently out of the cabin relative to the ground remains unchanged, wherein the first direction is opposite to the second direction.

20. The device according to claim 15, characterized in that When determining the environmental state based on the target point cloud data, the space detection unit is used to: Determining a current posture of the robotic arm; Determining corresponding target space requirement information based on the current posture and the adjusted posture indicated by the posture adjustment instruction; If the target point cloud data meets the target space requirement information, the environmental state is a safe state.

21. The device according to claim 20, characterized in that When the space detection unit determines the corresponding target space requirement information based on the current posture and the adjustment posture indicated by the posture adjustment instruction, it is configured to: Based on the current posture and the adjusted posture, the corresponding target space requirement information is queried from the database, wherein the database includes the space requirement information corresponding to the various postures of the robotic arm, and the space requirement information of the motion path corresponding to the adjustment between different postures of the robotic arm.

22. The device according to claim 21, characterized in that The field of view of the sensor covers every posture of the robotic arm after leaving the cabin, and the space detection unit is further used for: When the self-moving device is in a preset environmental condition, the sensor collects point cloud data corresponding to each posture of the robotic arm after it leaves the cabin, and collects point cloud data corresponding to the motion path adjusted between different postures, wherein the preset environmental condition is that there are no obstructions in the field of view of the sensor; The space requirement information corresponding to each posture is determined based on the point cloud data corresponding to the posture, and the space requirement information of each motion path is determined based on the point cloud data of the motion path.

23. The device according to claim 21, characterized in that The main body is provided with a recovery cabin, the current posture is the recovery posture of the mechanical arm folded and accommodated in the recovery cabin, the adjusted posture indicated by the posture adjustment instruction is the cabin exit posture, and the space detection unit, based on the current posture and the adjusted posture, queries the database for corresponding target space requirement information, and is used to: querying first space requirement information corresponding to the extravehicular posture from the database; determining a first motion path corresponding to adjusting the recovery posture to the exit posture, and querying second space requirement information corresponding to the first motion path from the database; The target space requirement information is determined based on the first space requirement information and the second space requirement information.

24. The device according to claim 21, characterized in that The main body is provided with a recovery cabin, the adjustment posture indicated by the posture adjustment instruction is the recovery posture of being folded and accommodated in the recovery cabin, and the space detection unit, when querying corresponding target space requirement information from a database based on the current posture and the adjustment posture, is used to: querying the database for third space requirement information corresponding to the posture to be returned to the cabin; determining a second motion path corresponding to adjusting the current posture to the posture to be returned to the cabin, and querying fourth space requirement information corresponding to the second motion path from the database; determining a third motion path corresponding to adjusting the posture of the cabin to be returned to the recovery posture, and querying fifth space requirement information corresponding to the third motion path from the database; The target space requirement information is determined based on the third space requirement information, the fourth space requirement information, and the fifth space requirement information.

25. The device according to claim 23, characterized in that The posture adjustment unit is used for: If the space detection result satisfies the predetermined posture adjustment of the robotic arm, controlling the robotic arm to adjust to the exit posture; The space detection unit is further used for: If the spatial detection result is a result that does not satisfy the predetermined posture adjustment of the robotic arm, a target location is determined, the self-moving device is controlled to move to the target location, and the spatial detection operation is performed again to obtain a new spatial detection result; Based on the new spatial detection results, the robotic arm is controlled to adjust its posture.

26. The device according to claim 25, characterized in that When determining the target location, the space detection unit is used to: Acquire a plurality of historical movement locations of the mobile device within a preset range of the current location, wherein each historical movement location corresponds to historical point cloud data collected by the sensor; A historical moving location whose historical point cloud data meets the target space requirement information is screened out from a plurality of historical moving locations as the target location.

27. A self-propelled device, characterized in that: The invention comprises a main body and a robotic arm connected to the main body, a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 13.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

29. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are implemented.

Images