Cleaning robot control method and device, cleaning robot and medium

Abstract

The invention provides a control method and device of a cleaning robot, the cleaning robot and a medium. The cleaning robot comprises a body, a mechanical arm arranged on the body and a cabin used for containing the mechanical arm in a folded state. The method comprises the steps that in the process that a mechanical arm is controlled to enter a cabin, detection information is obtained, and the detection information comprises indication information used for indicating whether object extrusion exists at an opening of the cabin or not; and controlling the mechanical arm to adjust the posture in the direction away from the cabin body under the condition that the object clamping abnormity is determined according to the detection information.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a control method, device, cleaning robot, and medium for a cleaning robot. Background Technology

[0002] Cleaning robots (such as robotic vacuum cleaners) are equipped with robotic arms that rotate with multiple degrees of freedom to perform complex tasks such as grasping, carrying, or storing.

[0003] However, the high-frequency interaction between cleaning robots, users, and the environment poses a risk of the robotic arm clamping onto objects (such as human hands or obstacles) during its entry into the cleaning chamber. Therefore, improving the safety of cleaning robot use during this process is a pressing issue that needs to be addressed. Summary of the Invention

[0004] The present application provides a control method, device, cleaning robot, and medium for a cleaning robot. During the process of the robotic arm entering the cabin, it can promptly detect abnormalities in the clamped object, thereby controlling the robotic arm to adjust its posture and release the clamped object in a timely manner, thus improving the safety of using the cleaning robot.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, a control method for a cleaning robot is provided. The cleaning robot includes: a main body, a robotic arm mounted on the main body, and a housing for accommodating the robotic arm in a folded state. The control method includes: acquiring detection information during the process of controlling the robotic arm to enter the housing, the detection information including indication information for indicating whether an object is pressing against the opening of the housing; and, if it is determined based on the detection information that an abnormality of object clamping has occurred, controlling the robotic arm to adjust its posture in a direction away from the housing.

[0007] It is understood that the opening of the cabin may include: the plane surrounding the opening of the cabin, and / or, the side wall of the cabin. Furthermore, controlling the robotic arm to adjust its attitude away from the cabin can refer to: controlling the robotic arm to lift up, or controlling the robotic arm 1 to adjust towards an extended posture. Additionally, by controlling the robotic arm to adjust its attitude away from the cabin, the space formed at the point where the robotic arm 100 grips the object can be increased, thereby releasing the gripped object.

[0008] In this embodiment, during the process of controlling the robotic arm to enter the cabin, detection information indicating whether there is an object (such as a human hand or an obstacle) squeezing at the opening of the cabin can be obtained. Then, based on whether there is an object squeezing at the opening of the cabin, it can be determined whether an object clamping abnormality has occurred. Compared with determining an object clamping abnormality based on an abnormality of the motor driving the robotic arm (such as an overcurrent abnormality in the motor), the sensitivity is higher. This allows for timely detection of object clamping abnormalities and timely control of the robotic arm to adjust its posture and release the clamped object, avoiding the robotic arm having already applied a large force to the object, thus improving the safety of using the cleaning robot.

[0009] It is understandable that determining whether a gripping anomaly has occurred based on whether the motor driving the robotic arm malfunctions is essentially based on whether the robotic arm is overloaded. However, when the robotic arm is overloaded, the object is already gripped, and the force applied to the object is significant. Therefore, determining a gripping anomaly based solely on motor malfunctions cannot detect it before the object is gripped, or even when the object is only slightly gripped. This embodiment of the application, based on whether an object is pressing against the opening of the compartment, can determine a gripping anomaly even when the object is only slightly gripped. This reduces the risk of injury from being pinched or the risk of damage to the robotic arm due to obstacles with high hardness. This improves user safety during the use of the cleaning robot while also protecting the robot's structure (e.g., the robotic arm and compartment).

[0010] In addition, considering situations where an object is pressing against the opening of the cabin, such as an object (e.g., a human hand) pressing against the opening but before the robotic arm has made contact with it, an abnormal clamping event can be detected in this case to control the robotic arm to adjust its posture. This allows the robotic arm to adjust its posture in advance before it makes contact with the object, reducing the probability of the object being clamped.

[0011] In one possible implementation, the indication information includes: force information indicating whether an object is pressing at the opening of the chamber, and / or state information indicating whether the opening of the chamber is in a state of object pressing. It is understood that the force information can be a continuous mechanical signal over a period of time (e.g., an electrical analog signal converted from mechanical force), or a nearly continuous mechanical signal over a period of time; for example, the force information can be a measured signal of the force exerted by an object pressing against the chamber. The state information depends only on the physical state changes at the opening of the chamber, thus having a lower information dimensionality. Therefore, determining whether an object clamping anomaly has occurred based on the state information can improve the response speed and reliability of determining whether an object clamping anomaly has occurred, allowing the cleaning robot to promptly control the robotic arm to release the clamped object. It should be understood that determining whether an object clamping anomaly has occurred based on the aforementioned force information and state information can improve the response speed and reliability of determining whether an object clamping anomaly has occurred while reducing the probability of misjudgment. In other words, determining whether an object clamping anomaly has occurred through force information can avoid misjudgments caused by environmental interference and instantaneous forces, improving the accuracy of determining whether an object clamping anomaly has occurred. In addition, determining whether an object clamping anomaly has occurred through status information can improve the response speed and reliability of identifying such anomalies, thereby enabling the cleaning robot to promptly control the robotic arm to release the clamped object.

[0012] In one possible implementation, the indication information includes status information. A switch is installed at the opening of the cabin to monitor whether the opening is under pressure from an object. During the process of controlling the robotic arm to enter the cabin, detection information is acquired, including receiving a trigger signal from the switch, which indicates that the opening is under pressure from an object. In other words, by installing a switch at the opening of the cabin, the switch is triggered when an object presses against it, allowing the cleaning robot to passively determine that the opening is under pressure. This eliminates the need for continuous monitoring of the opening, reducing resource consumption and facilitating deployment.

[0013] In one possible implementation, upon determining that an object clamping anomaly has occurred based on detection information, the robotic arm is controlled to adjust its posture in a direction away from the chamber. This includes: responding to a trigger signal by controlling the robotic arm to adjust its posture in a direction away from the chamber. In other words, since the trigger signal indicates that an object is being squeezed at the opening of the chamber, there is no need to analyze or process the trigger signal; instead, the occurrence of an object clamping anomaly is directly determined, and the robotic arm is controlled directly in response to the trigger signal. This reduces the response time for determining the occurrence of the object clamping anomaly and improves the real-time performance of releasing the clamped object from the robotic arm. Furthermore, directly controlling the robotic arm in response to the trigger signal simplifies the judgment logic for determining the occurrence of the object clamping anomaly, reduces interference, and improves the reliability of determining the occurrence of the object clamping anomaly.

[0014] In one possible implementation, the detection information also includes indication information for whether the motor is malfunctioning. The motor is used to drive the robotic arm to adjust its posture. Motor malfunction includes at least one of the following: the motor temperature is outside a preset temperature range; the motor's electrical parameters are outside a preset electrical parameter range; or the motor's running time exceeds a preset time range for driving the robotic arm to adjust its posture. In other words, the detection information also includes malfunction information of the motor used to drive the robotic arm to adjust its posture. This allows for the determination of whether an malfunction has occurred, and can also detect whether clamping malfunctions occur in areas other than the cabin opening, thus enabling comprehensive detection of clamping malfunctions.

[0015] In one possible implementation, determining the occurrence of a clamping anomaly based on detection information includes: determining the occurrence of a clamping anomaly based on the detection information when the detection information indicates that an object is pressing against the opening of the cabin, and / or when the motor is malfunctioning. In other words, if the detection information indicates one or both of these conditions—object pressing against the opening of the cabin and motor malfunction—the clamping anomaly can be determined based on the detection information, thereby reducing the probability of missing clamping anomalies and improving the reliability of determining that a clamping anomaly has occurred.

[0016] In one possible implementation, the robotic arm includes a support arm mounted on a mounting surface within the cabin. Controlling the robotic arm to enter the cabin includes: controlling the support arm to rotate towards one side of the mounting surface to adjust the angle between the support arm and the mounting surface to zero degrees; controlling the robotic arm to adjust its attitude away from the cabin includes: controlling the support arm to rotate towards the side away from the mounting surface to adjust the angle of the first included angle to a first preset angle range, where the first preset angle range is determined based on the state of the support arm outside the cabin. It can be understood that the state of the support arm outside the cabin includes, for example, when the robotic arm is performing a task, being in a working ready posture or a cabin entry ready posture, i.e., the angle of the first included angle is [value missing]. Additionally, in some cases (e.g., there is a gap between the support arm and the side wall inside the cabin to provide some space for the support arm to move), the first included angle may be approximately 90°, which can also ensure that the support arm is in a working or ready state. In other words, if an abnormality occurs during the process of controlling the support arm to rotate towards the mounting surface and retract it into the cabin, the support arm can be rotated in the opposite direction to expand the space between the support arm and the mounting surface, thereby releasing the clamped object. Furthermore, adjusting the first included angle to a first preset angle range can eliminate the uncertainty of the support arm re-entering the cabin, improving the reliability of subsequent support arm retraction.

[0017] In one possible implementation, the robotic arm further includes a connecting arm connected to the support arm. Controlling the robotic arm to enter the cabin also includes: controlling the connecting arm to rotate towards one side of the support arm while controlling the support arm to rotate towards the mounting surface; controlling the robotic arm to adjust its attitude away from the cabin further includes: controlling the connecting arm to rotate towards the side away from the support arm to adjust the second included angle between the connecting arm and the support arm to a second preset angle range. The second preset angle range is determined based on the state where the connecting arm and the main body do not interfere with each other when the angle of the first included angle is within the first preset angle range. It can be understood that during the process of the processor controlling the rotation of the support arm towards the mounting surface (i.e., the process of retracting the support), the processor can also control the connecting arm to retract, i.e., retract the support arm and the connecting arm in a coordinated manner. For example, the processor can simultaneously control the support arm (i.e., the processor controls the second joint) and the connecting arm (i.e., the processor controls the third joint) to retract both the support arm and the connecting arm simultaneously. Alternatively, the processor can retract the support arm first, and then retract the connecting arm after a preset delay time. In other words, the support arm is retracted first, and then the connecting arm is retracted. The preset delay time can be 0.5s, 1s, or longer. That is to say, while controlling the support arm to rotate towards the mounting surface, the connecting arm is also retracted. If an abnormality occurs due to clamping, the support arm is controlled to rotate in the opposite direction so that the angle of the first included angle is adjusted to outside the first preset angle range. The connecting arm is also controlled to rotate in the opposite direction so that the angle of the second included angle is adjusted to the second preset angle range, so as to avoid interference between the connecting arm and the main body and damage to the cleaning robot.

[0018] In one possible implementation, the robotic arm further includes a working arm connected to a connecting arm; the second preset angle range is an angle range determined based on the condition that the connecting arm and the main body do not interfere with each other when the angle of the first included angle is within the first preset angle range, and the connecting arm limits the end of the working arm in a direction toward the outside of the main body. It can be understood that if the third included angle between the working arm and the connecting arm is intended to reduce the probability of the end of the working arm striking the inner wall of the main body or the cabin, the second preset angle range is also determined based on the connecting arm limiting the end of the working arm in a direction toward the outside of the main body; for example, the second preset angle range could be (70°, 90°). That is, by controlling the connecting arm to rotate toward a side away from the main body so that the second included angle is within the second preset angle range, interference between the connecting arm and the main body can be prevented, and by limiting the end of the working arm to a side not facing the main body, the probability of interference between the end of the working arm and the main body can be reduced.

[0019] In one possible implementation, controlling the robotic arm to enter the cabin includes: when the first included angle is zero degrees, controlling the connecting arm to rotate towards one side of the supporting arm to adjust the second included angle to zero degrees; controlling the robotic arm to adjust its attitude away from the cabin includes: controlling the connecting arm to rotate towards the side away from the supporting arm by a first preset angle to increase the angle of the second included angle, the first preset angle being greater than or equal to the angle determined by the first space formed by the second included angle according to a preset shape of the object being released. That is, if an abnormality occurs during the retraction of the connecting arm after the supporting arm has been retracted, the connecting arm can be controlled to rotate in the opposite direction by the first preset angle to increase the size of the first space formed by the second included angle, thereby releasing the clamped object.

[0020] In one possible implementation, the first preset angle is determined based on the state where the connecting arm and the cabin do not interfere with each other. That is, since the first preset angle is greater than or equal to the angle determined by the release of the object of the preset shape by the first space, and the first preset angle is also determined based on the state where the connecting arm and the cabin do not interfere with each other, interference between the connecting arm and the cabin due to the first preset angle being too large can be avoided, thereby improving the reliability of controlling the reverse rotation of the connecting arm in the event of an abnormality in the clamping.

[0021] In one possible implementation, the robotic arm further includes a working arm connected to the connecting arm; controlling the robotic arm to adjust its attitude in a direction away from the cabin also includes: controlling the working arm to rotate a second preset angle away from the connecting arm. The second preset angle is determined based on the condition that the working arm and the main body do not interfere with each other when the angle of the second included angle is within the range of the second preset angle. That is, if an abnormality occurs due to clamping during the retraction of the connecting arm after the support arm has been retracted, in addition to controlling the connecting arm to rotate in the opposite direction by a first preset angle, the working arm is also controlled to rotate in the opposite direction to increase the angle of the third included angle between the working arm and the connecting arm. This reduces the probability of interference between the end of the working arm and the main body, thereby improving reliability.

[0022] In one possible implementation, controlling the robotic arm to enter the cabin includes: when the second included angle is zero degrees, controlling the working arm to rotate towards one side of the connecting arm to adjust the angle of the third included angle between the working arm and the connecting arm to zero degrees; controlling the robotic arm to adjust its attitude away from the cabin includes: controlling the working arm to rotate towards the side away from the connecting arm by a third preset angle to increase the angle of the third included angle, the third preset angle being greater than or equal to the angle determined by the second space formed by the third included angle based on the preset shape of the object. That is, if an abnormality occurs in the clamping of an object during the process of retracting the connecting arm and the working arm, the clamped object can be released by controlling the working arm to rotate in the opposite direction by the third preset angle to increase the size of the second space formed by the third included angle.

[0023] In one possible implementation, the detection information further includes indication information for whether the motor driving the robotic arm is malfunctioning. Controlling the robotic arm to enter the cabin includes: controlling the robotic arm to rotate axially along the support arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees; determining an anomaly based on the detection information includes: if the detection information indicates a motor malfunction, determining that a clamping anomaly has occurred based on the detection information. In other words, controlling the robotic arm to enter the cabin also includes controlling the robotic arm to rotate axially along the support arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees. Furthermore, during this angle adjustment process, determining a clamping anomaly by detecting a motor malfunction simplifies the logic for determining a clamping anomaly and improves the reliability of this determination.

[0024] In one possible implementation, a wiring harness for transmitting information is provided at the connection between the working arm and the connecting arm. The size of the third space formed between the wiring harness and the connection is positively correlated with the angle of the third included angle. Controlling the robotic arm to adjust its posture away from the cabin includes: controlling the working arm to rotate a fourth preset angle away from the connecting arm to increase the angle of the third included angle. The fourth preset angle is greater than or equal to the angle determined by the release of an object of a preset shape from the third space. It can be understood that the connection between the working arm and the connecting arm can refer to the fourth joint. In addition, a wiring harness is provided at the fourth joint to transmit control commands, angle information, or trigger signals of positioning switches to one or more of the fourth, fifth, and sixth joints. That is to say, controlling the robotic arm to enter the cabin also includes controlling the robotic arm to rotate along the axis of the supporting arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees. Then, during the adjustment of this angle, it is determined that an object clamping abnormality has occurred. By increasing the angle of the third included angle, the size of the third space is expanded, thereby releasing the clamped object.

[0025] Secondly, a robot is provided, comprising: a body, a robotic arm disposed on the body, and a cabin for accommodating the robotic arm in a folded state. The body includes a processor for implementing the various methods provided in the first aspect.

[0026] Thirdly, a control device is provided for implementing the various methods provided in the first aspect. The control device can be a processor as described in the first aspect or any implementation thereof, or a device including the processor, such as a chip. The control device includes modules, units, or means corresponding to the methods described above. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0027] In some possible designs, the control device may include a processing module. This processing module can be used to implement the processing functions described in the first aspect above and in any possible implementation thereof.

[0028] Fourthly, a control device is provided, comprising: at least one processor; the processor being configured to execute computer programs or instructions to cause the control device to perform the various methods provided in the first aspect above.

[0029] In one possible implementation, the control device further includes a memory. Optionally, the memory is coupled to the processor; the memory may be integrated with the processor, or it may be independent of the processor. Optionally, the processor is used to execute computer programs or instructions stored in the memory.

[0030] In one possible implementation, the memory is independent of the control device.

[0031] In one possible implementation, the control device further includes a communication interface for communicating with modules outside the control device (e.g., electronic devices that establish wireless communication connections with the robot, such as terminals (or user equipment, UE)).

[0032] The control device may be a processor as described in the first aspect or any implementation thereof, or a device containing the processor, such as a chip.

[0033] Fifthly, a computer-readable storage medium is provided that stores a computer program or instructions that, when executed on a processor, enable the processor to perform the methods described in the first aspect or any implementation thereof.

[0034] In a sixth aspect, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to perform the method of the first aspect or any implementation thereof.

[0035] In a seventh aspect, a control device (e.g., a chip or chip system) is provided, the control device including a processor for implementing the functions involved in the first aspect or any implementation thereof.

[0036] In some possible designs, the control device includes a memory for storing necessary program instructions and data.

[0037] In some possible designs, when the control device is a chip system, it can be composed of chips or may include chips and other discrete components.

[0038] The technical effects of any of the design methods in aspects two through seven can be found in the technical effects of aspect one mentioned above, and will not be repeated here. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application;

[0041] Figure 2-Figure 3 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a robotic arm housed within a cabin, provided in an embodiment of this application.

[0043] Figure 5 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. Figure 1 ;

[0044] Figure 6 This is a schematic diagram of a robotic arm in a working preparation posture according to an embodiment of this application;

[0045] Figure 7 This is a schematic diagram of a robotic arm in a cabin entry preparation posture provided in an embodiment of this application;

[0046] Figure 8This is a schematic diagram of a switch installed at the opening of a cabin, as provided in an embodiment of this application;

[0047] Figure 9 This is a schematic diagram of the posture of the linkage retraction support arm and connecting arm provided in an embodiment of this application;

[0048] Figure 10 This is a schematic diagram illustrating the posture of a method for controlling a support arm and a connecting arm after rotation, provided in an embodiment of this application.

[0049] Figure 11 This is a schematic diagram of adjusting the second included angle in the event of an abnormal clamping of an object during the process of controlling the connecting arm to enter the cabin, provided by an embodiment of this application;

[0050] Figure 12 This is a schematic diagram of adjusting the third included angle in the event of an abnormal clamping of an object during the process of controlling the connecting arm to enter the cabin, provided by an embodiment of this application;

[0051] Figure 13 This is a schematic diagram of adjusting the third included angle in the event of an abnormal clamping of an object during the process of controlling the working arm to enter the cabin, provided by an embodiment of this application;

[0052] Figure 14 This is a schematic diagram of adjusting the posture when an abnormality occurs during the control of the robotic arm to rotate along the axial direction of the support arm, as provided in an embodiment of this application.

[0053] Figure 15 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. Figure 2 ;

[0054] Figure 16-17 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0055] To facilitate understanding of the embodiments of this application, the following points will be explained before introducing the embodiments of this application.

[0056] 1. To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, the embodiments of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described in the specific embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] 2. "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device or apparatus. This application does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or apparatus. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or apparatus. The type of memory can be any form of storage medium, and this application does not limit this.

[0058] 3. In the embodiments of this application, the descriptions such as "when," "under the circumstances," "if," and "if" all refer to the fact that the device or apparatus will make corresponding processing under certain objective circumstances. They are not time limits, nor do they require the device or apparatus to have a judgment action when it is implemented, nor do they mean that there are other limitations.

[0059] 4. The establishment of a wireless connection in the embodiments of this application may refer to a wireless connection established through a "communication protocol". The "communication protocol" may refer to wireless fidelity (Wi-Fi), Bluetooth protocol, and related protocols applied in future communication systems. The embodiments of this application do not limit this.

[0060] 5. In the description of the embodiments of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., are not necessarily different. Furthermore, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0061] 6. In the embodiments of this application, the use of terms such as “middle,” “upper,” “lower,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” or “outer” to indicate the orientation or positional relationship of the constituent elements in the drawings is only for the convenience of description and is not intended to indicate or imply that the elements or structures referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scheme disclosed in the embodiments of this application.

[0062] In addition, the positional relationships of the constituent elements in the attached drawings may be appropriately changed according to the direction of each constituent element, and are not limited to the positional relationships of the constituent elements in the attached drawings described above. This will be explained uniformly here and will not be repeated below.

[0063] 7. In embodiments of this application, "parallel," "perpendicular," and "equal" include: the described situation and situations similar to the described situation, where the range of similarity is within an acceptable deviation range. The acceptable deviation range is determined, for example, by the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where the acceptable deviation range for approximate parallelism can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity can also be, for example, a deviation within 5°. "Equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality can be, for example, a difference between the two equals being less than or equal to 5% of either one.

[0064] 8. In embodiments of this application, "about," "approximately," "basically," or "approximately" includes: the stated value, and the average value within an acceptable range of deviation from the specified value. The acceptable range of deviation may be determined by the measurement under discussion, and the error associated with the measurement of the specific quantity (i.e., limitations of the measurement system).

[0065] 9. In the embodiments of this application, unless otherwise explicitly stated, the terms "installation," "adjacent," "connected," or "linked," etc., should be interpreted broadly. For example, the term "linked" includes mechanical connection or electrical connection, etc. In physical form, the aforementioned mechanical connection or electrical connection, etc., can refer to a direct connection, an indirect connection through an intermediate component, or a connection within two components, etc. In addition, the aforementioned connection forms include: fixed connection, detachable connection, or integral connection, etc.

[0066] First, cleaning robots

[0067] Cleaning robots are intelligent cleaning devices with self-moving capabilities, such as sweeping robots, mopping robots, sweeping and mopping robots, floor polishing robots, or lawn mowing robots.

[0068] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this application. It should be noted that... Figure 1 This illustration uses a robotic vacuum cleaner as an example. Figure 1 The structure and shape of the robotic vacuum cleaner shown are for illustrative purposes only and are not intended to be limiting.

[0069] like Figure 1 As shown, the cleaning robot may include a robotic arm 100 and a body 200. The body 200 has a housing 201 for accommodating the robotic arm 100. The body 200 contains an environmental sensor 202, a processor, a drive module, cleaning components, a power module, and a human-machine interface module. Among these, as shown... Figure 1 As shown, the body 200 has an approximately circular shape, but may also have other shapes, including but not limited to an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and rear.

[0070] For example, environmental sensor 202 may include lidar, collision sensors, or image sensors (such as red-green-blue (RGB) cameras) to provide the processor with various positional information and environmental data of the machine. For instance, an RGB camera and / or a lidar sensor may be located on the front of the body 200 to more accurately sense the environment (such as the ground) in front of the cleaning robot.

[0071] In addition, the main body 200 can also be equipped with sensors for detecting the working environment of the robotic arm 100, such as a time-of-flight (TOF) sensor. The TOF sensor is used to detect the posture of the robotic arm 100, whether there are obstacles in the working environment, etc.

[0072] For example, the TOF sensor is disposed on the surface of the body 200, located on the side of the cabin 201 opposite to the direction of travel of the body 200. In addition, the TOF sensor is oriented at 45° to the surface of the body 200, so that the TOF sensor is angled toward the robotic arm 100 in the deployed state, thereby facilitating the detection of the working environment of the robotic arm 100.

[0073] It is understood that the sensors used to detect the working environment of the robotic arm 100 may also be structured light sensors, binocular vision sensors, or the sensors may include one or more of TOF sensors, structured light sensors, or binocular sensors. This application embodiment does not specifically limit this.

[0074] It is understood that the main body 200 may also be equipped with a signal transmitting / receiving device, which is used to transmit signals to the base station and / or user equipment (UE) that interface with the cleaning robot. For example, the signal transmitting / receiving device may be an infrared transmitting / receiving device, which may include one or more infrared transmitters / receivers. Of course, it may also be a device that receives signals through wireless communication, including but not limited to Bluetooth or Wi-Fi.

[0075] For example, the processor can be located on the circuit board within the main body 200. The processor is the control center of the cleaning robot; it can be a single processor or a collective term for multiple processing elements. For example, the processor can be a central processing unit. Alternatively, the processor may include a central processing unit and an application processor. The application processor can create a real-time map of the cleaning robot's environment based on obstacle information fed back from the laser rangefinder and pre-configured localization algorithms, such as simultaneous localization and mapping (SLAM) algorithms.

[0076] It is understandable that the circuit board also includes non-transitory memory (such as hard disks, flash memory, and random access memory).

[0077] For example, the drive module can manipulate the body 200 to travel across the ground based on drive commands with distance and angle information. For example, the cleaning components may include dry cleaning components and / or wet cleaning components; specific structures can be found in related technologies. When the cleaning robot is in working mode, i.e., performing a cleaning task, it can clean the target surface (such as the ground) using the cleaning components.

[0078] For example, the power module may include a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery can be charged by connecting to electrodes on the base station via charging electrodes located on the side or bottom of the main body 200.

[0079] For example, the human-computer interaction module may include buttons on the main unit panel for users to select functions. Optionally, the human-computer interaction module may also include at least one of the following: a display screen, indicator lights, and a speaker, for displaying the current machine mode or function selection options to the user. Furthermore, the display screen may be a touch screen for users to select functions.

[0080] Optionally, the human-computer interaction module may also include a microphone for receiving user voice commands to enable voice control. In some embodiments, the user may also interact with the cleaning robot through a client (i.e., application (APP)) installed on the UE that establishes a communication connection with the cleaning robot.

[0081] For example, the robotic arm 100 can rotate with multiple degrees of freedom to perform tasks other than basic cleaning, such as grasping, moving, or storing. It can be understood that basic cleaning refers to cleaning tasks that do not require the robotic arm 100 to leave the cabin (i.e., the robotic arm 100 to unfold from inside the cabin 201).

[0082] In addition, the robotic arm 100 can be in a folded state or an unfolded state. When the robotic arm 100 is in the folded state, it can be housed inside the cabin 201 to avoid interfering with the basic cleaning tasks performed by the robot vacuum cleaner.

[0083] Second, the hull 201

[0084] like Figure 1 As shown, the cabin 201 can be a recess formed on the main body 200. The cabin 201 is rectangular. The length and width of the cabin 201 are both greater than the length of the robotic arm 100 in the folded state, so as to accommodate the robotic arm 100.

[0085] In addition, the cabin 201 may also be provided with a cover, which is used to cover the opening of the cabin 201 when the robotic arm 100 is housed inside the cabin 201, so as to prevent foreign objects from falling into the cabin 201.

[0086] Third, robotic arm 100

[0087] Figure 2 This is a schematic diagram of the structure of a robotic arm 100 provided in an embodiment of this application. Figure 1 .like Figure 2 As shown, the robotic arm 100 includes: a base 50, a rotating shaft 55, a support arm 60, a connecting arm 70, a working arm 80, and a gripping component. The base 50 is connected inside the housing 201, meaning the entire robotic arm 100 is mounted inside the housing 201 via the base 50 and a mounting structure provided within the housing 201, thus fixing it to the main body 200. For example, the mounting structure can be a mounting base, mounting hole, slot, or other structure, thereby fixing the base 50 inside the housing 201 through the mounting structure.

[0088] It is understood that the aforementioned base 50 is installed at the bottom inside the cabin 201. The bottom inside the cabin 201 can be referred to as the mounting surface, which can be a horizontal surface or a sloping surface, without specific limitations.

[0089] For example, considering the internal space design of the main body 200, the mounting surface is set with a slope to facilitate the installation of cleaning components or drive modules inside the main body 200.

[0090] like Figure 2 As shown, the robotic arm 100 also includes the following joints: first joint M1, second joint M2, third joint M3, fourth joint M4, fifth joint M5, and sixth joint M6.

[0091] The rotating shaft 55 is connected to the base 50 via the first joint M1, so that the rotating shaft 55 can rotate relative to the base 50.

[0092] The support arm 60 is connected to the rotation axis 55 via the second joint M2, so that the support arm 60 can rotate relative to the rotation axis 55.

[0093] The connecting arm 70 is connected to the support arm 60 via the third joint M3, so that the connecting arm 70 is rotatable relative to the support arm 60.

[0094] The working arm 80 is connected to the connecting arm 70 via the fourth joint M4, so that the working arm 80 is rotatable relative to the connecting arm 70.

[0095] The gripper is connected to the working arm 80 via a fifth joint M5, allowing it to rotate axially around the working arm 80. Additionally, the gripper includes two jaws 90, which are rotatable via a sixth joint M6 to be in a clamped or unfolded state. The clamped state refers to the state where the gripper is not holding an object. The unfolded state refers to the state where the gripper is not holding an object.

[0096] It can be understood that the state between the clamped state and the unfolded state can refer to the state in which the gripper grips the object.

[0097] Optionally, the gripper is also equipped with a camera 990. The camera 990 can be used to identify the object to be gripped.

[0098] It is understandable that camera 990 can also be used to obtain the working environment of the end effector of robotic arm 100, and this is not limited.

[0099] The following is combined Figure 3 The rotational relationships between the aforementioned components will be explained separately.

[0100] Figure 3 This is a schematic diagram of the structure of a robotic arm 100 provided in an embodiment of this application. Figure 2 .like Figure 3 As shown, the first joint M1 can be mounted on the mounting surface 2011. The rotating shaft 55 is rotatable relative to the base 50 via the first joint M1. For example, the rotating shaft 55 can rotate around its axial direction, thereby causing the robotic arm 100 to rotate around its axial direction. For example, the support arm 60 can rotate around its axial direction.

[0101] It is understandable that the rotation axis 55 drives the robotic arm 100 to rotate around the axis of the rotation axis 55, which can increase the range of motion of the robotic arm 100.

[0102] like Figure 3As shown, the support arm 60 rotates relative to the rotation axis 55 via the second joint M2, allowing the support arm 60 to be raised or lowered. For example, when the support arm 60 is raised relative to the rotation axis 55, the end of the support arm 60 away from the rotation axis 55 moves toward the side away from the mounting surface 2011, that is, the support arm 60 begins to unfold relative to the cabin 201, or the support arm 60 begins to leave the cabin 201. As another example, when the support arm 60 is lowered relative to the rotation axis 55, the end of the support arm 60 away from the rotation axis 55 moves toward the mounting surface 2011, that is, the support arm 60 begins to fold relative to the cabin 201, or the support arm 60 begins to enter the cabin 201.

[0103] In other words, the aforementioned support arm 60 can rotate axially around the rotation axis 55, or rotate away from (raise) or closer to (lower) the mounting surface 2011.

[0104] It should be understood that the axial rotation of the support arm 60 about the rotation axis 55 involves the angle between the orientation of the support arm 60 and the length direction 2012 of the cabin 201. For example, the orientation of the support arm 60 is the orientation of the surface of the support arm 60 facing the bottom inside the cabin 201 after the support arm 60 is raised. The orientation of the support arm 60 can also be understood as the direction in which the connecting arm 70 unfolds after the support arm 60 is raised (e.g., the support arm 60 is perpendicular to the mounting surface 2011), or the extension direction of the connecting arm 70, or the extension direction of the robotic arm 100.

[0105] It should be understood that in the embodiments of this application, unless the difference between the orientation of the support arm 60 and the extension direction of the robotic arm 100 is emphasized, the orientation of the support arm 60 and the extension direction of the robotic arm 100 can be used interchangeably. This will be explained uniformly here and will not be repeated below.

[0106] In other words, the axial rotation of the support arm 60 around the rotation axis 55 will cause the connecting arm 70 to rotate axially around the rotation axis 55.

[0107] The angle between the extension direction of the robotic arm 100 and the length direction 2012 of the cabin 201 will be explained below.

[0108] like Figure 3 As shown, the central axis 601 of the support arm 60 is perpendicular to the mounting surface 2011. The projection 701 of the connecting arm 70 on the mounting surface 2011 is perpendicular to the central axis 601 of the support arm 60.

[0109] like Figure 3As shown, the angle between the extension direction of the robotic arm 100 and the length direction 2012 of the cabin 201 can refer to the angle between the projection of the robotic arm 100 on the mounting surface 2011 and the length direction 2012 of the cabin 201, that is, the angle α between the projection 701 of the connecting arm 70 on the mounting surface 2011 and the length direction 2012 of the cabin 201.

[0110] It should be understood that the included angle α ranges from 0° to 180°. An angle range of 0° to 180° means 0° ≤ α < 180° (or expressed as [0°, 180°)). Similarly, an angle range of A° to B° means that the angle is greater than or equal to 0° and less than or equal to B°. This is explained uniformly here and will not be repeated below.

[0111] In addition, unless otherwise specified, the included angles involved in the embodiments of this application are within the range of 0° to 180°. This will be stated uniformly here and will not be repeated below.

[0112] The following describes the change in the included angle α during the process of the robotic arm 100 exiting the cabin (or leaving the cabin 201) or returning to the cabin (or entering the cabin 201).

[0113] It's understandable, combined Figure 1 It can be seen that since the length direction 2012 of the cabin 201 is perpendicular to the travel direction of the main body 200, and the robotic arm 100 usually performs tasks (such as grasping objects) in the travel direction of the main body 200, the extension direction of the robotic arm 100 is first adjusted to the travel direction of the main body 200 during the process of the robotic arm 100 exiting the cabin. In other words, during the process of the robotic arm 100 exiting the cabin, the projection 701 of the connecting arm 70 on the mounting surface 2011 is adjusted from being parallel to the length direction 2012 of the cabin 201 to being perpendicular to the length direction 2012 of the cabin 201, that is, the included angle α is adjusted from 0° to 90°.

[0114] In addition, when the robotic arm 100 is in the preparatory state for performing a task, in order to facilitate the subsequent performance of the task by the robotic arm 100, the included angle α is fixed at 90°, that is, the direction of the connecting arm 70 toward the body 200.

[0115] It can also be understood that during the return of the robotic arm 100 to the cabin, since the cabin 201 is rectangular, the extension direction of the robotic arm 100 (e.g., the projection 701 of the connecting arm 70 on the mounting surface 2011) should be adjusted to the length direction 2012 of the cabin 201. This ensures that the support arm 60 can be retracted into the cabin 201 when lowered relative to the mounting surface 2011. In other words, during the return of the robotic arm 100 to the cabin, the included angle α should be fixed at 0°, and the support arm 60 should face the length direction 2012 of the cabin 201, that is, the projection 701 of the connecting arm 70 on the mounting surface 2011 should be parallel to the length direction 2012 of the cabin 201.

[0116] It should be understood that rotation of the support arm 60 away from (raising) or towards (lowering) the mounting surface 2011 involves the angle between the support arm 60 and the mounting surface 2011. For example... Figure 3 As shown, in the above description of the included angle α, for ease of representation, the projection 701 of the connecting arm 70 on the mounting surface 2011 and the length direction 2012 of the cabin 201 are equivalent to the mounting surface 2011. Therefore, the included angle between the support arm 60 and the mounting surface 2011 can be defined as the angle β between the central axis 601 of the support arm 60 and the length direction 2012 of the cabin 201. The angle β ranges from 0° to 180°.

[0117] In addition, when the support arm 60 is not perpendicular to the mounting surface 2011 (i.e., the central axis 601 of the support arm 60 is not perpendicular to the mounting surface 2011), the included angle α is 0° (i.e., the extension direction of the robotic arm 100 is parallel to the length direction 2012 of the cabin 201). The included angle β between the support arm 60 and the mounting surface 2011 can also refer to the included angle between the central axis 601 of the support arm 60 and the projection 701 of the support arm 60 on the mounting surface 2011.

[0118] The following describes the change in the included angle β during the process of the robotic arm 100 exiting the cabin (or leaving the cabin 201) or returning to the cabin (or entering the cabin 201).

[0119] It's understandable, combined Figure 1 As described in the description of the cabin 201, since the cabin 201 is a groove opened on the surface of the main body 200, in order to avoid the support arm 60 colliding with the side wall of the cabin 201 during the axial rotation of the rotation axis 55, the support arm 60 should be raised to a certain angle before the robotic arm 100 exits the cabin. For example, the support arm 60 should be perpendicular to the mounting surface 2011 (i.e., the included angle β is 90°). In other words, during the exit of the robotic arm 100, the support arm 60 should first be adjusted to be perpendicular to the mounting surface 2011, that is, the included angle β should be adjusted from 0° to 90°.

[0120] In addition, after adjusting the support arm 60 to be perpendicular to the mounting surface 2011 (i.e., the included angle β is 90°), the included angle β should be fixed at 90°, and then the axial direction of the support arm 60 around the rotation axis 55 should be controlled, for example, by adjusting the included angle α to 90°.

[0121] like Figure 3 As shown, the connecting arm 70, via the third joint M3, allows the connecting arm 70 to be raised or lowered relative to the supporting arm 60. For example, when the connecting arm 70 is raised relative to the supporting arm 60, the second end of the connecting arm 70 moves away from the supporting arm 60, meaning the connecting arm 70 begins to unfold relative to the supporting arm 60. As another example, when the connecting arm 70 is lowered relative to the supporting arm 60, the second end of the connecting arm 70 moves towards the supporting arm 60, meaning the connecting arm 70 begins to fold relative to the supporting arm 60.

[0122] It is understood that the angle θ between the connecting arm 70 and the support arm 60 is in the range of 0° to 180°.

[0123] It should be understood that the working arm 80 is connected to the connecting arm 70 via the fourth joint M4, allowing the working arm 80 to be raised or lowered relative to the connecting arm 70. For example, when the working arm 80 is raised relative to the connecting arm 70, the gripper connected to the working arm 80 moves away from the connecting arm 70, meaning the working arm 80 begins to unfold relative to the connecting arm 70. As another example, when the working arm 80 is lowered relative to the connecting arm 70, the gripper connected to the working arm 80 moves towards the connecting arm 70, meaning the working arm 80 begins to fold relative to the connecting arm 70.

[0124] It is understandable that the angle φ between the working arm 80 and the connecting arm 70 is in the range of 0° to 180°.

[0125] like Figure 3 As shown, the two grippers 90 of the gripper can rotate relative to the central axis 901 of the gripper via the sixth joint M6. Figure 3 As shown, the sixth joint M6 can be located at the center of the gripper, meaning the central axis 901 of the gripper can be understood as the central axis of the working arm 80 extending towards the gripper and passing through the sixth joint M6. Additionally, the two grippers 90 can be simplified as follows: Figure 3 The first gripper 902 and the second gripper 903.

[0126] It should be understood that, Figure 3 In the simplified illustration, the first gripper 902 and the second gripper 903 are simplified to straight lines. In actual implementation, the shape of the gripping element, such as the first gripper 902 or the second gripper 903, can be curved or V-shaped (e.g. Figure 4The first gripper 902 and the second gripper 903 in the process can be segmented or multi-segmented; however, this embodiment does not specifically limit the specific type.

[0127] Additionally, when the first gripper 902 is in a bent or V-shaped state... Figure 3 The simplified straight line of the first gripper 902 can be represented as the line connecting the two ends of the first gripper. The two ends of the first gripper 902 are the end of the first gripper closer to the sixth joint M6 and the end farther away from the sixth joint M6, respectively.

[0128] It is understandable that the first gripper 902 and the second gripper 903 can be symmetrically designed. The following explanation uses the first gripper 902 as an example to illustrate the rotation of the two grippers relative to the central axis 901 of the gripper.

[0129] For example, when the first gripper 902 moves toward the central axis 901 of the gripper, the first gripper 902 begins to clamp, that is, the first gripper 902 begins to be in the state of gripping the object. When the first gripper 902 moves away from the central axis 901 of the gripper, the first gripper 902 begins to unfold (or release), that is, the first gripper 902 begins to be in the unfolded state.

[0130] It should be understood that the rotation of the first gripper 902 relative to the central axis 901 of the gripper involves the angle γ between the first gripper 902 and the central axis 901 of the gripper. For example... Figure 3 As shown, the included angle γ ranges from 0° to 90°.

[0131] It's understandable, combined Figure 1 As can be seen from the description of the cabin 201, since the cabin 201 is a groove opened on the surface of the main body 200, in order to avoid the above-mentioned gripper 90 colliding with the side wall of the cabin 201 during the process of the robotic arm 100 entering or leaving the cabin, the gripper should be adjusted to a clamping state, that is, the angle γ is fixed at 0°.

[0132] In addition, such as Figure 3 As shown, the gripper rotates around the length of the working arm 80 via the fifth joint M5. For example, as... Figure 4 As shown, the gripper rotates around the length of the working arm 80, so that the width direction of the gripper (such as the portion of the first gripper 902 and the second gripper 903 extending in the radial direction of the working arm 80) is parallel to the width direction of the compartment 201 (or the angle ρ between the width direction of the gripper and the width direction of the compartment 201), so that the first gripper 902 and the second gripper 903 can be accommodated in the small grooves opened on the edge of the compartment 201.

[0133] It is understood that the above-described structure of the clamping component, and the small grooves on the edge of the housing 201 for accommodating the first clamping claw 902 and the second clamping claw 903, are merely examples, and the embodiments of this application do not impose specific limitations on them.

[0134] It should be understood that, based on the above Figures 1-4 The description of the robotic arm 100 in the text includes the following steps: The robotic arm 100 enters the cabin 201.

[0135] Step A: Control the robotic arm 100 to rotate along the rotation axis 55 to adjust the included angle α to 0°, thereby aligning the robotic arm 100 in the direction of entering the cabin (i.e., the extension direction of the robotic arm 100 is parallel to the length direction 2012 of the cabin 201).

[0136] It is understandable that controlling the robotic arm 100 to rotate along the rotation axis 55 is achieved by driving the first joint M1, thereby adjusting the included angle α to 0°, which can be replaced by resetting the first joint M1.

[0137] Step B: After the first joint M1 is reset, control the support arm 60 to rotate toward the mounting surface 2011 so as to adjust the included angle β to 0° (i.e., the support arm 60 is parallel to the mounting surface 2011).

[0138] It is understood that the control of the support arm 60 to rotate toward the mounting surface 2011 is achieved by driving the second joint M2, thereby adjusting the included angle β to 0°, which can be replaced by the second joint M2 resetting.

[0139] Step C: Control the connecting arm 70 to rotate toward one side of the support arm 60 to adjust the included angle θ to 0° (i.e., the connecting arm 70 is parallel to the support arm 60).

[0140] It is understandable that controlling the connecting arm 70 to rotate toward the side of the support arm 60 is achieved by driving the third joint M3, thereby adjusting the included angle θ to 0°, which can be replaced by resetting the third joint M3.

[0141] In addition, during the repositioning of the second joint M2, the third joint M3 can also be driven in conjunction to reposition the third joint M3.

[0142] Step D: Control the working arm 80 to rotate toward the side of the connecting arm 70 to adjust the included angle φ to 0° (i.e., the working arm 80 is parallel to the connecting arm 70).

[0143] It is understandable that controlling the working arm 80 to rotate toward the side of the connecting arm 70 is achieved by driving the fourth joint M4, thereby adjusting the included angle φ to 0°, which can be replaced by resetting the fourth joint M4.

[0144] It should be understood that the above reset can also be replaced by recycling, and the two can be used interchangeably. This will be explained uniformly here and will not be repeated below.

[0145] It is understandable that, in conjunction with steps B to D above, the joint reset process is the process in which the robotic arm 100 is about to complete its final folding action. During this process, the robotic arm 100 approaches the cabin 201, causing the actual movement space of the robotic arm 100 to become narrow, which can easily lead to the risk of clamping objects (such as a human hand or obstacles). For example, during the rotation of the support arm 60 toward the mounting surface 2011, an object may be clamped between the support arm 60 and the mounting surface 2011. Another example is that an object may be clamped between the support arm 60 and the opening of the cabin 201. Yet another example is that an object may be clamped between the connecting arm 70 and the opening of the cabin 201.

[0146] It can also be understood that in steps B to D, in order to deal with the clamped object (i.e., abnormal clamping) and ensure the safe use of the cleaning robot, anti-pinch measures should be deployed.

[0147] Current anti-pinch measures typically rely on overcurrent detection of the motors driving the aforementioned joints or mechanical limiting structures. However, relying on motor overcurrent detection or mechanical limiting structures for anti-pinch measures cannot cope with sudden risks in complex scenarios, which not only affects user safety but may also damage the robotic arm 100.

[0148] For example, the overcurrent detection of the motor is actually an overload protection design. When the motor current exceeds a preset threshold, the robotic arm 100 is actually overloaded and jammed, at which point the object (such as a human hand or an obstacle) is already clamped. In addition, the overcurrent of the motor will cause the motor to output torque far exceeding the normal operating conditions to overcome the resistance, resulting in a larger force exerted by the robotic arm 100 on the object, which may cause greater damage to the human hand or the structure of the robotic arm 100.

[0149] In other words, using overcurrent detection of the motor for anti-pinch measures cannot detect abnormalities in the clamped object in time, thus failing to address sudden risks in complex scenarios.

[0150] For example, the mechanical limiting structure can prevent the movement range of the robotic arm 100 from exceeding the preset range. The anti-pinch measures brought about by this limiting structure design are to limit the extreme position of the movement of the robotic arm 100 to avoid clamping objects (i.e., clamping abnormality) or reduce the risk of clamping abnormality. Therefore, it is impossible to identify the situation of clamping objects during the movement of the robotic arm 100, which will lead to the inability to intervene in time to deal with sudden risks.

[0151] In other words, how to promptly detect any abnormalities in the clamped object during the process of the robotic arm 100 entering the cabin 201, and thus intervene in a timely manner to improve the safety of the cleaning robot, is a problem that urgently needs to be solved.

[0152] Based on this, the embodiments of this application provide the following technical solution: during the process of the robotic arm 100 entering the cabin 201, it can promptly detect abnormalities in the clamped object, thereby controlling the robotic arm to adjust its posture and promptly release the clamped object, thus improving the safety of using the cleaning robot.

[0153] In one possible implementation, the cleaning robot includes: a body, a robotic arm 100 mounted on the body, and a housing 201 for accommodating the robotic arm 100 in a folded state. The control method for the cleaning robot includes: acquiring detection information during the process of controlling the robotic arm 100 to enter the housing 201, the detection information including indication information for indicating whether an object is pressing against the opening of the housing 201; and, if it is determined based on the detection information that an abnormality of object clamping has occurred, controlling the robotic arm 100 to adjust its posture in a direction away from the housing 201.

[0154] It is understood that the opening of the hull 201 may include: the plane surrounding the opening of the hull 201, and / or the sidewall of the hull 201.

[0155] Furthermore, adjusting the attitude of the robotic arm 100 in a direction away from the cabin 201 can mean either raising the robotic arm 100 or adjusting it in a direction towards an extended posture. Additionally, by adjusting the attitude of the robotic arm 100 in a direction away from the cabin 201, the space formed by the robotic arm 100 gripping the object can be expanded, thereby releasing the gripped object.

[0156] In this embodiment, during the process of controlling the robotic arm 100 to enter the cabin 201, detection information indicating whether there is an object (e.g., a human hand or an obstacle) squeezing at the opening of the cabin 201 can be obtained. Then, based on whether there is an object squeezing at the opening of the cabin 201, it can be determined whether an object clamping abnormality has occurred. Compared with determining an object clamping abnormality based on an abnormality of the motor driving the robotic arm 100 (e.g., motor overcurrent abnormality), the sensitivity is higher. This allows for timely detection of object clamping abnormalities and timely control of the robotic arm 100 to adjust its posture and release the clamped object, avoiding the robotic arm 100 having already applied a large force to the object, thus improving the safety of using the cleaning robot.

[0157] It is understandable that determining whether a clamping anomaly has occurred based on whether the motor driving the robotic arm 100 malfunctions is essentially based on whether the robotic arm 100 is overloaded. However, when the robotic arm 100 is overloaded, the object is already clamped, and the force applied to the object is significant. Therefore, determining a clamping anomaly based on motor malfunctions cannot detect an anomaly before the object is clamped, or even when the object is only slightly clamped. This embodiment of the application, based on whether an object is pressed against the opening of the housing 201, can determine an anomaly even when the object is only slightly clamped. This reduces the risk of injury from being pinched or the risk of damage to the robotic arm 100 due to the hardness of obstacles. This improves user safety during the use of the cleaning robot while also protecting the robot's structure (e.g., the robotic arm 100 and the housing 201).

[0158] Furthermore, considering situations where an object is pressing against the opening of the cabin 201, including situations where an object (e.g., a human hand) is pressing against the opening of the cabin 201, but the robotic arm 100 has not yet made contact with the object, an object clamping anomaly is detected in this case. The robotic arm 100 is then controlled to adjust its posture, allowing the posture of the robotic arm 100 to be adjusted in advance even before it makes contact with the object, thus reducing the probability of clamping the object.

[0159] It should be understood that the names of the parameters or information related to the various devices or modules in the following embodiments of this application are just examples, and other names may be used in actual implementation. This application does not specifically limit these names.

[0160] Furthermore, the following method embodiments are described using a processor as the execution subject, but this application does not limit this. The execution subject of each method embodiment in this application can be a device or module, a device or module containing such a device or module, or a device or module containing such a device or module. For example, the execution subject can be a control device or processing module containing a processor, an electrical appliance or device containing such a control device or processing module, or a chip (or circuit) contained in the processor. It is understood that each method embodiment in this application can be implemented by a logical node, logical module, or software capable of implementing some or all of the functions of a processor.

[0161] Figure 5 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. Figure 1 .like Figure 5 As shown, the method includes the following steps.

[0162] S501. During the process of the processor controlling the robotic arm to enter the cabin, the processor acquires detection information, which includes indication information for indicating whether there is an object pressing at the opening of the cabin.

[0163] S502. When the processor determines that an abnormality has occurred due to the object being clamped based on the detection information, it controls the robotic arm to adjust its attitude in a direction away from the cabin.

[0164] The following is in conjunction with the above. Figures 1-4 S501 and S502 will be explained separately.

[0165] For step S501

[0166] It is understood that before step S501, the processor can obtain control instructions that instruct the robotic arm 100 to enter the cabin 201.

[0167] Optionally, the processor acquires control instructions, including:

[0168] The processor receives control commands from the user.

[0169] It is understood that the processor receives control instructions from the user, such as those in Modes 1 to 3.

[0170] Method 1: The user sends control commands to the processor through the UE. Correspondingly, the processor receives the control commands from the user's UE through a transceiver.

[0171] For example, users can send control commands to the processor through an app installed on the UE.

[0172] Method 2: The user sends control commands to the processor by pressing or touching a button. The processor then receives the control commands upon button activation.

[0173] This is understandable; the button can be found in [reference]. Figure 1 The relevant descriptions of the human-computer interaction module in the document will not be repeated here.

[0174] Method 3: The user sends control commands to the processor via voice. The processor then receives these commands from the user through a microphone.

[0175] Understandably, users can use voice control to enter the cabin 201 via the robotic arm 100.

[0176] Alternatively, the processor may acquire control instructions, including:

[0177] According to the preset configuration, the processor determines to control the robotic arm 100 to enter the cabin 201.

[0178] For example, the preset configuration could mean that the user sets a scheduled task or a periodic cleaning task, so that after the processor completes the task, it automatically controls the robotic arm 100 to enter the cabin 201; or, the processor is pre-configured to trigger the control of the robotic arm 100 to enter the cabin 201 under certain abnormal conditions. For example, in the event of an abnormality such as a power failure, overcurrent, overtemperature, or movement timeout, the processor is triggered to control the robotic arm 100 to automatically enter the cabin 201.

[0179] In other words, the processor can obtain control instructions in multiple ways, thereby improving the processor's flexibility in obtaining control instructions, meeting user needs, and improving user experience. The process of the robotic arm 100 entering the cabin 201 is described below.

[0180] It should be understood that the process of the robotic arm 100 entering the cabin 201 in the embodiments of this application can be referred to the relevant descriptions of steps A to D in the preamble of the specific implementation method, "Third, robotic arm 100", which will not be repeated here.

[0181] Optionally, before the processor executes step A, the processor controls the robotic arm 100 to adjust its posture to a work-ready posture (or work preparation posture).

[0182] It is understandable that adjusting the posture of the robotic arm 100 to a ready-to-work posture can reduce the uncertainty of the robotic arm 100 entering the cabin 201. The uncertainty of the robotic arm 100 entering the cabin 201 refers to the fact that because the motor driving the robotic arm 100 is a brushed motor, it can only detect a limited number of angles. Therefore, if the posture of the robotic arm 100 does not correspond to these limited angles, the processor will be unable to determine the actual posture of the robotic arm 100. It is understandable that because the processor cannot determine the actual posture of the robotic arm 100, it is equivalent to the processor controlling the robotic arm 100 based on an incorrect posture, which will lead to control errors.

[0183] For example, because brushed motors lack Hall sensors (or encoders), the processor, based on the position switch, detects the included angle (e.g., included angle α, included angle β, or included angle θ), and can only determine whether it is 90° or 0°. This can lead to the processor obtaining an incorrect angle. For instance, if the robotic arm 100's posture is such that the included angle α is actually 30°, without a Hall sensor, the processor will only obtain an incorrect angle (e.g., 45°).

[0184] It should be understood, as mentioned above Figure 3Regarding the description of the robotic arm 100 entering and leaving the cabin 201, when the robotic arm 100 is in an extended posture (i.e., the included angles α, β, and γ are all 90°), the robotic arm 100 is in a work preparation posture. In this posture, the processor can determine the aforementioned included angles, thereby eliminating the uncertainty of subsequent control of the robotic arm 100.

[0185] Figure 6 This is a schematic diagram of the working preparation posture of a robotic arm 100 provided in an embodiment of this application. Figure 6 As shown in the figure, this is a side view along the width direction of the cabin 201. The working ready posture of the robotic arm 100 is as follows: the included angle α is 90°, the included angle β is 90°, the included angle θ is 150°, the included angle φ is 45°, and the included angle γ is 90°.

[0186] It should be understood that Figure 6 This is just a schematic diagram. The angles θ and φ are not limited for the working preparation posture of the robotic arm 100. This is explained uniformly here and will not be repeated below.

[0187] Optionally, before the processor executes step B, the processor controls the robotic arm 100 to adjust its attitude to the cabin entry preparation attitude (or cabin entry preparatory attitude).

[0188] It is understandable that by adjusting the posture of the robotic arm 100 to the cabin entry preparation posture, it is convenient for the robotic arm 100 to perform step B, namely, resetting the second joint M2. The cabin entry preparation posture means that the included angle α is 90° (that is, the extension direction of the robotic arm 100 is parallel to the length direction 2012 of the cabin body 201), and the included angle θ is set so that the fourth joint M4 does not interfere with the body 200, and so that the gripper 90 at the end of the working arm 80 does not face the direction of the body 200.

[0189] It can also be understood that as the processor executes step B (i.e., the processor controls the support arm 60 to rotate toward the side of the mounting surface 2011), it will cause the connecting arm 70 and the working arm 80 to rotate toward the side of the body 200. If the gripper 90 at the end of the working arm 80 is facing the direction of the body 200, then as the support arm 60 rotates toward the side of the mounting surface 2011, the gripper 90 will cause the gripper 90 to poke into the inner wall of the body 200 or the cabin 201.

[0190] In addition, the gripper 90 at the end of the working arm 80 does not face the direction of the body 200, which may include: the gripper 90 at the end of the working arm 80 is parallel to the body 200; or, the gripper 90 at the end of the working arm 80 is facing away from the body 200.

[0191] The following is combined Figure 7 Introduce the cabin entry preparation posture.

[0192] Figure 7 This is a schematic diagram of the cabin entry preparation posture of a robotic arm 100 provided in an embodiment of this application. Figure 7 As shown in the figure, this is a side view along the length direction 2012 of the cabin 201. The robotic arm 100 is in the following cabin entry preparation postures: the included angle α is 90°, the included angle β is 90°, the included angle θ is 85°, the included angle φ is 45°, and the included angle γ is 0°.

[0193] Understandable, such as Figure 7 As shown, when the included angle θ is 85°, the fourth joint M4 will not abut against the body 200, and the end of the working arm 80 is oriented away from the body 200. Thus, as the processor executes step B, when the working arm 80 rotates toward the body 200 as the support arm 60 rotates toward the mounting surface 2011, the gripper 90 at the end of the working arm 80 will not poke the inner wall of the body 200 or the cabin 201.

[0194] It should be understood that the above Figure 7 The cabin entry preparation posture shown is merely an example. For instance, the included angle θ can be located between 70° and 90°. For example, when the included angle θ is 70°, the fourth joint M4 is just abutting against the main body 200, and when the included angle θ is greater than 70°, the fourth joint M4 will not interfere with the main body 200. In addition, the end of the working arm 80 is oriented away from the main body 200.

[0195] For example, when the included angle θ is 90°, the fourth joint M4 is far away from the body 200, and therefore the fourth joint M4 will not interfere with the body 200. In addition, even when the working arm 80 is parallel to the connecting arm 70 (i.e., the included angle φ is 0°), the working arm 80 is parallel to the body 200.

[0196] It should be understood that Figure 7 The posture of the robotic arm 100 shown is only schematic. In reality, the posture for preparing to enter the cabin depends on the size design of the main body 200, the support arm 60, and the connecting arm 70. This application embodiment does not make specific limitations on this.

[0197] In addition, the resetting of the fifth joint M5 (i.e., the included angle ρ is reset to 0°) and the resetting of the sixth joint M6 (i.e., the included angle γ is reset to 0°) can be completed during the above-mentioned adjustment to the cabin entry preparation posture (i.e., the cabin entry preparation posture also includes the included angle ρ being 0° and the included angle γ being 0°), or it can be completed before step D. This application embodiment does not specifically limit this.

[0198] The following is the testing information.

[0199] It is understood that, as described in step S501, the detection information includes indication information for indicating whether there is an object pressing against the opening of the cabin 201. The object can be, for example, a human hand or an obstacle. The obstacle can be, for example, a flexible obstacle with a certain weight (e.g., greater than or equal to 200 grams (g)) (such as a sock or a data cable), or a rigid obstacle (such as a building block or a toy), and is not limited thereto.

[0200] The following explains the indication information used to indicate whether there is an object pressing against the opening of the cabin 201.

[0201] In one possible implementation, the indication information includes: information indicating whether there is an object squeezing force at the opening of the cabin 201, and / or, status information indicating whether the opening of the cabin 201 is in a state of object squeezing.

[0202] It is understandable that the force information can be a continuous mechanical signal over a period of time (such as an electrical analog signal converted from mechanical force), or a nearly continuous mechanical signal over a period of time. For example, the force information can be a measurement signal of the force exerted by the object on the chamber 201.

[0203] In addition, considering that the force information may be an electrical analog signal, in order to facilitate the processor to determine whether there is an object squeezing based on the electrical analog signal, the processor can determine whether there is an object squeezing at the opening of the cabin 201 based on the force information, combined with the force threshold and / or the force time threshold.

[0204] For example, assuming the force threshold is 50 Newtons (N), if the force corresponding to the electrical parameters (e.g., the absolute value of the voltage) of the electrical analog signal indicated by the force information exceeds 50 N, then the processor determines that there is an object pressing at the opening of the cabin 201.

[0205] In other words, if the force exerted by an object on the opening exceeds a certain threshold, the processor can determine that an object is pressing against the opening of the cabin 201, thus avoiding misjudgments caused by some environmental interferences. For example, interferences such as equipment vibration or the impact of airflow in the environment can cause misjudgments.

[0206] For example, assuming the force time threshold is 2 seconds, if the absolute value of the voltage of the force information indicating electrical analog signal exceeds 2 seconds and is greater than 0, then the processor can determine that there is an object pressing at the opening of the cabin 201.

[0207] In other words, by applying a force to the opening of the cabin 201 for a period of time exceeding a certain threshold, the processor can avoid misjudgments caused by an instantaneous object pressing against the opening of the cabin 201.

[0208] For example, if the absolute value of the voltage of the electrical analog signal indicating the force information exceeds 2 seconds and is greater than the force threshold, then the processor can determine that there is an object pressing at the opening of the cabin 201.

[0209] In other words, by using force threshold and force time threshold, the processor can avoid misjudgments caused by environmental interference and instantaneous force, thereby improving the accuracy of the processor in determining whether there is an object squeezing the opening of the cabin 201.

[0210] It should be understood that the above-mentioned force threshold and force time threshold are merely examples and depend on the actual implementation. This application does not impose any specific limitations on them.

[0211] It can be understood that the state information indicates whether there is an object pressing at the opening of the cabin 201. The difference between state information and force information is that state information is binary information (i.e., indicating whether there is an object pressing or not), rather than continuous force data indicated by force information. In other words, the state information concerns whether a pressing event exists at the opening of the cabin 201, but does not concern the magnitude change or trend of the force exerted by the object pressing at the opening of the cabin 201. Therefore, the processor performs quantitative analysis on the force exerted by the object pressing at the opening of the cabin 201, which is not addressed by the state information.

[0212] For example, the status information can be a binary signal "0" or "1". "0" can indicate that the opening of the cabin 201 is in a state where no object is pressing against it, while "1" can indicate that the opening of the cabin 201 is in a state where an object is pressing against it.

[0213] It is understandable that the status information only depends on the physical state changes at the opening of the cabin 201, and thus the information dimension of the status information is low. Therefore, determining whether an object clamping anomaly has occurred based on the status information can improve the response speed and reliability of determining whether an object clamping anomaly has occurred, so that the cleaning robot can control the robotic arm 100 to release the clamped object in a timely manner.

[0214] It should be understood that the processor can determine whether an object clamping anomaly has occurred based on the aforementioned force and status information. This can improve the response speed and reliability of determining whether an object clamping anomaly has occurred, while reducing the probability of misjudgment.

[0215] In other words, determining whether an object clamping anomaly has occurred through force information can avoid misjudgments caused by environmental interference and instantaneous forces, thus improving the accuracy of determining whether an object clamping anomaly has occurred. Furthermore, determining whether an object clamping anomaly has occurred through status information can improve the response speed and reliability of determining whether an object clamping anomaly has occurred, thereby enabling the cleaning robot to promptly control the robotic arm 100 to release the clamped object.

[0216] The following describes the implementation of the processor to obtain indication information about whether an object is pressing at the aforementioned opening.

[0217] First, we introduce the implementation of the processor to obtain force information, and then we introduce the implementation of the processor to obtain state information.

[0218] It is understood that force information can be obtained by setting pressure sensors such as strain gauge sensors, piezoelectric sensors, piezoresistive sensors, or capacitive sensors at the opening of the cabin 201. This application embodiment does not specifically limit this.

[0219] Alternatively, status information can be obtained by installing a mechanical switch (or micro switch) at the opening of the cabin 201. The principle behind the mechanical switch monitoring whether the opening of the cabin 201 is under pressure from an object is as follows: under the pressure of an object, the mechanical switch triggers the deformation of its internal elastic component, causing the contacts of the elastic component to contact the electrical components, thus completing the circuit and triggering a switch signal. For example, under the pressure of an object, the mechanical switch will trigger a switch signal indicating that the opening of the cabin 201 is under pressure from an object.

[0220] It is understood that the above mechanical switch is only illustrative and can be replaced by other non-mechanical limit switches. This application does not specifically limit this.

[0221] In other words, by setting a switch at the opening of the cabin 201 to trigger the sending of a switch signal under the pressure of an object, the processor can obtain the aforementioned state information.

[0222] The following is combined Figure 8 This section describes the switches located at switch 201 on the hull.

[0223] Figure 8 This is a schematic diagram of a switch installed at the opening of a cabin 201 according to an embodiment of this application. Figure 8 As shown, multiple switches 2013 are arranged around the opening of the cabin 201 in a circular manner, so as to completely monitor whether the opening of the cabin 201 is under the pressure of an object.

[0224] It should be understood that the above Figure 8 This is for illustrative purposes only. The coverage area of ​​switch 2013 and its sensitivity to object compression will depend on the actual implementation. For example, switch 2013 could be located on the side wall covering the opening of cabin 201 (e.g., Figure 6 and / or Figure 7 The side wall of the cabin 201 shown in the figure is not specifically limited in this embodiment.

[0225] In one possible implementation, the indication information for indicating whether there is object compression at the opening of the cabin 201 includes status information. A switch 2013 is provided at the opening of the cabin 201, which is used to monitor whether the opening of the cabin 201 is under object compression. During the process of the processor controlling the robotic arm 100 to enter the cabin 201, the processor acquires detection information (i.e., step S501), including:

[0226] During the process of the processor controlling the robotic arm 100 to enter the cabin 201, the processor receives a trigger signal from a switch, which indicates that the opening of the cabin 201 is in a state of object compression.

[0227] In other words, by setting a switch 2013 at the opening of the cabin 201, the switch 2013 is triggered to send a trigger signal to the processor when an object squeezes the switch of the cabin 201. This allows the cleaning robot to passively determine that the opening of the cabin 201 is under pressure from an object, eliminating the need for continuous monitoring of the opening of the cabin 201. This reduces resource consumption and makes the robot easier to deploy.

[0228] In one possible implementation, when the processor determines that an abnormality has occurred due to object clamping based on the detection information, the processor controls the robotic arm 100 to adjust its attitude in a direction away from the cabin 201 (i.e., step S502), including:

[0229] The processor responds to the trigger signal and controls the robotic arm 100 to adjust its attitude in a direction away from the cabin 201.

[0230] In other words, since the trigger signal indicates that the opening of the cabin 201 is under pressure from an object, there is no need to analyze or process the trigger signal. Instead, the abnormality of the clamping is directly determined, and the robotic arm 100 is controlled directly in response to the trigger signal. This reduces the response time for determining the abnormality and improves the real-time performance of controlling the robotic arm 100 to release the clamped object. Furthermore, by directly controlling the robotic arm 100 in response to the trigger signal, the judgment logic for determining the abnormality is simplified, interference is reduced, and the reliability of determining the abnormality is improved.

[0231] It is understood that the above detection information is for cases where larger objects are clamped by the robotic arm 100 at the opening of the cabin 201. Considering that some objects may not be clamped at the opening of the cabin 201, but may experience clamping abnormalities in other areas, in order to comprehensively detect whether clamping abnormalities have occurred, the detection information also includes overload information (or abnormal information) of the motor driving the robotic arm 100, which will be explained below.

[0232] In one possible implementation, the detection information also includes indication information for indicating whether the motor is abnormal. The motor is used to drive the robotic arm 100 to adjust its posture. The abnormality of the motor includes at least one of the following: the temperature of the motor is outside a preset temperature range; the electrical parameters of the motor are outside a preset electrical parameter range; or the running time of the motor exceeds a preset time range for the motor to drive the robotic arm to adjust its posture.

[0233] It is understood that the processor can obtain information about the motor, which includes not only the angles α, β, or θ mentioned above, but also one or more of the motor's temperature, electrical parameters, or running time.

[0234] Temperature is used to monitor whether the motor is overheating. For example, if the robotic arm 100 is stuck by an object, caught on a fabric strap, or pressed down by a heavy object, the motor temperature will rise. If the motor temperature exceeds the preset temperature range, the motor is overheating.

[0235] It is understandable that the preset temperature range could be, for example, 80℃~130℃, depending on the actual implementation, and is not limited thereto.

[0236] Electrical parameters include voltage, current, and power. These parameters are used by the processor to determine if there is an overcurrent. For example, if the robotic arm 100 is stuck on an object, caught on a fabric strap, or pressed down by a heavy object, the motor current may exceed the preset current value.

[0237] It should be understood that the preset current value, such as 0.5 amperes (A), 1A, 2A, 3A, or a larger current value, depends on the actual implementation and is not limited thereto.

[0238] The running time refers to the time it takes for the motor to drive the robotic arm 100 to adjust its posture. For example, if the robotic arm 100 is stuck by an object, caught on a fabric strap, or pressed down by a heavy object, the motor's running time will exceed a preset time range. For instance, assuming the preset time range for the robotic arm 100 to adjust from the state housed in the compartment 201 to the ready state is 3s to 5s, if the robotic arm 100 is caught on a fabric strap, the motor's running time will exceed 5s.

[0239] It is understood that the above-mentioned preset time range is only an example and depends on the actual implementation, so it is not limited.

[0240] It should be understood that there may be one or more motors, that is, one motor may be used to drive the first joint M1 to the sixth joint M6, or one motor may be used to drive some of the joints from the first joint M1 to the sixth joint M6. The embodiments of this application do not specifically limit this.

[0241] Furthermore, for the processor to control the aforementioned motors, a hierarchical control structure can be adopted. For example, the processor may include a main processor and at least one slave processor. The slave processor (e.g., a microcontroller unit (MCU)) can receive control instructions from the main processor and thus directly control one or more of the aforementioned motors. In addition, the slave processor can directly obtain abnormal information of the aforementioned motors and report it to the main processor, avoiding the need for the main processor to continuously monitor whether the motors are abnormal and reducing the resource overhead of the main processor.

[0242] It is understood that the above description of the processor passively acquiring detection information is only an example. The processor can also actively acquire detection information, thereby improving the flexibility of the processor in acquiring detection information. This application does not specifically limit this aspect.

[0243] In other words, the detection information also includes abnormal information of the motor used to drive the robotic arm 100 to adjust its posture. The abnormal information of the motor is used to determine whether an abnormality has occurred. It can also detect whether there is any clamping abnormality in other areas except the opening of the cabin 201, so as to comprehensively detect whether there is any clamping abnormality.

[0244] For step S502

[0245] It should be understood that, as described above regarding the detection information, the detection information may include two types of indication information: one is an indication information for indicating whether there is an object pressing at the opening of the cabin 201, and the other is an indication information for indicating whether the motor is abnormal. The processor can then determine whether an abnormality has occurred based on the above two types of indication information.

[0246] In one possible implementation, the processor determines that an object clamping anomaly has occurred based on the detection information, including: in the case that the detection information indicates that an object is being squeezed at the opening of the cabin 201, and / or that the motor is malfunctioning, the processor determines that an object clamping anomaly has occurred based on the detection information.

[0247] In other words, if the detection information indicates that an object is being squeezed at the opening of the cabin 201, or indicates that the motor is malfunctioning, or if one or both of these conditions are present, the detection information can determine that an object clamping malfunction has occurred. This reduces the probability of missing an object clamping malfunction and improves the reliability of determining that an object clamping malfunction has occurred.

[0248] As can be understood from the aforementioned explanations of steps A to D, steps B to D (i.e., resetting the second joint M2 to the fourth joint M4) are high-risk stages for gripping objects. Furthermore, as explained in the aforementioned explanations of steps B to D, the sequence in which the robotic arm 100 enters the cabin 201 is as follows: first, control the support arm 60 to enter the cabin 201 (i.e., step B). The following section will first describe the control measures for the robotic arm 100 in the event of an object gripping anomaly in step B.

[0249] For the second joint M2 reduction phase (i.e., step B).

[0250] In one possible implementation, the robotic arm 100 includes a support arm 60 mounted on a mounting surface 2011 within the cabin 201. The processor controls the robotic arm 100 to enter the cabin 201, including: the processor controlling the support arm 60 to rotate toward one side of the mounting surface 2011 to adjust the angle between the support arm 60 and the mounting surface 2011 to zero degrees; the processor controlling the robotic arm 100 to adjust its attitude toward a direction away from the cabin 201 (i.e., step S502), including:

[0251] S502-a, The processor controls the support arm 60 to rotate toward the side away from the mounting surface 2011, so as to adjust the angle of the first included angle to a first preset angle range, which is an angle range determined according to the state of the support arm 60 outside the cabin 201.

[0252] It can be understood that the processor controls the support arm 60 to rotate toward one side of the mounting surface 2011 to adjust the first included angle to zero degrees (i.e., the support arm 60 is parallel to the mounting surface 2011), that is, to reset the second joint M2 in step B, that is, to retract the support arm 60.

[0253] Additionally, the first included angle can be seen in... Figure 3 The relevant descriptions of the included angle β are not repeated here.

[0254] It should be understood that the support arm 60 is outside the cabin 201, for example, during the process of the robotic arm 100 performing a task, the robotic arm 100 is in a work preparation posture or a cabin entry preparation posture, that is, the angle of the first included angle is 90°.

[0255] Additionally, in some cases (e.g., such as...) Figure 6 As shown, there is a gap between the support arm 60 and the side wall inside the cabin 201 to provide some space for the support arm 60 to move. Thus, the first included angle is approximately 90°, which can also ensure that the support arm 60 is in a working state or a ready state.

[0256] For example, the first preset angle range can be [90°, 95°], [90°, 95°], [90°, 120°], [89°, 95°], or [85°, 100°], etc., and this application embodiment does not specifically limit it.

[0257] It should be understood that, based on the above description of the first included angle, when the angle of the first included angle is within the first preset angle range, the robotic arm 100 is located outside the cabin 201 as a whole, and the robotic arm 100 is in a working ready posture or a cabin entry ready posture.

[0258] In other words, during the process of controlling the support arm 60 to rotate towards the mounting surface 2011 to retract the support arm 60 into the housing 201, if an abnormality occurs due to object clamping, the support arm 60 can be rotated in the opposite direction to expand the space between the support arm 60 and the mounting surface 2011, thereby releasing the clamped object. Furthermore, adjusting the first included angle to a first preset angle range can eliminate the uncertainty of the support arm 60 re-entering the housing 201, improving the reliability of subsequent retraction of the support arm 60.

[0259] It is understandable that the uncertainty in the entry of the support arm 60 into the cabin 201 refers to the fact that, because the motor driving the robotic arm 100 is a brushed motor, it can only detect a limited number of angles. Therefore, if the posture of the robotic arm 100 does not correspond to these limited angles, the processor will be unable to determine the actual posture of the robotic arm 100. Since the processor cannot determine the actual posture of the robotic arm 100, it is equivalent to the processor controlling the robotic arm 100 based on an incorrect posture, which will lead to control errors.

[0260] It's also understandable that, assuming the robotic arm 100's posture was before retracting the support arm 60, it was... Figure 7 If the robot arm 100 is in the posture shown, and the processor only controls the retraction of the support arm 60, then the processor can execute step S502-a. If the robot arm 100's posture is not as shown before retracting the support arm 60... Figure 7 If the orientation shown is such that the angle θ between the connecting arm 70 and the support arm 60 is greater than 90°, then during the process of the processor controlling the support arm 60 to retract, the processor should also control the connecting arm 70 to retract, that is, the support arm 60 and the connecting arm 70 should be retracted in a coordinated manner. This is to prevent the connecting arm 70 from rotating with the support arm 60 toward the mounting surface 2011, and thus causing the connecting arm 70 to rotate toward one side of the body 200. In this process, the connecting arm 70 would cause the working arm 80 to rotate, resulting in the gripper 90 at the end of the working arm 80 poking into the inner wall of the body 200 or the cabin 201.

[0261] Furthermore, even if the robotic arm's 100-degree pose is not... Figure 7The posture shown can also be used to retract the support arm 60 and the connecting arm 70, thereby improving the efficiency of controlling the robotic arm 100 to enter the cabin 201 and saving time.

[0262] However, if an abnormality occurs during the retraction of the support arm 60 and the connecting arm 70, the processor should reverse the drive to lift the connecting arm 70 to avoid interference between the connecting arm 70 and the main body 2011 during the reverse rotation of the support arm 60 to drive the connecting arm 70 to rotate. This will be explained below.

[0263] In one possible implementation, the robotic arm 100 further includes a connecting arm 70 connected to the support arm 60. The processor controls the robotic arm 100 to enter the cabin 201, and further includes: while the processor controls the support arm 60 to rotate toward the mounting surface 2011, the processor also controls the connecting arm 70 to rotate toward the support arm 60; the processor controls the robotic arm 100 to adjust its attitude in a direction away from the cabin 201 (i.e., step S502), and further includes:

[0264] S502-b, The processor controls the connecting arm 70 to rotate toward the side away from the support arm 60, so as to adjust the second included angle between the connecting arm 70 and the support arm 60 to a second preset angle range. The second preset angle range is determined based on the state in which the connecting arm 70 and the body 200 do not interfere with each other when the angle of the first included angle is within the first preset angle range.

[0265] It is understandable that during the process of the processor controlling the rotation of one side of the mounting surface 2011 of the support arm 60 (i.e., the process of retracting the support 60), the processor can also control the retraction of the connecting arm 70, that is, the support arm 60 and the connecting arm 70 are retracted in a coordinated manner. For example, the processor can simultaneously control the support arm 60 (i.e., the processor controls the second joint M2) and the connecting arm 70 (i.e., the processor controls the third joint M3) to retract the support arm 60 and the connecting arm 70 at the same time.

[0266] Additionally, the second included angle can be seen in... Figure 3 The relevant descriptions of the included angle θ will not be repeated here.

[0267] For example, the processor can retract the support arm 60 first, and then retract the connecting arm 70 after a preset delay. In other words, the support arm 60 is retracted first, and then the connecting arm 70 is retracted.

[0268] It is understood that the preset delay time can be 0.5s, 1s, or longer, depending on the actual speed at which the motor drives the joint to rotate. This application embodiment does not specifically limit this.

[0269] Figure 9This is a schematic diagram illustrating the posture of the linked retractable support arm 60 and connecting arm 70 according to an embodiment of this application. Figure 9 As shown in (a), the robotic arm 100 is in the cabin entry preparation posture. The first included angle (i.e., included angle β) is 90°, the second included angle (i.e., included angle θ) is 85°, and the included angle φ is 30°.

[0270] Additionally, the processor can first control the support arm 60 to rotate toward the mounting surface 2011, and then, after 1 second, control the connecting arm 70 to rotate toward the support arm 60. The posture of the support arm 60 rotating toward the mounting surface 2011 for 1 second is as follows: Figure 9 As shown in (b), the included angle β is 45°, while the other included angles remain unchanged.

[0271] like Figure 9 As shown in (c), after 1 second, the support arm 60 and the connecting arm 70 rotate simultaneously. Assuming that the support arm 60 continues to rotate toward the side of the mounting surface so that the included angle β is adjusted to 35°, the connecting arm 70 rotates toward the side of the support arm 60 so that the included angle θ is adjusted to 70°, while the other included angles remain unchanged.

[0272] In addition, the above Figure 9 This is just an example; the actual linkage rotation of the support arm 60 and the connecting arm 70 depends on the actual implementation and is not limited thereto.

[0273] It is understandable that, assuming the processor controls the support arm 60 and the connecting arm 70 to rotate to... Figure 9 If the orientation shown in (c) is determined to be abnormal and the gripping anomaly is confirmed, the processor executes step S502-a, then the orientation of the robotic arm 100 will be as follows: Figure 10 As shown, the fourth joint M4 connected to the connecting arm 70 abuts against the body 200, meaning that the connecting arm 70 and the body 200 interfere with each other.

[0274] It should be understood that, in order to avoid the above... Figure 10 In the case shown, the processor controls the connecting arm 70 to rotate to a second preset angle range toward the side away from the support arm 60 by executing step S502-b, which can prevent interference between the connecting arm 70 and the body 200.

[0275] In addition, the second preset angle range can be greater than 70°, for example, the included angle θ can be adjusted to 71°, 73°, 75°, 80° or a larger value. This application embodiment does not specifically limit this.

[0276] It is understood that the above second preset angle range is only an example and depends on the actual size of the support arm 60, connecting arm 70, fourth joint M4, and body 200. This application embodiment does not specifically limit this.

[0277] In addition, step S502-a can be performed before step S502-b, or steps S502-a and S502-b can be performed simultaneously. This application embodiment does not specifically limit this.

[0278] In other words, while controlling the support arm 60 to rotate toward the mounting surface 2011, the connecting arm 70 is also retracted. If an abnormality occurs due to clamping, the support arm 60 is controlled to rotate in the opposite direction so that the angle of the first included angle is adjusted to outside the first preset angle range. The connecting arm 70 is also controlled to rotate in the opposite direction so that the angle of the second included angle is adjusted to the second preset angle range, so as to avoid interference between the connecting arm 70 and the body 200 and damage to the cleaning robot.

[0279] In one possible implementation, the robotic arm 100 further includes a working arm 80 connected to the connecting arm 70; the second preset angle range is an angle range determined by the processor based on the condition that the connecting arm 70 and the body 200 do not interfere with each other when the angle of the first included angle is within the first preset angle range, and the connecting arm 70 limits the end of the working arm 80 in a direction away from the body 200.

[0280] It is understandable that, as explained in step S501 regarding the cabin entry preparation posture, if the third included angle between the working arm 80 and the connecting arm 70 is to reduce the probability that the end of the working arm 80 will poke into the inner wall of the body 200 or the cabin 201, the second preset angle range also limits the end of the working arm 80 to a direction away from the body 200 based on the connecting arm 70. For example, the second preset angle range can be (70°, 90°), which will not be elaborated here.

[0281] Additionally, the second preset angle range (70°, 90°) is merely an example and depends on the actual size of the robotic arm 100 and the body 200; it is not limited thereto.

[0282] In other words, by controlling the connecting arm 70 to rotate toward the side away from the body 200 so that the second included angle is within the second preset angle range, interference can occur between the connecting arm 70 and the body 200. Furthermore, by limiting the end of the working arm 80 to not face the side of the body 200, the probability of interference between the end of the working arm 80 and the body 200 can be reduced.

[0283] It is understandable that, according to the relevant descriptions of steps B-D above, during the process of the robotic arm 100 entering the cabin 201, step B is executed first, and then step C is executed. The following describes the control of the robotic arm 100 after an abnormality occurs in step C.

[0284] For the third joint M3 reduction phase (i.e., step C).

[0285] In one possible implementation, the processor controls the robotic arm 100 to enter the cabin, including: when the first included angle is zero degrees, controlling the connecting arm 70 to rotate toward one side of the supporting arm 60 to adjust the second included angle (i.e., included angle θ) to zero degrees; the processor controls the robotic arm 100 to adjust its attitude toward a direction away from the cabin 201 (i.e., step S502), including:

[0286] S502-c, The processor controls the connecting arm 70 to rotate a first preset angle toward the side away from the support arm 60 to increase the angle of the second included angle. The first preset angle is greater than or equal to the angle determined by the first space formed by the second included angle according to the preset shape of the object.

[0287] It is understandable that during the reset phase of the third joint M3, the support arm 60 has already entered the cabin 201, meaning the first included angle is zero degrees. Furthermore, according to the aforementioned explanation regarding the reset phase of the second joint M2, when the support arm 60 has already entered the cabin 201, the processor can begin controlling the connecting arm 70 to enter the cabin 201, or the processor has already controlled the connecting arm 70 to enter the cabin 201, but the retraction of the connecting arm 70 has not yet been completed (i.e., the second included angle is greater than zero degrees).

[0288] It should be understood that during the process of the processor controlling the connecting arm 70 to enter the cabin 201, if the processor determines that an object clamping abnormality has occurred, the difference between the processor's control logic and the control logic during the retraction of the support arm 60 is that: since the support arm 60 has already completed its retraction, the processor only needs to control the connecting arm 70 to rotate in the opposite direction to release the clamped object (that is, the processor only needs to control the connecting arm 70 to rotate in the opposite direction by the first preset angle, without needing to adjust the second angle to the second preset angle range), and does not need to control the support arm 60 to rotate in the opposite direction.

[0289] For example, assuming the object of the preset shape can be a human hand, and the angle determined by the release of the hand from the first space formed by the second included angle is 10°, then the first preset angle can be greater than or equal to 10°. Thus, the second included angle, based on the initial angle, can be increased by 10°, 11°, 12°, 15°, or 30°, etc., thereby expanding the size of the first space formed by the second included angle to release the clamped object. Furthermore, the aforementioned first preset angle is merely an example and depends on the actual implementation; it is not limited thereto.

[0290] In addition, the object of the preset shape can also be other objects besides a human hand, such as building blocks or toys, etc. This application embodiment does not specifically limit this.

[0291] In other words, if an abnormality occurs when the support arm 60 has been retracted and the connecting arm 70 is being retracted, the connecting arm 70 can be rotated in the opposite direction by a first preset angle to increase the size of the first space formed by the second angle, thereby releasing the clamped object.

[0292] The following example illustrates step S502-c by clamping an object when the second included angle (including angle θ) is 30° and the first preset angle is 15°.

[0293] Figure 11 This is a schematic diagram illustrating the adjustment of the second included angle in the event of an abnormal clamping event during the process of controlling the connecting arm 70 to enter the cabin 201, as provided in an embodiment of this application. Figure 11 As shown in (a), the posture of the robotic arm 100 is as follows: the included angle β is 0° (i.e., the first included angle is zero degrees), the second included angle (i.e., included angle θ) is 25°, and the included angle φ is 30°. Figure 11 In the posture shown in (a), the processor determines that an object clamping abnormality has occurred. The processor controls the connecting arm 70 to rotate 15° toward the side away from the support arm 60, thereby adjusting the included angle θ to 40°. Figure 11 As shown in (b), this can expand the size of the first space S1 formed by the included angle θ (i.e., the space formed between the connecting arm 70 and the support arm 60 at the included angle θ), and release the clamped object.

[0294] Understandable, the above Figure 11 This is merely an illustrative example of clamping an object when the included angle θ is 25°, and the embodiments of this application do not impose any specific limitations on this.

[0295] It should be understood that the sum of the angles between the first preset angle and the second included angle (i.e., included angle θ) is less than 90° in order to avoid interference between the connecting arm 70 and the inner wall of the cabin 201, as explained below.

[0296] In one possible implementation, the first preset angle is determined based on the state that the connecting arm 70 and the cabin 201 do not interfere with each other.

[0297] For example, such as Figure 11As shown, when the volume of some objects is small, resulting in a small included angle θ (e.g., included angle θ is 15°), the first preset angle can be greater than or equal to 10° and less than or equal to 75°. This can both increase the size of the first space and avoid interference between the connecting arm 70 and the inner wall of the cabin 201 (e.g., after the support arm 60 rotates, the included angle θ is greater than 90°). Similarly, when the volume of some objects is large, resulting in a large included angle θ (e.g., included angle θ is 45°), the first preset angle can be greater than or equal to 10° and less than or equal to 45° to avoid subsequent interference between the connecting arm 70 and the inner wall of the cabin 201, and to reduce the probability of the end of the working arm 80 (e.g., gripper 90) poking into the body 200 or the inner wall of the cabin 201.

[0298] For example, considering Figure 11 The angle θ corresponding to the maximum clamping angle θ of the object held by the first space S1 in the first space may be 60°, and the maximum value of the first preset angle can be set to 30°, that is, the first preset angle is located in [10°, 30°].

[0299] It is understood that the range of the first preset angle mentioned above is only an example and depends on the actual implementation, so it is not limited.

[0300] In other words, since the first preset angle is greater than or equal to the angle determined by the release of the object of the preset shape by the first space, and the first preset angle is determined based on the state that the connecting arm 70 and the cabin 201 do not interfere with each other, it can avoid interference between the connecting arm 70 and the cabin 201 due to the first preset angle being too large, thereby improving the reliability of controlling the reverse rotation of the connecting arm 70 in the event of an abnormality in the clamping of objects.

[0301] In one possible implementation, the robotic arm 100 further includes a working arm 80 connected to the connecting arm 70; the processor controls the robotic arm 100 to adjust its attitude in a direction away from the cabin 201, and also includes:

[0302] S502-d, The processor controls the working arm 80 to rotate towards the side away from the connecting arm 70 by a second preset angle. This second preset angle is determined based on the state that the working arm 80 and the body 200 do not interfere with each other when the angle of the second included angle is within the range of the second preset angle.

[0303] It is understandable that, as explained in step S501 regarding the cabin entry preparation attitude, the rotation of the connecting arm 70 causes the working arm 80 to rotate. Consequently, in some cases (e.g., when the included angle φ is small), the working arm 80 may rotate with the connecting arm 70, potentially causing the gripper at the end of the working arm 80 to poke into the body 200. By controlling the working arm 80 to rotate towards the side away from the connecting arm 70 (i.e., controlling the working arm 80 to rotate in the opposite direction), a second preset angle can be added to the initial angle of the third included angle (i.e., included angle φ) between the working arm 80 and the connecting arm 70, thereby preventing interference between the working arm 80 and the body 200.

[0304] It can also be understood that the second preset angle can be 10°, 15°, 20°, 25°, or 30°, etc., and the embodiments of this application do not specifically limit it.

[0305] To better understand how increasing the third included angle can prevent interference between the working arm 80 and the body 200, the following will combine... Figure 12 Please provide an explanation.

[0306] Figure 12 This is a schematic diagram illustrating the adjustment of the third included angle in the event of an abnormal clamping event during the process of controlling the connecting arm 70 to enter the cabin 201, as provided in an embodiment of this application. Figure 12 As shown in (a), assuming that when an abnormality occurs in the gripping, the posture of the robotic arm 100 is: the angle of the included angle β is 0°, the angle of the second included angle (i.e., the included angle θ) is 40°, and the angle of the included angle φ is 15°.

[0307] Additionally, assuming the first preset angle is 30°, then... Figure 12 As shown in (a), the processor controls the connecting arm 70 to rotate 30° in the opposite direction, without controlling the working arm 80 to rotate. The posture of the robotic arm 100 is as follows: Figure 12 As shown in (b), interference occurs between the gripper 90 at the end of the working arm 80 and the body 200.

[0308] It is understandable that if the processor also controls the working arm 80 to rotate a second preset angle (e.g., 15°) toward the side away from the connecting arm 70, then the posture of the robotic arm 100 will be as follows: Figure 12 As shown in (c), the angle of the third included angle (i.e. included angle φ) is 30°, so that the gripper 90 at the end of the working arm 80 will not interfere with the body 200.

[0309] In other words, if an abnormality occurs during the retraction of the connecting arm 70 after the support arm 60 has been retracted, the working arm 80 is also controlled to rotate in the opposite direction by a first preset angle in addition to controlling the connecting arm 70 to rotate in the opposite direction to increase the angle of the third included angle between the working arm 80 and the connecting arm 70. This reduces the probability of interference between the end of the working arm 80 and the body 200, thereby improving reliability.

[0310] It should be understood that the process of retracting the connecting arm 70 in step C is similar to that in step B, that is, the processor can retract the connecting arm 70 and the working arm 80 in a coordinated manner. For example, the processor can retract the connecting arm 70 first, and after a preset delay time, start retracting the working arm 80. Please refer to the relevant description in the "Reset Phase of the Second Joint M2" above, which will not be repeated here.

[0311] Furthermore, as the processor retracts the working arm by 80 degrees, the angle of the third included angle (i.e., included angle φ) begins to decrease, which in turn produces the following: Figure 12 The gripper 90 at the end of the working arm 80 shown in (b) has a problem with the body 200. Therefore, by performing step S502-d, the probability of interference between the working arm 80 and the body 200 can be reduced.

[0312] It is understandable that, according to the relevant descriptions of steps B-D above, during the process of the robotic arm 100 entering the cabin 201, step C is executed first, and then step D is executed. The following describes the control of the robotic arm 100 after an abnormality occurs in step D.

[0313] For the reduction phase of the fourth joint M4.

[0314] In one possible implementation, the processor controls the robotic arm 100 to enter the cabin 201, including: when the second included angle is zero degrees, the processor controls the working arm 80 to rotate toward one side of the connecting arm 70 to adjust the angle of the third included angle (i.e., included angle φ) between the working arm 80 and the connecting arm 70 to zero degrees; the processor controls the robotic arm 100 to adjust its attitude toward a direction away from the cabin 201 (S502), including:

[0315] S502-e, The processor controls the working arm 80 to rotate towards the side away from the connecting arm 70 by a third preset angle to increase the angle of the third included angle. The third preset angle is greater than or equal to the angle determined by the second space formed by the third included angle according to the preset shape of the object.

[0316] It is understandable that during the reset phase of the fourth joint M4, the connecting arm 70 has already entered the cabin 201, meaning the second included angle is zero degrees. Furthermore, according to the relevant description of the third joint M3 reset phase, when the connecting arm 70 has already entered the cabin 201, the processor can begin controlling the working arm 80 to enter the cabin 201, or the processor has already controlled 80 to enter the cabin 201, but the retraction of the working arm 80 has not yet been completed (i.e., the third included angle is greater than zero degrees).

[0317] It should be understood that if an abnormality occurs in the processor when the processor controls the working arm 80 to enter the cabin 201, the difference between the processor's control logic and the control logic during the aforementioned process of controlling the retraction of the connecting arm 70 is that: since the connecting arm 70 has already completed its retraction, the processor controls the working arm 80 to rotate in order to release the clamped object, that is, the processor controls the working arm 80 to rotate in the opposite direction by a third preset angle.

[0318] In addition, the third preset angle is similar to the first preset angle in the aforementioned step S502-c. For example, the third preset angle is greater than or equal to 10°; or, for example, the third preset angle is greater than or equal to 10° and less than or equal to 30°, which will not be elaborated here.

[0319] The following is combined Figure 13 Step S502-e will be explained.

[0320] Figure 13 This is a schematic diagram illustrating the adjustment of the third included angle in the event of an abnormal clamping situation during the process of controlling the working arm 80 to enter the cabin 201, as provided in an embodiment of this application. Figure 13 As shown in (a), the posture of the robotic arm 100 is as follows: the included angle β is 0°, the second included angle (i.e., included angle θ) is 0°, and the included angle φ is 30°. Figure 13 In the posture shown in (a), the processor determines that an abnormality has occurred. The processor controls the working arm 80 to rotate 15° toward the side away from the connecting arm 70, thereby adjusting the included angle φ to 45°. Figure 13 As shown in (b), this can expand the size of the second space S2 formed by the included angle φ (i.e., the space formed between the working arm 80 and the connecting arm 70 at the included angle θ), and release the clamped object.

[0321] Understandable, the above Figure 13 This is merely an illustrative example of clamping an object when the included angle φ is 30°, and the embodiments of this application do not specifically limit this.

[0322] It should be understood that the sum of the angles between the third preset angle and the third included angle is less than 90°, in order to avoid interference between the working arm 80 and the inner wall of the cabin 201, which will not be elaborated here.

[0323] In other words, if an abnormality occurs when the connecting arm 70 has been retracted and the working arm 80 is being retracted, the working arm 80 can be controlled to rotate in the opposite direction by a third preset angle to increase the size of the second space formed by the third angle, thereby releasing the clamped object.

[0324] It should be understood that, for the above-mentioned "reset stage of the third joint M3" and "reset stage of the fourth joint M4", the processor can determine whether an object clamping abnormality has occurred based on the indication information used to indicate whether there is an object squeezing at the opening of the cabin 201, and / or the indication information used to indicate whether the motor is abnormal. Please refer to the relevant description in step S501, which will not be repeated here.

[0325] Additionally, in step A (i.e., the first joint M1 repositioning phase), as described above... Figure 3 As can be seen from the relevant description, since the robotic arm 100 can rotate around the axis of the support arm 60, the robotic arm 100 may experience abnormal clamping of objects during this process, which will be explained below.

[0326] For the first joint M1 reset phase (i.e., step A).

[0327] In one possible implementation, the detection information also includes indication information for indicating whether the motor driving the robotic arm 100 is abnormal. The processor controls the robotic arm 100 to enter the cabin 201, including: the processor controls the robotic arm 100 to rotate along the axis of the support arm 60 to adjust the angle between the extension direction of the robotic arm 100 and the length direction 2011 of the cabin 201 to zero degrees; the processor determines that an abnormality has occurred based on the detection information, including: if the detection information indicates that the motor is abnormal, the processor determines that an object clamping abnormality has occurred based on the detection information.

[0328] It can be understood that the angle between the extension direction of the robotic arm 100 and the length direction 2011 of the cabin 201 can be seen in [reference]. Figure 3 The relevant explanations regarding the included angle α are not repeated here.

[0329] In addition, during the reset phase of the included angle α (i.e., the reset phase of the first joint M1, i.e., the angle of included angle α is adjusted to zero degrees), the processor controls the robotic arm 100 to rotate along the axis of the support arm 60. The opening of the cabin 201 will not clamp an object between itself and the robotic arm 100. Usually, the object is stuck on the robotic arm 100, causing the movement to be obstructed. Therefore, during the reset phase of the first joint M1, the processor can determine whether an object clamping abnormality has occurred based on whether the motor is abnormal.

[0330] In other words, controlling the robotic arm 100 to enter the cabin 201 also includes controlling the robotic arm 100 to rotate along the axis of the support arm 60, so as to adjust the angle between the extension direction of the robotic arm 100 and the length direction 2011 of the cabin 201 to zero degrees. Then, during the adjustment of this angle, the processor determines that an object clamping abnormality has occurred by detecting motor abnormalities, which simplifies the logic of determining that an object clamping abnormality has occurred and improves the reliability of determining that an object clamping abnormality has occurred.

[0331] In one possible implementation, a wiring harness for transmitting information is provided at the connection between the working arm 80 and the connecting arm 70. The size of the third space formed between the wiring harness and the connection is positively correlated with the angle of the third included angle. The processor controls the robotic arm 100 to adjust its attitude in a direction away from the cabin 201 (i.e., step S502), including:

[0332] S502-f, The processor controls the working arm 80 to rotate a fourth preset angle toward the side away from the connecting arm 70, so as to increase the angle of the third included angle. The fourth preset angle is greater than or equal to the angle determined by the object of the preset shape being released by the third space.

[0333] It is understood that the connection between the working arm 80 and the connecting arm 70 can refer to the fourth joint M4. Furthermore, a wiring harness is provided at the fourth joint M4 to transmit control commands, angle information, or trigger signals for position switches to one or more of the fourth joint M4, the fifth joint M5, and the sixth joint M6. This embodiment of the application does not specifically limit this aspect.

[0334] It is also understood that the wire harness can also be called a cable, or use other names, and this application embodiment does not specifically limit it.

[0335] It should be understood that the positive correlation between the size of the third space and the angle of the third included angle means that the two have a trend of change in the same direction. There may be no fixed proportional constraint between the two. That is, the relationship between the size of the third space and the angle of the third included angle may be curvilinear or undefined, and is not limited in this respect.

[0336] In addition, the fourth preset angle is similar to the aforementioned first preset angle (or third preset angle), for example, the fourth preset angle is greater than or equal to 15°; or for example, the fourth preset angle is less than or equal to 30°. This application embodiment does not specifically limit this.

[0337] The following is combined Figure 14 Explain the third space and steps S502-f.

[0338] Figure 14This is a schematic diagram illustrating how to adjust the posture of a robotic arm 100 in the event of an abnormal gripping situation during axial rotation of the support arm 60, as provided in an embodiment of this application. Figure 14 As shown in (a), the robotic arm 100 is in a ready-to-work posture. A wiring harness C1 is installed at the fourth joint M4, forming a third space S3 between the wiring harness C1 and the fourth joint M4. Furthermore, as the angle of the third included angle (i.e., included angle φ) decreases, the size of the third space S3 also decreases; as the angle of included angle φ increases, the size of the third space S3 also increases.

[0339] like Figure 14 As shown in (b), when the processor determines that an object clamping abnormality has occurred, the processor controls the working arm 80 to rotate a fourth preset angle (e.g., 15°) toward the side away from the connecting arm 70, thereby increasing the angle φ to 60°. In this posture, the size of the third space S3 increases, thereby releasing the clamped object.

[0340] In other words, controlling the robotic arm 100 to enter the cabin 201 also includes controlling the robotic arm 100 to rotate along the axis of the support arm 60 to adjust the angle between the extension direction of the robotic arm 100 and the length direction 2011 of the cabin 201 to zero degrees. Then, during the adjustment of this angle, it is determined that an object clamping abnormality has occurred. By increasing the angle of the third angle, the size of the third space is expanded, thereby releasing the clamped object.

[0341] In this embodiment, during the process of controlling the robotic arm 100 to enter the cabin 201, detection information indicating whether there is an object (e.g., a human hand or an obstacle) squeezing at the opening of the cabin 201 can be obtained. Then, based on whether there is an object squeezing at the opening of the cabin 201, it can be determined whether an object clamping abnormality has occurred. Compared with determining an object clamping abnormality based on an abnormality of the motor driving the robotic arm 100 (e.g., motor overcurrent abnormality), the sensitivity is higher. This allows for timely detection of object clamping abnormalities and timely control of the robotic arm 100 to adjust its posture and release the clamped object, avoiding the robotic arm 100 having already applied a large force to the object, thus improving the safety of using the cleaning robot.

[0342] It is understandable that determining whether a clamping anomaly has occurred based on whether the motor driving the robotic arm 100 malfunctions is essentially based on whether the robotic arm 100 is overloaded. However, when the robotic arm 100 is overloaded, the object is already clamped, and the force applied to the object is significant. Therefore, determining a clamping anomaly based on motor malfunctions cannot detect an anomaly before the object is clamped, or even when the object is only slightly clamped. This embodiment of the application, based on whether an object is pressed against the opening of the housing 201, can determine an anomaly even when the object is only slightly clamped. This reduces the risk of injury from being pinched or the risk of damage to the robotic arm 100 due to the hardness of obstacles. This improves user safety during the use of the cleaning robot while also protecting the robot's structure (e.g., the robotic arm 100 and the housing 201).

[0343] Furthermore, considering situations where an object is pressing against the opening of the cabin 201, including situations where an object (e.g., a human hand) is pressing against the opening of the cabin 201, but the robotic arm 100 has not yet made contact with the object, an object clamping anomaly is detected in this case. The robotic arm 100 is then controlled to adjust its posture, allowing the posture of the robotic arm 100 to be adjusted in advance even before it makes contact with the object, thus reducing the probability of the object being clamped.

[0344] To facilitate understanding of the control method for the cleaning robot provided in the embodiments of this application, the following is combined with... Figure 15 This paper provides an overall description of the processor's detection of abnormalities in the gripped object and the corresponding control process during the process of the robotic arm 100 entering the cabin 201.

[0345] Figure 15 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. Figure 2 .like Figure 15 As shown, the method includes the following steps.

[0346] S1501, The processor receives a control command that instructs the robotic arm 100 to enter the cabin 201.

[0347] It is understood that step S1501 can be referred to in the relevant description of the processor receiving control instructions in step S501, and will not be repeated here.

[0348] S1502, The processor controls the robotic arm 100 to adjust its posture to the work preparation posture.

[0349] It is understood that step S1502 can refer to the relevant explanation of the work preparation posture in step S501, and will not be repeated here.

[0350] S1503, The processor controls the robotic arm 100 to adjust from the working preparation posture to the cabin entry preparation posture (i.e., the first joint M1 is reset).

[0351] It is understood that step S1503 can be found in the relevant description of the cabin entry preparation attitude in step S501, and will not be repeated here.

[0352] S1504. The processor determines whether the motor is abnormal based on the detection information.

[0353] It is understood that step S1504 can be referred to in the relevant description of "for the first joint M1 reset stage (i.e. step A)" in step S502, and will not be repeated here.

[0354] In addition, if the motor is abnormal, proceed to step S1505; if the motor is not abnormal, proceed to step S1507.

[0355] S1505, The processor controls the working arm 80 to rotate a fourth preset angle toward the side away from the connecting arm 70.

[0356] It is understood that step S1506 is the same as step S502-f, and will not be repeated here.

[0357] S1506, The processor stops controlling the robotic arm 100 and reports an error.

[0358] S1507, The processor controls the second joint M2 to reset.

[0359] It is understandable that if the processor determines that a clamping abnormality has occurred based on the trigger signal of the switch or the indication information used to indicate the motor abnormality, it will execute S1508; if the processor determines that no clamping abnormality has occurred, it will execute S1509.

[0360] In addition, the implementation of step S1507 can be found in the description of step S501 regarding the processor determining whether an object clamping abnormality has occurred based on the detection information, and will not be repeated here.

[0361] S1508, the processor controls the support arm 60 to rotate toward the side away from the mounting surface 2011 to adjust the first included angle to the first preset angle range, and controls the connecting arm 70 to rotate toward the side away from the support arm 60 to adjust the second included angle to the second preset angle range.

[0362] It is understood that the implementation of step S1508 can be found in steps S502-a and S502-b, and will not be repeated here.

[0363] In addition, after step S1508, the processor executes step S1506.

[0364] S1509, the processor controls the third joint M3 to reset.

[0365] It is understandable that if the processor determines that an object clamping abnormality has occurred based on the trigger signal of the switch, it will execute S1510; if the processor determines that no object clamping abnormality has occurred, it will execute S1511.

[0366] In addition, the implementation of step S1509 can be found in the description of step S501 regarding the processor determining whether an object clamping abnormality has occurred based on the detection information, and will not be repeated here.

[0367] S1510, the processor controls the connecting arm 70 to rotate a first preset angle toward the side away from the support arm 60, and controls the working arm 80 to rotate a second preset angle toward the side away from the connecting arm 70.

[0368] It is understood that step S1510 can be referred to in steps S502-c and S502-d, and will not be repeated here.

[0369] In addition, after step S1510, the processor executes step S1506.

[0370] S1511, Processing control of the fourth joint M4 reset.

[0371] It is understandable that if the processor determines that an object clamping abnormality has occurred based on the trigger signal of the switch, it will execute S1512; if the processor determines that no object clamping abnormality has occurred, it will complete the process of the robotic arm 100 entering the cabin 201.

[0372] In addition, the implementation of step S1511 can be found in the description of step S501 regarding the processor determining whether an object clamping abnormality has occurred based on the detection information, and will not be repeated here.

[0373] S1512, The processor controls the working arm 80 to rotate a third preset angle toward the side away from the connecting arm 70.

[0374] It is understood that step S1512 can be referred to step S502-e, and will not be repeated here.

[0375] In addition, after step S1512, the processor executes step S1506.

[0376] In this embodiment, during the process of controlling the robotic arm 100 to enter the cabin 201, it is possible to obtain detection information on whether there is an object squeezing at the opening of the cabin 201. Then, based on whether there is an object squeezing at the opening of the cabin 201, it is possible to determine whether an object clamping abnormality has occurred. Compared with determining an object clamping abnormality solely based on the abnormality of the motor driving the robotic arm 100, this method has higher accuracy. As a result, it is possible to detect object clamping abnormalities in a timely manner and control the robotic arm 100 to adjust its posture and release the clamped object in a timely manner, thus avoiding the robotic arm 100 having already applied a large force to the object and improving the safety of using the cleaning robot.

[0377] The method embodiments provided in this application have been described above. Accordingly, this application also provides a control device for a cleaning robot, which is used to implement the various methods described above. This control device may be a processor as described in the above method embodiments, or a device or apparatus containing the processor, or a component that can be used with the processor.

[0378] Figure 16 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application. Figure 16 As shown, the cleaning robot includes a control device 1600, which may include modules or units for implementing the methods described in the embodiments above. In one possible design, the control device 1600 includes a processing unit 1602. Optionally, the control device 1600 may further include a storage unit 1601 for storing device program code and / or data. It is understood that the processing unit 1602 may also be referred to as a processing module.

[0379] For example, in one embodiment, the processing unit 1602 is configured to: acquire detection information during the process of controlling the robotic arm to enter the cabin, the detection information including indication information for indicating whether there is an object pressing at the opening of the cabin. The processing unit 1602 is also configured to: control the robotic arm to adjust its posture away from the cabin if it is determined from the detection information that an abnormality of object clamping has occurred.

[0380] In one embodiment, information indicating whether there is an object squeezing force at the opening of the cabin, and / or status information indicating whether the opening of the cabin is under object squeezing.

[0381] In one embodiment, the switch is used to monitor whether the opening of the cabin is under object compression; the processing unit 1602 is also configured to receive a trigger signal from the switch during the process of controlling the robotic arm to enter the cabin, the trigger signal being used to indicate that the opening of the cabin is under object compression.

[0382] In one embodiment, the processing unit 1602 is further configured to: control the robotic arm to adjust its attitude in a direction away from the cabin in response to a trigger signal.

[0383] In one embodiment, the detection information further includes indication information for indicating whether the motor is abnormal. The motor is used to drive the robotic arm to adjust its posture. The motor abnormality includes at least one of the following: the motor temperature is outside a preset temperature range; the motor's electrical parameters are outside a preset electrical parameter range; or the motor's running time exceeds a preset time range for the motor to drive the robotic arm to adjust its posture.

[0384] In one embodiment, the processing unit 1602 is further configured to determine, based on the detection information, that an object is being squeezed at the opening of the cabin and / or that the motor is malfunctioning.

[0385] In one embodiment, the robotic arm includes a support arm mounted on a mounting surface inside the cabin. The processing unit 1602 is configured to control the robotic arm to enter the cabin, including: the processing unit 1602 is configured to control the support arm to rotate toward one side of the mounting surface to adjust the angle of a first included angle between the support arm and the mounting surface to zero degrees; the processing unit 1602 is configured to control the robotic arm to adjust its posture toward a direction away from the cabin, including: the processing unit 1602 is configured to control the support arm to rotate toward a side away from the mounting surface to adjust the angle of the first included angle to a first preset angle range, the first preset angle range being an angle range determined based on the state of the support arm outside the cabin.

[0386] In one embodiment, the robotic arm further includes a connecting arm connected to the support arm. The processing unit 1602 is configured to control the robotic arm to enter the cabin, and further includes: the processing unit 1602 is also configured to control the connecting arm to rotate toward one side of the support arm while controlling the support arm to rotate toward the mounting surface; the processing unit 1602 is configured to control the robotic arm to adjust its posture toward a direction away from the cabin, including: the processing unit 1602 is configured to control the connecting arm to rotate toward a side away from the support arm to adjust the second included angle between the connecting arm and the support arm to a second preset angle range, the second preset angle range being an angle range determined based on the state where the connecting arm and the body do not interfere with each other when the angle of the first included angle is within the first preset angle range.

[0387] In one embodiment, the robotic arm further includes a working arm connected to the connecting arm; the second preset angle range is an angle range determined based on the condition that the connecting arm and the body do not interfere with each other when the angle of the first included angle is within the first preset angle range, and the connecting arm limits the end of the working arm in a direction toward the outside of the body.

[0388] In one embodiment, the processing unit 1602 is configured to control the robotic arm to enter the cabin, including: the processing unit 1602 is configured to control the connecting arm to rotate toward one side of the support arm when the angle of the first included angle is zero degrees, so as to adjust the angle of the second included angle to zero degrees; the processing unit 1602 is further configured to: control the connecting arm to rotate toward the side away from the support arm by a first preset angle, so as to increase the angle of the second included angle, the first preset angle being greater than or equal to the angle determined by the first space formed by the second included angle according to the object of the preset shape being released.

[0389] In one embodiment, the first preset angle is determined based on the state that the connecting arm and the cabin do not interfere with each other.

[0390] In one embodiment, the robotic arm further includes a working arm connected to the connecting arm; the processing unit 1602 is further configured to control the working arm to rotate toward a side away from the connecting arm by a second preset angle, the second preset angle being an angle range determined based on the state where the working arm and the body do not interfere with each other when the angle of the second included angle is within the range of the second preset angle.

[0391] In one embodiment, the processing unit 1602 is configured to control the robotic arm to enter the cabin, including: the processing unit 1602 is configured to control the working arm to rotate toward the side of the connecting arm when the angle of the second included angle is zero degrees, so as to adjust the angle of the third included angle between the working arm and the connecting arm to zero degrees; the processing unit 1602 is configured to control the robotic arm to adjust its posture in a direction away from the cabin, including: the processing unit 1602 is configured to control the working arm to rotate toward the side away from the connecting arm by a third preset angle, so as to increase the angle of the third included angle, the third preset angle being greater than or equal to the angle determined by the second space formed by the third included angle according to the object of the preset shape being released.

[0392] In one embodiment, the detection information further includes indication information for indicating whether the motor driving the robotic arm is abnormal. The processing unit 1602 is configured to control the robotic arm to enter the cabin, including: the processing unit 1602 is configured to control the robotic arm to rotate along the axial direction of the support arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees; the processing unit 1602 is configured to determine that an abnormality has occurred based on the detection information, including: the processing unit 1602 is configured to determine that an object clamping abnormality has occurred based on the detection information when the detection information indicates that the motor is abnormal.

[0393] In one embodiment, a wiring harness for transmitting information is provided at the connection between the working arm and the connecting arm, and the size of the third space formed between the wiring harness and the connection is positively correlated with the angle of the third included angle; the processing unit 1602 is configured to control the robotic arm to adjust its posture in a direction away from the cabin, including: the processing unit 1602 is configured to control the working arm to rotate a fourth preset angle in a direction away from the connecting arm to increase the angle of the third included angle, the fourth preset angle being greater than or equal to the angle determined by the release of an object of a preset shape by the third space.

[0394] Since the control device 1600 provided in this embodiment can execute the above method embodiment, the technical effects it can obtain can be referred to the above method embodiment, and will not be repeated here.

[0395] It should be understood that the processing unit 1602 involved in the control device 1600 can be implemented by a processor or processor-related circuit components, and can be a processor or processing unit.

[0396] For example, Figure 17 This is a schematic diagram of the structure of another control device for a cleaning robot provided in an embodiment of this application. The control device 1700 may include a processor 1701. In one possible design, the control device 1700 may further include a memory 1702 and / or a transceiver 1703. The processor 1701 is coupled to the memory 1702 and the transceiver 1703, for example, they can be connected via a communication bus.

[0397] The following is combined Figure 17 A detailed description of each component of the control device 1700 is provided below:

[0398] The processor 1701 is the control center of the control device 1700. It can be a single processor or a collective term for multiple processing elements. For example, the processor 1701 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0399] In one possible design, the processor 1701 can execute various functions of the control device 1700 by running or executing software programs stored in the memory 1702 and calling data stored in the memory 1702.

[0400] In a specific implementation, as one example, the processor 1701 may include one or more CPUs, for example... Figure 17 CPU0 and CPU1 are shown in the diagram.

[0401] In a specific implementation, as one example, the control device 1700 may also include multiple processors, for example... Figure 17 The processors 1701 and 1704 are shown. Each of these processors can be a single-core processor or a multi-core processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0402] The memory 1702 is used to store the software program that executes the solution of this application, and is controlled by the processor 1701 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0403] In one possible design, the memory 1702 can be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it can be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 1702 can be integrated with the processor 1701 or exist independently and coupled to the processor 1701; this application embodiment does not specifically limit this.

[0404] Transceiver 1703 is used for communication with other devices. For example, transceiver 1703 can be used to communicate with a user's UE to obtain the user's control commands.

[0405] In one possible design, transceiver 1703 may include a receiver and a transmitter. Figure 17 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0406] In one possible design, transceiver 1703 can be an input / output interface or interface circuit for inputting and / or outputting signals.

[0407] In one possible design, the transceiver 1703 can be integrated with the processor 1701, or it can exist independently and be coupled to the processor 1701. This application embodiment does not specifically limit this.

[0408] It should be noted that, Figure 17 The structure of the control device 1700 shown does not constitute a limitation on the control device. The actual control device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0409] Furthermore, the control device 1700 can execute the above-described method embodiments, and therefore the technical effects it can achieve can be referred to the above-described method embodiments, which will not be repeated here.

[0410] In one possible implementation, this application also provides a computer-readable storage medium storing a computer program or instructions that, when executed by a computer, implement the functions of the above-described method embodiments.

[0411] In one possible implementation, this application also provides a computer program product that, when executed by a computer, implements the functions of the above-described method embodiments.

[0412] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device including one or more servers, data centers, etc., that can be integrated with the medium. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium, or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0413] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0414] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0415] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0416] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0417] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0418] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0419] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, the disclosure, and the appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0420] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of the claims and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes: a body, a robotic arm mounted on the body, and a housing for accommodating the robotic arm in a folded state; the method includes: During the process of controlling the robotic arm to enter the cabin, detection information is acquired, including indication information for indicating whether there is an object pressing at the opening of the cabin; If an abnormality in the clamping device is determined based on the detection information, the robotic arm is controlled to adjust its posture in a direction away from the cabin.

2. The method according to claim 1, characterized in that, The indication information includes: information indicating whether there is an object squeezing force at the opening of the cabin, and / or, status information indicating whether the opening of the cabin is under object squeezing.

3. The method according to claim 2, characterized in that, The indication information includes the status information. A switch is provided at the opening of the cabin. The switch is used to monitor whether the opening of the cabin is under the state of being squeezed by an object. During the process of controlling the robotic arm to enter the cabin, the acquisition of detection information includes: During the process of controlling the robotic arm to enter the cabin, a trigger signal is received from the switch, which is used to indicate that the opening of the cabin is in a state of object compression.

4. The method according to claim 3, characterized in that, The step of controlling the robotic arm to adjust its attitude away from the cabin when an abnormality in the object clamping situation is determined based on the detection information includes: In response to the trigger signal, the robotic arm is controlled to adjust its posture in a direction away from the cabin.

5. The method according to any one of claims 1-4, characterized in that, The detection information also includes indication information for indicating whether the motor is malfunctioning. The motor is used to drive the robotic arm to adjust its posture. The motor malfunction includes at least one of the following: The temperature of the motor is outside the preset temperature range; The electrical parameters of the motor are outside the preset electrical parameter range; Alternatively, the motor's operating time exceeds a preset time range for the motor to drive the robotic arm to adjust its posture.

6. The method according to claim 5, characterized in that, The step of determining that an object clamping abnormality has occurred based on the detection information includes: determining that an object clamping abnormality has occurred based on the detection information when the detection information indicates that an object is pressing against the opening of the cabin, and / or when the motor is abnormal.

7. The method according to any one of claims 1-4 and 6, characterized in that, The robotic arm includes a support arm mounted on a mounting surface inside the cabin. Controlling the robotic arm to enter the cabin includes: controlling the support arm to rotate toward one side of the mounting surface to adjust the first angle between the support arm and the mounting surface to zero degrees; controlling the robotic arm to adjust its attitude toward a direction away from the cabin includes: The support arm is controlled to rotate toward the side away from the mounting surface to adjust the angle of the first included angle to a first preset angle range, which is an angle range determined based on the state of the support arm outside the cabin.

8. The method according to claim 7, characterized in that, The robotic arm further includes a connecting arm connected to the support arm. Controlling the robotic arm to enter the cabin further includes: while controlling the support arm to rotate toward one side of the mounting surface, also controlling the connecting arm to rotate toward one side of the support arm; controlling the robotic arm to adjust its attitude toward a direction away from the cabin further includes: Control the connecting arm to rotate toward the side away from the supporting arm, so as to adjust the second included angle between the connecting arm and the supporting arm to a second preset angle range. The second preset angle range is an angle range determined based on the state that the connecting arm and the body do not interfere with each other when the angle of the first included angle is within the first preset angle range.

9. The method according to claim 8, characterized in that, The robotic arm also includes a working arm connected to the connecting arm; the second preset angle range is an angle range determined based on the condition that, when the angle of the first included angle is within the first preset angle range, the connecting arm and the main body do not interfere with each other, and the connecting arm limits the end of the working arm in a direction toward the outside of the main body.

10. The method according to claim 8 or 9, characterized in that, The step of controlling the robotic arm to enter the cabin includes: when the first included angle is zero degrees, controlling the connecting arm to rotate toward one side of the supporting arm to adjust the second included angle to zero degrees; the step of controlling the robotic arm to adjust its attitude toward a direction away from the cabin includes: The connecting arm is controlled to rotate toward the side away from the supporting arm by a first preset angle to increase the angle of the second included angle. The first preset angle is greater than or equal to the angle determined by the first space formed by the second included angle according to the preset shape of the object.

11. The method according to claim 10, characterized in that, The first preset angle is determined based on the state that the connecting arm and the cabin do not interfere with each other.

12. The method according to claim 11, characterized in that The robotic arm also includes a working arm connected to the connecting arm; the control of the robotic arm to adjust its attitude in a direction away from the cabin also includes: The working arm is controlled to rotate towards the side away from the connecting arm by a second preset angle. The second preset angle is determined based on the state in which the working arm and the body do not interfere with each other when the angle of the second included angle is within the range of the second preset angle.

13. The method according to claim 11 or 12, characterized in that, The step of controlling the robotic arm to enter the cabin includes: when the second included angle is zero degrees, controlling the working arm to rotate toward one side of the connecting arm to adjust the third included angle between the working arm and the connecting arm to zero degrees; the step of controlling the robotic arm to adjust its attitude toward a direction away from the cabin includes: The working arm is controlled to rotate towards the side away from the connecting arm by a third preset angle to increase the angle of the third included angle. The third preset angle is greater than or equal to the angle determined by the second space formed by the third included angle, which is based on the object of the preset shape.

14. The method according to claim 13, characterized in that, The detection information also includes indication information for indicating whether the motor driving the robotic arm is abnormal. Controlling the robotic arm to enter the cabin includes: controlling the robotic arm to rotate along the axial direction of the support arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees. Determining an abnormality based on the detection information includes: determining an object clamping abnormality based on the detection information when the detection information indicates that the motor is abnormal.

15. The method according to claim 14, characterized in that, At the connection between the working arm and the connecting arm, a wire harness for transmitting information is provided, and the size of the third space formed between the wire harness and the connection is positively correlated with the angle of the third included angle. The control of the robotic arm to adjust its attitude in a direction away from the cabin includes: The working arm is controlled to rotate a fourth preset angle toward the side away from the connecting arm, so as to increase the angle of the third included angle. The fourth preset angle is greater than or equal to the angle determined by the third space according to the preset shape of the object.

16. A control device for a cleaning robot, characterized in that, The cleaning robot includes: a body, a robotic arm mounted on the body, and a housing for accommodating the robotic arm in a folded state; the control device includes a processing module configured to: During the process of controlling the robotic arm to enter the cabin, detection information is acquired, including indication information for indicating whether there is an object pressing at the opening of the cabin; If an abnormality in the clamping device is determined based on the detection information, the robotic arm is controlled to adjust its posture in a direction away from the cabin.

17. The control device according to claim 16, characterized in that, The indication information includes: information indicating whether there is an object squeezing force at the opening of the cabin, and / or, status information indicating whether the opening of the cabin is under object squeezing.

18. The control device according to claim 17, characterized in that, The indication information includes the status information; a switch is provided at the opening of the cabin, and the switch is used to monitor whether the opening of the cabin is under object compression; the processing module is further configured to: During the process of controlling the robotic arm to enter the cabin, a trigger signal is received from the switch, which is used to indicate that the opening of the cabin is in a state of object compression.

19. The control device according to claim 18, characterized in that, The processing module is also configured to: In response to the trigger signal, the robotic arm is controlled to adjust its posture in a direction away from the cabin.

20. The control device according to any one of claims 16-19, characterized in that, The detection information also includes indication information for indicating whether the motor is malfunctioning. The motor is used to drive the robotic arm to adjust its posture. The motor malfunction includes at least one of the following: The temperature of the motor is outside the preset temperature range; The electrical parameters of the motor are outside the preset electrical parameter range; Alternatively, the motor's operating time exceeds a preset time range for the motor to drive the robotic arm to adjust its posture.

21. The control device according to claim 20, characterized in that, The processing module is also configured to: If the detection information indicates that an object is pressing against the opening of the cabin, and / or the motor is malfunctioning, the detection information determines that an object clamping abnormality has occurred.

22. The control device according to any one of claims 16-19 and 21, characterized in that, The robotic arm includes a support arm mounted on a mounting surface inside the cabin. The processing module is configured to control the robotic arm to enter the cabin, including: the processing module is configured to control the support arm to rotate toward one side of the mounting surface to adjust the angle between the support arm and the mounting surface to zero degrees; the processing module is configured to control the robotic arm to adjust its attitude toward a direction away from the cabin, including: The processing module is configured to control the support arm to rotate toward a side away from the mounting surface, so as to adjust the angle of the first included angle to a first preset angle range, wherein the first preset angle range is an angle range determined according to the state of the support arm outside the cabin.

23. The control device according to claim 22, characterized in that, The robotic arm further includes a connecting arm connected to the support arm. The processing module is configured to control the robotic arm to enter the cabin, and further includes: the processing module is also configured to control the connecting arm to rotate toward one side of the support arm while controlling the support arm to rotate toward the mounting surface; the processing module is configured to control the robotic arm to adjust its attitude toward a direction away from the cabin, including: The processing module is configured to control the connecting arm to rotate toward a side away from the support arm, so as to adjust the second included angle between the connecting arm and the support arm to a second preset angle range. The second preset angle range is an angle range determined based on the state in which the connecting arm and the body do not interfere with each other when the angle of the first included angle is within the first preset angle range.

24. The control device according to claim 23, characterized in that, The robotic arm also includes a working arm connected to the connecting arm; the second preset angle range is an angle range determined based on the condition that, when the angle of the first included angle is within the first preset angle range, the connecting arm and the main body do not interfere with each other, and the connecting arm limits the end of the working arm in a direction toward the outside of the main body.

25. The control device according to claim 23 or 24, characterized in that, The processing module is configured to control the robotic arm to enter the cabin, including: the processing module is configured to control the connecting arm to rotate toward one side of the supporting arm when the first included angle is zero degrees, so as to adjust the second included angle to zero degrees; the processing module is further configured to: The connecting arm is controlled to rotate toward the side away from the supporting arm by a first preset angle to increase the angle of the second included angle. The first preset angle is greater than or equal to the angle determined by the first space formed by the second included angle according to the preset shape of the object.

26. The control device according to claim 24, characterized in that, The first preset angle is determined based on the state that the connecting arm and the cabin do not interfere with each other.

27. The control device according to claim 26, characterized in that, The robotic arm further includes a working arm connected to the connecting arm; the processing module is further configured to: The working arm is controlled to rotate towards the side away from the connecting arm by a second preset angle. The second preset angle is an angle range determined based on the state that the working arm and the body do not interfere with each other when the angle of the second included angle is within the range of the second preset angle.

28. The control device according to claim 26 or 27, characterized in that, The processing module is configured to control the robotic arm to enter the cabin, including: the processing module is configured to control the working arm to rotate toward one side of the connecting arm when the second included angle is zero degrees, so as to adjust the angle of the third included angle between the working arm and the connecting arm to zero degrees; the processing module is configured to control the robotic arm to adjust its attitude toward a direction away from the cabin, including: The processing module is configured to control the working arm to rotate toward the side away from the connecting arm by a third preset angle to increase the angle of the third included angle, the third preset angle being greater than or equal to the angle determined by the second space formed by the third included angle according to the preset shape of the object being released.

29. The control device according to claim 28, characterized in that, The detection information also includes indication information for indicating whether the motor driving the robotic arm is malfunctioning. The processing module is configured to control the robotic arm to enter the cabin, including: the processing module is configured to control the robotic arm to rotate along the axial direction of the support arm to adjust the angle between the extension direction of the robotic arm and the length direction of the cabin to zero degrees; the processing module is configured to determine that an abnormality has occurred based on the detection information, including: The processing module is configured to determine, based on the detection information, that an object clamping abnormality has occurred when the detection information indicates a motor abnormality.

30. The control device according to claim 29, characterized in that, At the connection between the working arm and the connecting arm, a wire harness for transmitting information is provided, and the size of the third space formed between the wire harness and the connection is positively correlated with the angle of the third included angle. The processing module is configured to control the robotic arm to adjust its attitude in a direction away from the cabin, including: The processing module is configured to control the working arm to rotate a fourth preset angle toward the side away from the connecting arm, so as to increase the angle of the third included angle, the fourth preset angle being greater than or equal to the angle determined by the third space according to the preset shape of the object.

31. A cleaning robot, characterized in that, The cleaning robot includes: a body, a robotic arm mounted on the body, and a housing for accommodating the robotic arm in a folded state; wherein the body includes a processor, the processor being configured to execute the control method according to any one of claims 1-15 via logic circuits and / or executing instructions.

32. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed by a processor, cause the control method according to any one of claims 1-15 to be implemented.

33. A computer program product, characterized in that, The computer program product includes instructions that, when executed on a computer, cause the computer to perform the control method according to any one of claims 1-15.

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