Control method, control device, equipment and product of mechanical arm

Abstract

The embodiment of the invention discloses a control method, a control device, equipment and a product of a mechanical arm, the control method, the control device, the equipment and the product are applied to a base station of self-moving cleaning equipment, the base station is provided with a posture detection module, the self-moving cleaning equipment comprises the mechanical arm, and the tail end of the mechanical arm is provided with a butt joint part used for being connected with a target cleaning accessory in the base station. According to the main technical scheme, the method comprises the steps that in response to the situation that the mechanical arm moves to a posture detection area corresponding to a posture detection module, current posture data of the mechanical arm is obtained through the posture detection module, and a posture adjusting instruction is obtained according to the current posture data and a target cleaning accessory; the posture adjusting instruction is sent to the self-moving cleaning equipment, so that the self-moving cleaning equipment conducts posture adjustment on the mechanical arm based on the posture adjusting instruction; according to the method, the success rate and efficiency of butt joint of the mechanical arm and the cleaning accessory can be improved, so that the operation stability of the self-moving cleaning equipment and the use experience of a user are improved.

Description

Technical Field

[0001] This application relates to the field of self-moving cleaning equipment technology, and in particular to a control method, control device, equipment, and product for a robotic arm. Background Technology

[0002] Currently, the robotic arms of self-propelled cleaning devices often need to dock with cleaning accessories on base stations to facilitate accessory replacement. However, existing technologies lack a simple and effective attitude adjustment mechanism in the docking control logic of the robotic arms. This makes the robotic arms prone to attitude deviations due to equipment movement deviations, mechanical deformations, or environmental interference, leading to problems such as inaccurate positioning, docking jams, or even failure to physically connect. This reduces the success rate and efficiency of cleaning accessory docking, affecting the operational stability of self-propelled cleaning devices and the user experience. Summary of the Invention

[0003] This application provides a control method, control device, equipment, and product for a robotic arm, which improves the success rate and efficiency of docking the robotic arm with cleaning accessories, thereby enhancing the operational stability of self-moving cleaning equipment and the user experience.

[0004] In a first aspect, this application provides a control method for a robotic arm, applied to a base station of a self-moving cleaning device. The base station is equipped with an attitude detection module, and the self-moving cleaning device includes a robotic arm. The end of the robotic arm is provided with a docking portion for engaging with a target cleaning accessory in the base station. The method includes: In response to the robotic arm moving to the attitude detection area corresponding to the attitude detection module, the current attitude data of the robotic arm is obtained through the attitude detection module, and an attitude adjustment command is obtained based on the current attitude data and the target cleaning accessory; The attitude adjustment command is sent to the self-moving cleaning device so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the docking action, when controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory.

[0005] In some embodiments, the posture detection module includes a visual sensing device, and acquiring the current posture data of the robotic arm through the posture detection module includes: Images of multiple joints in the robotic arm are acquired using the visual sensing device; Feature extraction is performed on images of multiple joints in the robotic arm to obtain the angles of multiple joints in the robotic arm; The current posture data of the robotic arm is obtained based on the angles of multiple joints in the robotic arm.

[0006] In some embodiments, obtaining the attitude adjustment command based on the current attitude data and the target cleaning accessory includes: Obtain target posture data corresponding to the target cleaning accessory, wherein the target posture data includes the angles of multiple joints in the robotic arm when the docking part is physically engaged with the target cleaning accessory; The current attitude data is compared with the target attitude data to obtain the attitude deviation; Based on the posture deviation, adjustment commands are generated to control the angles of multiple joints in the robotic arm.

[0007] In some embodiments, generating adjustment commands for controlling the angles of multiple joints in the robotic arm based on the posture deviation includes: Based on the posture deviation, the joint deviation angles corresponding to multiple joints in the robotic arm are obtained; Generate corresponding joint control signals based on multiple joint deviation angles; The attitude adjustment command is obtained based on multiple joint control signals. The attitude adjustment command includes at least one parameter for controlling the rotation angle, angular velocity and torque of multiple joints in the robotic arm.

[0008] In some embodiments, the method further includes: The attitude adjustment command is sent to the self-moving cleaning device so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the disassembly operation of the docking part driven by the robotic arm.

[0009] In some embodiments, the robotic arm includes multiple joints, including wrist joints for controlling the docking portion to adjust its position, and the current posture data includes the current position data of the docking portion; the method further includes: The posture detection module acquires images of the wrist joint; Feature extraction is performed on the image of the wrist joint to obtain the angle of the wrist joint relative to the central axis of the target cleaning accessory; The current pose data of the docking part is obtained based on the angle of the wrist joint relative to the central axis of the target cleaning accessory.

[0010] In some embodiments, the attitude adjustment command includes a pose adjustment command for adjusting the pose of the docking portion; the method further includes: The pose adjustment command is generated based on the current pose data of the docking part and the preset target pose data.

[0011] In some embodiments, the attitude adjustment command is used to control the robotic arm to drive the docking part to move until the attitude deviation between the current attitude data and the target attitude data is less than a first preset threshold, and / or until the attitude deviation between the current pose data and the target pose data is less than a second preset threshold, so as to complete the physical docking.

[0012] In some embodiments, the method further includes: Send a docking command to the self-moving cleaning device to trigger the self-moving cleaning device to control the robotic arm to move to the attitude detection area; The docking command is generated by the base station when at least one of the following conditions is met: Received a replacement part instruction from the user; Obtain task information that the self-moving cleaning device needs to be combined with the target cleaning accessory.

[0013] Secondly, this application provides a control method for a robotic arm, applied to a self-moving cleaning device. The self-moving cleaning device includes a robotic arm, the end of which is provided with a docking part for engaging with a target cleaning accessory in a base station. The base station is equipped with an attitude detection module. The method includes: In response to a docking command, control the movement of the self-moving cleaning device and / or the robotic arm so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module; In the attitude detection area, before and / or during the docking action of controlling the robotic arm to drive the docking part to perform docking with the target cleaning accessory, the attitude of the robotic arm is adjusted based on the attitude adjustment command of the robotic arm obtained from the attitude detection module.

[0014] In some embodiments, the attitude adjustment command is generated by the attitude detection module based on the attitude deviation between the current attitude data of the robotic arm and the target attitude data corresponding to the target cleaning accessory. The target attitude data includes the angles of multiple joints in the robotic arm when the docking part is physically engaged with the target cleaning accessory. The posture adjustment of the robotic arm includes: The robotic arm is controlled to drive the docking part to move until the attitude deviation between the current attitude data and the target attitude data is less than a preset threshold, so as to complete the physical engagement of the docking part and the target cleaning accessory.

[0015] In some embodiments, the docking command is generated by the self-moving cleaning device or the base station when at least one of the following conditions is met: Received a replacement part instruction from the user; The self-moving cleaning device determines, based on the current cleaning task or cleaning mode, that the docking part needs to engage with the target cleaning accessory.

[0016] In some embodiments, controlling the movement of the self-moving cleaning device and / or the robotic arm to move the docking portion to the attitude detection area includes: Control the mobile platform of the self-propelled cleaning device to move to a preset position in front of the base station; and / or, The angles of multiple joints in the robotic arm are controlled so that the docking part faces the target accessory compartment where the target cleaning accessory is located.

[0017] In some embodiments, the method further includes: In response to a disassembly command, control the movement of the self-moving cleaning device and / or the robotic arm so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module; In the attitude detection area, before and / or during the disassembly of the target cleaning accessory by controlling the robotic arm to drive the docking part, the attitude of the robotic arm is adjusted based on the attitude adjustment command of the robotic arm obtained from the attitude detection module.

[0018] Thirdly, this application provides a control device for a robotic arm, applied to a base station of a self-moving cleaning device. The base station is equipped with an attitude detection module, and the self-moving cleaning device includes a robotic arm. The end of the robotic arm is provided with a docking part for engaging with a target cleaning accessory in the base station. The device includes: The instruction generation module is configured to respond to the robotic arm moving to the attitude detection area corresponding to the attitude detection module, obtain the current attitude data of the robotic arm through the attitude detection module, and obtain an attitude adjustment instruction based on the current attitude data and the target cleaning accessory; The instruction sending module is configured to send the attitude adjustment instruction to the self-moving cleaning device, so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment instruction before and / or during the execution of the docking action by controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory.

[0019] Fourthly, this application provides a control device for a robotic arm, applied to a self-moving cleaning device. The self-moving cleaning device includes a robotic arm, the end of which is provided with a docking part for engaging with a target cleaning accessory in a base station. The base station is equipped with an attitude detection module. The device includes: The motion control module is configured to control the movement of the self-moving cleaning device and / or the robotic arm in response to a docking command, so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module. The docking control module is configured to adjust the attitude of the robotic arm based on the attitude adjustment command of the robotic arm obtained from the attitude detection module before and / or during the docking action of controlling the robotic arm to drive the docking part to perform docking with the target cleaning accessory in the attitude detection area.

[0020] Fifthly, this application provides a base station, on which an attitude detection module is provided, and the base station further includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the first aspects.

[0021] Sixthly, this application provides a self-moving cleaning device, the self-moving cleaning device including a robotic arm, the end of which is provided with a docking part for engaging with a target cleaning accessory in a base station, the self-moving cleaning device further including: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the second aspects.

[0022] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects, or the steps of the method described in any one of the second aspects.

[0023] According to the specific embodiments provided in this application, the following technical effects are disclosed: The robotic arm control method, control device, equipment, and product of this application, by setting an attitude detection module in the base station and combining it with the robotic arm attitude adjustment mechanism before and during docking, can effectively solve the core problems of existing self-moving cleaning equipment robotic arms during docking, such as attitude deviation, inaccurate positioning, docking jamming, and inability to physically connect caused by equipment movement deviation, mechanical deformation, or environmental interference. It is understood that this application, by responding to the trigger condition of the robotic arm moving to the attitude detection area, uses the attitude detection module of the base station to obtain the current attitude data of the robotic arm in real time, and combines it with the target cleaning accessory to generate an attitude adjustment command and send it to the self-moving cleaning equipment. This allows the self-moving cleaning equipment to adjust the attitude of the robotic arm before and / or during the docking action, ensuring that the docking part at the end of the robotic arm can maintain a suitable docking attitude with the target cleaning accessory. This effectively improves the docking success rate and efficiency of the robotic arm and the cleaning accessory, reduces equipment damage caused by docking failures, and ultimately improves the operational stability and user experience of the self-moving cleaning equipment.

[0024] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the above drawings without creative effort.

[0026] Figure 1 A schematic diagram of a base station in the control method for a robotic arm provided in an embodiment of this application.

[0027] Figure 2 This is a schematic diagram of a self-moving cleaning device in the control method of the robotic arm provided in the embodiments of this application.

[0028] Figure 3 A flowchart illustrating the application of the robotic arm control method provided in this application to a base station.

[0029] Figure 4 The flowchart illustrates the application of the robotic arm control method provided in this application to a self-moving cleaning device.

[0030] Figure 5 A schematic diagram of a module for applying the control device of the robotic arm provided in this application embodiment to a base station.

[0031] Figure 6 A schematic diagram of a module for applying the control device of the robotic arm provided in this application to a self-moving cleaning device.

[0032] Figure 7 A schematic block diagram of a self-moving cleaning device provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0034] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0035] It should be understood that the term "and / or" used in this article 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 existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0036] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0037] Currently, the robotic arms of self-propelled cleaning devices often need to dock with cleaning accessories on base stations to facilitate accessory replacement. However, existing technologies lack a simple and effective attitude adjustment mechanism in the docking control logic of the robotic arms. This makes the robotic arms prone to attitude deviations due to equipment movement deviations, mechanical deformations, or environmental interference, leading to problems such as inaccurate positioning, docking jams, or even failure to physically connect. This reduces the success rate and efficiency of cleaning accessory docking, affecting the operational stability of self-propelled cleaning devices and the user experience.

[0038] To address the aforementioned issues, this application proposes a control method for a robotic arm, applied to a base station of a self-moving cleaning device. The base station is equipped with an attitude detection module, and the self-moving cleaning device includes a robotic arm with a docking portion at its end for engaging with a target cleaning accessory in the base station. The method includes: in response to the robotic arm moving to the attitude detection area corresponding to the attitude detection module, acquiring the current attitude data of the robotic arm through the attitude detection module, and obtaining an attitude adjustment command based on the current attitude data and the target cleaning accessory; sending the attitude adjustment command to the self-moving cleaning device, so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the docking action of controlling the robotic arm to drive the docking portion to perform the docking action with the target cleaning accessory.

[0039] For ease of understanding, some terms in this embodiment are explained below: A base station is a fixed device that provides storage, charging, or maintenance functions for cleaning accessories for self-propelled cleaning equipment, and it may be equipped with compartments for storing different cleaning accessories.

[0040] Self-propelled cleaning equipment can be a device that can autonomously perform cleaning tasks, and it can be equipped with a mobile platform, robotic arm and various cleaning accessories.

[0041] A robotic arm is a mechanical device used to perform operational tasks on a self-moving cleaning device. It can have multiple joints and be able to achieve multi-degree-of-freedom movement.

[0042] The docking section can be a structure located at the end of the robotic arm for physical connection with cleaning accessories, and its design can be matched with the interface of the cleaning accessories.

[0043] The attitude detection area can be a pre-defined spatial range within the base station used by the attitude detection module to collect attitude information from the robotic arm. When the robotic arm enters this area, the attitude detection module is activated to perform the attitude data acquisition task.

[0044] Target cleaning accessories are tools or parts that self-propelled cleaning equipment needs to engage to perform specific cleaning tasks, such as small cloths, brush heads, or nozzles.

[0045] Attitude data refers to the position and orientation information of the robotic arm in space, obtained through the attitude detection module. This data can include the angles of each joint in the robotic arm.

[0046] Attitude adjustment commands are control commands calculated and generated based on the deviation between the current attitude data and the target attitude of the robotic arm, used to adjust the attitude of the robotic arm. These commands can include parameters such as the rotation angle, speed, or torque of each joint.

[0047] Attitude adjustment can adjust the position and attitude of the docking part according to attitude data to achieve the preset target position and attitude, thereby realizing docking.

[0048] The present application will be further described below with reference to the accompanying drawings.

[0049] refer to Figure 1 , Figure 1 This is a schematic diagram of a base station in the control method for a robotic arm provided in an embodiment of this application. In some embodiments, this application provides a control method, control device, equipment, and product for a robotic arm. The base station is equipped with an attitude detection module. The self-moving cleaning device includes a robotic arm, and the end of the robotic arm is provided with a docking part for engaging with a target cleaning accessory in the base station. The base station is communicatively connected to the self-moving cleaning device. The base station includes a main structure 100, an accessory storage compartment 110, and an attitude detection module 130. The accessory storage compartment 110 is used to store cleaning accessories 111. The attitude detection module 130 may be a visual sensing device installed in the base station, used to acquire attitude information such as the angles of multiple joints in the robotic arm in real time. The base station can communicate with the self-moving cleaning device to realize operations such as docking and storing the cleaning accessories 111.

[0050] In some embodiments, a posture detection area 120 may be provided in front of the main structure 100. The posture detection area 120 may be a preset space range to which the docking part moves before performing the docking action with the target cleaning accessory. The area may be located below the accessory storage compartment 110 to provide initial conditions for subsequent fine docking.

[0051] In some embodiments, the accessory storage compartment 110 can be located on the side, back, or front of the base station and electrically connected to the main control module of the base station through the control lines inside the base station. When the self-moving cleaning device moves to the preset attitude detection area and approaches the accessory storage compartment 110, it can send a trigger signal to the main control module of the base station through the communication module, thereby triggering the accessory storage compartment 110 to open the compartment door or switch to an appropriate attitude for docking, so as to enter the docking or storage state.

[0052] In some embodiments, there may be multiple accessory storage compartments 110, each corresponding to a different type of cleaning accessory 111 (such as a small cloth, gripper, brush head, or nozzle). Each accessory storage compartment 110 may have a positioning guide structure (such as a tapered guide opening or an elastic alignment protrusion) inside to assist in positioning the docking part during the docking process of the robotic arm. At the same time, the storage compartment may integrate status detection sensors (such as infrared sensors or pressure sensors) to detect the position status of the cleaning accessories, the closure status of the compartment door, and the positioning status of the docking adaptation posture. The detection data is fed back to the main control module of the base station, and then synchronized by the main control module to the control unit of the self-moving cleaning device to form information interaction.

[0053] In some embodiments, the attitude detection module 130 may employ a multi-sensor fusion scheme or a single high-precision sensor. Besides visual sensing devices, it may also include one or more combinations of binocular cameras, depth cameras, LiDAR, or infrared positioning sensors to adapt to attitude detection requirements in different scenarios. It is understood that the attitude detection module 130 may be fixed to the top edge of the attitude detection area 120, with its detection field of view covering the entire attitude detection area to ensure complete capture of the attitude information of multiple joints in the robotic arm.

[0054] refer to Figure 2 , Figure 2 This is a schematic diagram of the self-moving cleaning device in the control method of the robotic arm provided in the embodiments of this application; as shown. Figure 2 As shown, the self-moving cleaning device 200 includes a robotic arm 210. The end of the robotic arm 210 is provided with a docking part 211 for engaging with a target cleaning accessory in the base station. The robotic arm 210 can be composed of multiple support rods and multiple movable joints. One end of the robotic arm 210 can be connected to the self-moving cleaning device 200 through a movable base, and the other end serves as the docking part 211 for the target cleaning accessory such as a gripper 212. It can be understood that the target cleaning accessory can be any one of a small cloth, a gripper 212, a brush head, and a suction nozzle.

[0055] Furthermore, such as Figure 2 As shown, the robotic arm 210 may include a wrist joint 213, a shoulder joint 214, an elbow joint 215, and a waist joint 216 connected in sequence. One end of the waist joint 216 can be connected to a movable base on the self-moving cleaning device 200, and the other end can be connected to the shoulder joint 214. The shoulder joint 214 can be connected to the elbow joint 215 and the wrist joint 213 in sequence. The end of the wrist joint 213 can be integrated with a docking part 211, which is used to engage with target cleaning accessories such as grippers 212.

[0056] refer to Figure 3 , Figure 3 The flowchart illustrates the application of the robotic arm control method provided in this application to a base station. In some embodiments, this application provides a robotic arm control method applied to a base station of a self-moving cleaning device. The base station is equipped with an attitude detection module, and the self-moving cleaning device includes a robotic arm. The end of the robotic arm is provided with a docking portion for engaging with a target cleaning accessory in the base station. The method may include at least the following steps: Step 310: In response to the robotic arm moving to the posture detection area corresponding to the posture detection module, the current posture data of the robotic arm is obtained through the posture detection module, and a posture adjustment command is obtained based on the current posture data and the target cleaning accessory. Step 320: Send an attitude adjustment command to the self-moving cleaning device so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the docking action of controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory.

[0057] Based on steps 310 to 320 above, this application, by setting an attitude detection module in the base station and combining it with the robotic arm attitude adjustment mechanism before and during docking, can effectively solve the core problems of existing self-moving cleaning equipment robotic arms during docking, such as attitude deviation, inaccurate positioning, docking jamming, and inability to physically connect caused by equipment movement deviation, mechanical deformation, or environmental interference. It is understood that this application, by responding to the trigger condition of the robotic arm moving to the attitude detection area, uses the base station's attitude detection module to obtain the current attitude data of the robotic arm in real time, and combines it with the target cleaning accessory to generate an attitude adjustment command which is sent to the self-moving cleaning equipment. This allows the self-moving cleaning equipment to adjust the attitude of the robotic arm before and / or during the docking action, ensuring that the docking part at the end of the robotic arm can maintain a suitable docking attitude with the target cleaning accessory. This effectively improves the docking success rate and efficiency of the robotic arm and the cleaning accessory, reduces equipment damage caused by docking failures, and ultimately enhances the operational stability and user experience of the self-moving cleaning equipment.

[0058] It is understood that the method of this application is triggered when the robotic arm moves to the attitude detection area corresponding to the attitude detection module. For example, after completing a cleaning task, a self-propelled cleaning device can move to a specific position in front of a base station through a preset path plan, so that the robotic arm enters the field of view of the attitude detection module.

[0059] Furthermore, after the robotic arm enters the posture detection area, this application can obtain the current posture data of the robotic arm through the posture detection module on the base station. The posture detection module is used to capture images of the robotic arm's end effector or specific marked points on the robotic arm. After obtaining the current posture data of the robotic arm, this application can obtain posture adjustment commands based on the current posture data and the information of the target cleaning accessory. The generated posture adjustment commands are then sent to the self-moving cleaning device. The sending process can be achieved through wireless communication, such as Bluetooth or infrared communication, to send the commands to the self-moving cleaning device.

[0060] Furthermore, upon receiving an attitude adjustment command, the self-moving cleaning device can adjust the attitude of the robotic arm before and / or during the docking action, controlling the robotic arm to drive the docking unit to perform the docking action with the target cleaning accessory. For example, before the docking action begins, the robotic arm can perform a one-time position or angle adjustment based on the received command. Alternatively, during the docking process, the robotic arm can perform real-time fine adjustments based on the command to ensure that the docking unit can smoothly physically combine with the target cleaning accessory.

[0061] Physical engagement can refer to a connection method achieved through a mechanical interlocking structure, such as snap-fit ​​connection, latch engagement, or electromagnetic adsorption. In a preferred embodiment of this application, physical engagement can adopt a snap-fit ​​connection mechanism, which is specifically implemented as follows: the docking part integrates a quick-release structure (such as a snap or latch), and the target cleaning accessory is provided with a corresponding receiving groove or engaging component. When the docking part is aligned with the target cleaning accessory under the drive of the robotic arm, the snap-fit ​​element in the quick-release structure automatically springs into the clamping groove of the accessory under the action of a preset contact force, forming a rigid engagement with the engaging component on the groove wall.

[0062] In some embodiments, the physical engagement process also includes verification of the connection status: the self-moving cleaning device can monitor the engagement status of the latches through corresponding sensors. Once the connection is detected as complete, the self-moving cleaning device generates an acknowledgment signal and terminates the attitude adjustment process, thereby supporting the robotic arm to efficiently complete accessory replacement in fully automatic mode. Furthermore, this application also considers disassembly requirements; through the cooperation of the unlocking structure and quick-release structure in the accessory storage compartment, efficient separation of the docking part from the target cleaning accessory can be achieved, further improving the ease of use and maintainability of the device.

[0063] It is worth noting that the robotic arm control method, by setting up an attitude detection module on the base station, achieves real-time attitude perception of the robotic arm of the self-moving cleaning equipment. Before or during the robotic arm's docking action with the target cleaning accessory, it can generate and send attitude adjustment commands based on the acquired current attitude data and target accessory information, thereby accurately adjusting the robotic arm's attitude. This effectively overcomes the problems of inaccurate docking and jamming caused by attitude deviation in traditional solutions, improving the success rate and efficiency of changing cleaning accessories for self-moving cleaning equipment and ensuring stable operation of the equipment.

[0064] In some embodiments, this application further proposes a posture detection module including a visual sensing device, which acquires the current posture data of the robotic arm, including acquiring images of multiple joints in the robotic arm through the visual sensing device; extracting features from the images of multiple joints in the robotic arm to obtain the angles of multiple joints in the robotic arm; and obtaining the current posture data of the robotic arm based on the angles of multiple joints in the robotic arm.

[0065] The visual sensing device can be one or more sensors capable of capturing visual information, such as industrial cameras, depth cameras, or stereo vision systems. These devices can acquire image data of the robotic arm in three-dimensional space in a non-contact manner, providing rich and intuitive input information for subsequent posture analysis.

[0066] Furthermore, by acquiring images of multiple joints in the robotic arm through visual sensing devices, it is possible to photograph or record each joint of the robotic arm to obtain its visual performance at the current moment. To facilitate subsequent feature extraction, easily identifiable visual markers, color blocks, or texture patterns can be pre-set on the joints of the robotic arm. The acquired images can be two-dimensional grayscale or color images, or three-dimensional point cloud data containing depth information, depending on the type and functionality of the visual sensing device used.

[0067] Furthermore, feature extraction is performed on images of multiple joints in the robotic arm to obtain the angles of these joints. This allows for the use of image processing and computer vision algorithms to identify the geometric features of each joint from the acquired images and calculate the rotation angle of each joint based on these features. For example, traditional image processing techniques such as edge detection, corner detection, and shape matching can be used to locate the joint contours and joint centers; alternatively, deep learning-based pose estimation algorithms can be used to predict the pose parameters of each joint from the images. Through these methods, pixel information in the images can be converted into quantified angle data for each joint of the robotic arm.

[0068] Furthermore, based on the angles of multiple joints in the robotic arm, the current posture data of the robotic arm is obtained. After acquiring the independent angle information of all joints of the robotic arm, the position and posture of the robotic arm in the base station coordinate system, as well as the overall spatial configuration of the robotic arm, can be calculated by combining the above discrete joint angle data. The above data constitutes the current posture data of the robotic arm, which comprehensively and accurately describes the real-time state of the robotic arm in three-dimensional space, providing a foundation for subsequent posture adjustment.

[0069] Through the above technical solution, this application introduces a visual sensing device and uses image acquisition, feature extraction and joint angle calculation methods to achieve high-precision acquisition of the current posture data of the robotic arm. The above vision-based detection method can capture detailed angle information of multiple joints in the robotic arm in a non-contact and real-time manner, overcoming the problems of wear, complex installation or cumulative error that may exist in traditional contact sensors.

[0070] In some embodiments, this application further proposes a step of obtaining an attitude adjustment command based on current attitude data and a target cleaning accessory, which includes: acquiring target attitude data corresponding to the target cleaning accessory, wherein the target attitude data includes the angles of multiple joints in the robotic arm when the docking part is physically engaged with the target cleaning accessory; comparing the current attitude data with the target attitude data to obtain an attitude deviation; and generating an adjustment command for controlling the angles of multiple joints in the robotic arm based on the attitude deviation.

[0071] The target attitude data can be the target tilt angle data of each joint in the robotic arm relative to the horizontal plane or a preset reference plane when the docking part docks with the target cleaning accessory. This data can be pre-stored in the internal memory of the self-moving cleaning device as standard configuration information for each cleaning accessory; alternatively, it can be provided by the base station when needed. This data can be represented as a combination of three-dimensional coordinates and attitude angles to comprehensively describe the target attitude of the docking part. Subsequently, this application can compare the current attitude data of the docking part obtained by the attitude detection module, which can be the current tilt angle data of the docking part relative to the horizontal plane or a preset reference plane, with the target attitude data. Understandably, acquiring the target posture data corresponding to the target cleaning accessory can help determine the ideal posture state that the robotic arm should be in when its docking part physically engages with the target cleaning accessory. In one implementation, target posture data corresponding to different target cleaning accessories can be pre-stored in the base station or the controller of the self-moving cleaning device. This data can be retrieved from memory when the base station or the self-moving cleaning device recognizes the need to engage a specific target cleaning accessory.

[0072] Furthermore, comparing the current posture data with the target posture data to obtain the posture deviation is a step in determining how the robotic arm needs to be adjusted. By comparing, the difference between the current position and the target position of the robotic arm can be quantified, i.e., the posture deviation. For example, if the current angle of joint 1 is θ_current1 and the target angle of joint 1 is θ_target1, then the deviation of joint 1 is Δθ1 = θ_target1 - θ_current1. The set of deviations for all joints constitutes the posture deviation.

[0073] Furthermore, based on the attitude deviation, this application can generate adjustment commands for controlling the angles of multiple joints in the robotic arm. These adjustment commands, generated based on the quantified attitude deviation, guide the movement of the robotic arm, eliminate deviations, and achieve docking. In one implementation, a proportional-integral-derivative (PID) controller can be used to generate the control quantity (e.g., rotation angle, angular velocity, or torque) for each joint based on its angle deviation.

[0074] In some embodiments, this application further proposes generating adjustment commands for controlling the angles of multiple joints in a robotic arm based on attitude deviations, including: obtaining joint deviation angles corresponding to multiple joints in the robotic arm based on attitude deviations; generating corresponding joint control signals based on the multiple joint deviation angles; and obtaining attitude adjustment commands based on the multiple joint control signals, wherein the attitude adjustment commands include at least one parameter among rotation angle, angular velocity, and torque for controlling multiple joints in the robotic arm.

[0075] Understandably, after obtaining the attitude deviation, this application can further decompose the attitude deviation to obtain the joint deviation angles corresponding to multiple joints in the robotic arm. This process is typically implemented using inverse kinematics algorithms to calculate the required rotation angle for each joint. Subsequently, corresponding joint control signals are generated based on the multiple joint deviation angles. The deviation angle of each joint is input to its corresponding joint controller, which calculates the control signals required to drive the joint motors, such as voltage, current, or pulse width modulation signals, based on the joint deviation angle, to act on the actuators of each joint of the robotic arm, ensuring that each joint can move according to the calculated deviation angle.

[0076] Furthermore, based on multiple joint control signals, attitude adjustment commands are obtained. These independent joint control signals are integrated and encapsulated into a unified attitude adjustment command. The attitude adjustment command can include at least one parameter among the rotation angle, angular velocity, and torque of multiple joints in the robotic arm. For example, the attitude adjustment command can specify that a joint needs to rotate to a target absolute angle, rotate at a target angular velocity, or apply a target torque. In this way, the attitude adjustment command can provide comprehensive and precise control basis for the self-propelled cleaning equipment.

[0077] In some embodiments, this application further proposes a control method for a robotic arm, the method further comprising: sending an attitude adjustment command to a self-moving cleaning device, so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the disassembly action of controlling the robotic arm's drive docking part to perform the disassembly action with the target cleaning accessory. It is understood that sending the attitude adjustment command to the self-moving cleaning device aims to transmit the attitude adjustment command generated by the base station to the self-moving cleaning device so that the self-moving cleaning device can control the robotic arm according to the command. It is understood that when the self-moving cleaning device needs to replace or remove a cleaning accessory, the base station can provide corresponding attitude adjustment commands to control the robotic arm to perform attitude adjustment before and / or during the disassembly action. For example, performing attitude adjustment before the disassembly action begins can eliminate initial attitude deviations in advance, ensuring that the robotic arm begins separation in the most advantageous attitude; or, performing dynamic attitude adjustment during the disassembly process can respond to minor changes during the disassembly process in real time, avoiding structural damage to the robotic arm or cleaning accessory due to improper force.

[0078] The attitude detection area serves as the disassembly preparation area when used for disassembly operations and as the docking preparation area when used for docking operations. The disassembly preparation area and the docking preparation area can be located in the same spatial location. In practical applications, since the target component compartment and its internal cleaning components within the base station have fixed storage locations, the docking unit needs to precisely interact with these fixed physical locations for both docking and disassembly operations. Therefore, this application can uniformly define the preset proximity range of this fixed location as the operation preparation area. When performing a docking operation, the operation preparation area is the docking preparation area; when performing a disassembly operation, the operation preparation area is the disassembly preparation area.

[0079] In some embodiments, such as Figure 2 As shown, the robotic arm 210 includes multiple joints, including a wrist joint 213 for controlling the docking part 211 to adjust its position. The current position data includes the current position data of the docking part 211. The method further includes: acquiring an image of the wrist joint 213 through a position detection module; extracting features from the image of the wrist joint 213 to obtain the angle of the wrist joint 213 relative to the central axis of the target cleaning accessory; and obtaining the current position data of the docking part 211 based on the angle of the wrist joint 213 relative to the central axis of the target cleaning accessory.

[0080] The central axis is the central axis of the target cleaning accessory along its length.

[0081] Understandably, the wrist joint, as the joint connecting the docking part at the end of the robotic arm, determines the alignment accuracy between the docking part and the target cleaning accessory. When the posture detection module acquires images of the wrist joint, it can adjust the shooting parameters of the visual sensing device accordingly. At the same time, it can preset high-contrast markers on the surface of the wrist joint to reduce the difficulty of feature extraction.

[0082] It is worth noting that during the acquisition process, the visual sensing device can continuously capture dynamic images of the wrist joint in motion, ensuring coverage of pose changes before and during docking. When extracting features from the wrist joint images, an edge detection algorithm is first used to outline the contour and key structures of the wrist joint (such as the pivot and connecting rod joints). Then, a template matching algorithm is used to compare the extracted contour with a preset standard wrist joint model to accurately locate the pixel coordinates of the marker points. Subsequently, combined with the pose detection module, a coordinate transformation algorithm is used to map the pixel coordinates to three-dimensional coordinates in the world coordinate system, thereby calculating the pitch, yaw, and roll angles of the wrist joint relative to the central axis of the target cleaning accessory.

[0083] For example, if the central axis of the target cleaning accessory is horizontal, a pitch angle deviation of the wrist joint will cause the docking part to tilt vertically, a yaw angle deviation will cause a left-right shift, and a roll angle deviation will cause the docking part to twist. These angular parameters together constitute the pose characteristics of the wrist joint. When obtaining the current pose data of the docking part based on the angle of the wrist joint relative to the central axis of the target cleaning accessory, a mapping relationship model between the wrist joint angle and the pose of the docking part is established. Since the docking part is rigidly connected to the wrist joint, each set of angular parameters of the wrist joint corresponds to a unique position and pose of the docking part in space, thereby greatly improving the targeting and accuracy of pose detection and avoiding detection errors caused by interference from other joints of the robotic arm.

[0084] In some embodiments, the pose adjustment command includes a pose adjustment command for adjusting the pose of the docking part; the method further includes: generating a pose adjustment command based on the current pose data of the docking part and preset target pose data.

[0085] Understandably, the preset target pose data represents the ideal state parameters for a perfect physical connection between the docking part and the target cleaning accessory. This data includes not only the target spatial coordinates and target pose angle of the docking part, but also the target motion pose of the docking part (such as the initial velocity when approaching the accessory and the buffer velocity at the moment of contact). This data is preset differently depending on the type of target cleaning accessory (such as a small cloth, brush head, or nozzle). For example, the target pose of a brush head accessory requires the docking part to be in a horizontal position, while a nozzle accessory may require the docking part to be slightly tilted downwards by 3° to fit the interface structure. The target pose data can be stored in the base station's memory and can be optimized and adjusted through device firmware updates.

[0086] In some embodiments, the attitude adjustment command is used to control the robotic arm to drive the docking part to move until the attitude deviation between the current attitude data and the target attitude data is less than a first preset threshold, and / or until the attitude deviation between the current pose data and the target pose data is less than a second preset threshold, so as to complete the physical docking.

[0087] Understandably, the first and second preset thresholds are parameters set based on docking accuracy requirements and equipment performance, and their values ​​can be dynamically adjusted according to the interface characteristics of the target cleaning accessory. The first preset threshold addresses the overall posture deviation of the robotic arm, ensuring docking reliability while avoiding over-adjustment due to excessively strict thresholds. The second preset threshold addresses the positional deviation of the docking part, and can be divided into positional deviation thresholds and posture deviation thresholds. It is used to ensure that the mating surface of the docking part fits snugly with the accessory interface, avoiding gaps that could lead to an unstable connection. The setting of the second preset threshold can take into account the usage scenario of the cleaning accessory. For example, for brush head accessories used for fine cleaning, the positional deviation thresholds would be set to 0.5mm and 0.5°, while for suction nozzle accessories used for ordinary sweeping, the thresholds can be relaxed to 2mm and 1°.

[0088] It is worth noting that the following logic can be used to control the movement of the robotic arm when the attitude adjustment command is executed: After each adjustment action is performed by the robotic arm, the attitude detection module will immediately collect new attitude data and pose data, compare them with the target data, and calculate the current deviation. If the deviation is greater than the corresponding threshold, a corrected adjustment command will be generated based on the new deviation to continue driving the robotic arm to move; if the deviation is less than or equal to the threshold, it is determined that the docking condition is met, the adjustment will stop, and the physical docking action will be triggered.

[0089] In addition, this application can also set the maximum number of iterations and the maximum time threshold for deviation adjustment. If the deviation still does not meet the requirements after multiple adjustments, or if the adjustment time exceeds the threshold, the docking is determined to be abnormal, an alarm mechanism is triggered, and a fault notification is sent to the user. At the same time, abnormal data is recorded for subsequent fault investigation.

[0090] In some embodiments, the method further includes: sending a docking command to the self-moving cleaning device to trigger the self-moving cleaning device to control the robotic arm to move to the attitude detection area; wherein the docking command is generated by the base station when at least one of the following conditions is met: receiving a replacement accessory command issued by a user; obtaining task information that the self-moving cleaning device needs to engage with a target cleaning accessory. It is understood that when the base station sends the docking command to the self-moving cleaning device, a wireless communication protocol can be used to ensure that the command can be transmitted quickly and accurately.

[0091] In some embodiments, the process of triggering the self-moving cleaning device to control the robotic arm to move to the attitude detection area may include: First, positioning the mobile platform of the self-moving cleaning device. The device identifies the positioning mark of the base station through its own navigation system and drives the mobile platform to a preset docking position in front of the base station to ensure that the robotic arm has the basic conditions to enter the attitude detection area; Second, the initial attitude adjustment of the robotic arm. According to the detection area coordinates in the docking instruction, the device calculates the initial angle of each joint of the robotic arm through a forward kinematics algorithm, controls the movement of joints such as the shoulder joint, elbow joint, and waist joint, and guides the wrist joint and docking part to the entrance of the attitude detection area. At this time, the robotic arm is in a state of waiting to be detected, waiting for subsequent instructions from the attitude detection module.

[0092] refer to Figure 4 , Figure 4 The flowchart illustrates the application of the robotic arm control method provided in this application to a self-moving cleaning device. In some embodiments, this application proposes a robotic arm control method applied to a self-moving cleaning device, which includes a robotic arm. The end of the robotic arm is provided with a docking part for engaging with a target cleaning accessory in a base station. The base station is equipped with an attitude detection module. The method may include at least the following steps: Step 410: In response to the docking command, control the movement of the self-moving cleaning device and / or the robotic arm so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module. Step 420: In the attitude detection area, before and / or during the docking action of the control robot arm driving the docking part to perform docking with the target cleaning accessory, the attitude of the robot arm is adjusted based on the attitude adjustment command of the robot arm obtained from the attitude detection module.

[0093] The self-moving cleaning device in this application can obtain the attitude adjustment command of the robotic arm from the attitude detection module of the base station through wireless communication. It can obtain the attitude adjustment command in real time before and during the docking action and perform attitude adjustment, thereby solving the attitude deviation problem caused by equipment movement deviation, mechanical deformation or environmental interference, and achieving the effect of improving the success rate and efficiency of cleaning accessory docking.

[0094] Understandably, when the self-propelled cleaning device receives a docking command, it first controls the mobile platform to move to a preset position in front of the base station. Simultaneously, it adjusts the angles of multiple joints in the robotic arm to align the docking section with the target accessory compartment, ensuring the robotic arm accurately enters the attitude detection area. Within this area, the attitude detection module continuously monitors the current attitude data of the robotic arm and generates corresponding attitude adjustment commands. The self-propelled cleaning device dynamically adjusts the robotic arm's attitude based on these commands. For example, it performs initial calibration before the docking action begins, or fine-tunes the rotation angle, angular velocity, and torque parameters based on real-time feedback during the docking process to eliminate attitude deviations. Since the attitude adjustment commands are generated by the attitude detection module based on the attitude deviation between the current attitude data and the target attitude data, this method ensures that the docking section and the target cleaning accessory are aligned during physical engagement, avoiding docking failures caused by accumulated errors in traditional static positioning methods. This technical solution effectively overcomes the positioning inaccuracies and jamming problems caused by robotic arm attitude deviations, improving the reliability and operational efficiency of the self-propelled cleaning device when replacing cleaning accessories.

[0095] In some embodiments, this application further proposes that the attitude adjustment command is generated by the attitude detection module based on the attitude deviation between the current attitude data of the robotic arm and the target attitude data corresponding to the target cleaning accessory. The target attitude data includes the angles of multiple joints in the robotic arm when the docking part and the target cleaning accessory are physically engaged. Adjusting the attitude of the robotic arm includes controlling the robotic arm to drive the docking part to move until the attitude deviation between the current attitude data and the target attitude data is less than a preset threshold, thereby completing the physical engagement of the docking part and the target cleaning accessory.

[0096] Understandably, adjusting the robotic arm's posture is an iterative or continuous control process aimed at gradually reducing the deviation between the arm's current posture and the target posture. Based on the posture adjustment commands, the robotic arm controller inside the self-propelled cleaning device drives the motors of each joint of the robotic arm, causing the docking part to move towards the target cleaning accessory and adjusting its posture. A preset threshold is a pre-defined allowable error range. When the posture deviation between the current posture data and the target posture data is less than this threshold, the robotic arm is considered to have reached sufficient precision to perform a physical engagement operation. Once the posture deviation meets the threshold requirement, the robotic arm can perform engagement actions, such as pushing the docking part into the interface of the target cleaning accessory or activating the locking mechanism, thereby achieving a physical connection.

[0097] In some embodiments, this application further proposes a method for generating docking instructions. It is understood that docking instructions can be generated by the self-mobile cleaning device or base station when specific conditions are met. One such condition is receiving a replacement part instruction from a user. This means that the self-mobile cleaning device or base station can be equipped with a user interface, such as a touchscreen, physical buttons, a voice recognition module, or a wireless communication module, for receiving instructions from the user.

[0098] Another generation condition is that the self-propelled cleaning device determines, based on the current cleaning task or cleaning mode, that the docking unit needs to engage with the target cleaning accessory. In this case, the control system inside the self-propelled cleaning device, such as the program running through its main control processor, can analyze in real time the current cleaning task type (e.g., sweeping, mopping, vacuuming, scrubbing, etc.) or the set cleaning mode (e.g., daily cleaning, deep cleaning, spot cleaning, etc.). Once it is determined that a specific accessory needs to be replaced or installed, the system will automatically generate a docking command to drive the robotic arm to perform the corresponding docking operation.

[0099] In some embodiments, this application further proposes a method for controlling the movement of a self-moving cleaning device and / or a robotic arm to move the docking part to an attitude detection area, which includes: controlling the movement of the mobile platform of the self-moving cleaning device to a preset position in front of the base station; and / or controlling the angles of multiple joints in the robotic arm to make the docking part face the target accessory compartment where the target cleaning accessory is located.

[0100] It is understandable that controlling the movement of the mobile platform of the self-propelled cleaning equipment to a preset position in front of the base station can be achieved by controlling the movement mechanism at the bottom of the self-propelled cleaning equipment (such as a wheeled, tracked, or legged mobile platform) to move it to a specific spatial location relative to the base station. The preset position can be a coordinate point pre-stored in the control system of the self-propelled cleaning equipment or the base station, or it can be a dynamically determined area using methods such as visual recognition, RFID tags, or ultrasonic positioning. During movement, the mobile platform can use its own navigation system for path planning and obstacle avoidance to ensure a safe and smooth arrival at the preset position.

[0101] Building upon this, or as an alternative, the angles of multiple joints in the robotic arm can be controlled to orient the docking section toward the target cleaning accessory compartment. The robotic arm typically consists of multiple joints connected by rotatable joints, and the angle of each joint can be controlled by a corresponding actuator to achieve alignment between the docking section and the target cleaning accessory, laying the foundation for subsequent attitude detection and fine-tuning.

[0102] In some embodiments, this application further proposes that the control method for the above-mentioned robotic arm further includes: in response to a disassembly command, controlling the movement of the self-moving cleaning device and / or the robotic arm to move the robotic arm to the attitude detection area corresponding to the attitude detection module; in the attitude detection area, before and / or during the disassembly operation of the robotic arm drive docking part to perform the disassembly operation with the target cleaning accessory, adjusting the attitude of the robotic arm based on the attitude adjustment command of the robotic arm obtained from the attitude detection module.

[0103] Understandably, the disassembly command is the signal that triggers the robotic arm to perform the disassembly operation of the cleaning accessory. The command can be generated in various ways. For example, a user can manually issue a command to replace the accessory through the operating interface; or, the self-moving cleaning device can automatically determine whether the current cleaning accessory needs to be replaced or disassembled based on a preset cleaning task plan, accessory lifespan, wear level, or fault diagnosis results, and generate a corresponding disassembly command. Upon receiving the disassembly command, the self-moving cleaning device can drive its mobile platform to move the entire device to a preset area within the base station that can be effectively monitored by the attitude detection module. Simultaneously, the robotic arm itself can also perform preliminary motion adjustments, bringing its end effector into the field of view of the attitude detection module. After the robotic arm enters the attitude detection area, the attitude detection module can continuously or periodically acquire the current attitude data of the robotic arm. Before performing the disassembly action, the system can generate an attitude adjustment command based on the above data to pre-adjust the attitude of the robotic arm, ensuring that its end effector and the target cleaning accessory are in an ideal separation posture. In addition, during the disassembly process, the posture detection module can still monitor the posture changes of the robotic arm in real time and generate real-time posture adjustment commands as needed to dynamically fine-tune the posture of the robotic arm to compensate for possible deviations and ensure that the docking part and the target cleaning accessory can be separated smoothly and without interference.

[0104] Reference image, Figure 5 A schematic diagram of a control device for a robotic arm provided in this application, applied to a base station; in some embodiments, this application provides a control device for a robotic arm applied to a base station of a self-moving cleaning device, wherein the base station is provided with an attitude detection module, the self-moving cleaning device includes a robotic arm, and the end of the robotic arm is provided with a docking part for engaging with a target cleaning accessory in the base station; the control device 500 for the robotic arm applied to the base station includes: The instruction generation module 510 is configured to respond to the robotic arm moving to the posture detection area corresponding to the posture detection module, obtain the current posture data of the robotic arm through the posture detection module, and obtain posture adjustment instructions based on the current posture data and the target cleaning accessory. The instruction sending module 520 is configured to send attitude adjustment instructions to the self-moving cleaning device, so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment instructions before and / or during the docking action of controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory. Referring to Figure 6, it is a schematic diagram of the control device for the robotic arm provided in this application embodiment applied to a self-moving cleaning device; in some embodiments, this application provides a control device for a robotic arm applied to a self-moving cleaning device, the self-moving cleaning device including a robotic arm, the end of the robotic arm having a docking part for engaging with a target cleaning accessory in a base station, and an attitude detection module being provided on the base station; the control device 600 for the robotic arm applied to the self-moving cleaning device includes: The motion control module 610 is configured to control the movement of the self-moving cleaning equipment and / or the robotic arm in response to a docking command, so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module. The docking control module 620 is configured to adjust the attitude of the robotic arm based on the attitude adjustment command obtained from the attitude detection module before and / or during the docking action of controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory in the attitude detection area.

[0105] In some embodiments, this application provides a computer program product including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0106] in, Figure 7 The architecture of the self-moving cleaning device provided in the embodiments of this application is illustrated by way of example. Figure 7 As shown, the self-propelled cleaning device 700 may include a processor 710, a video display adapter 711, a disk drive 712, an input / output interface 713, a network interface 714, and a memory 720. The processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720 can communicate with each other via a communication bus 730.

[0107] The processor 710 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs and implement the technical solution provided in this application.

[0108] The memory 720 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 720 can store the operating system 721 for controlling the terminal's operation, and the basic input / output system (BIOS) 722 for controlling the terminal's low-level operations. Additionally, it may include storage for a web browser 723, a data storage management system 724, and a control device 500 for a robotic arm applied to a base station or a control device 600 for a robotic arm applied to a self-propelled cleaning device, etc. The aforementioned control devices can be application programs that specifically implement the aforementioned steps in this embodiment. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 720 and executed by the processor 710.

[0109] Input / output interface 713 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0110] Network interface 714 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0111] Bus 730 includes a pathway for transmitting information between multiple components of the device, such as processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720.

[0112] It should be noted that although the above-described device only shows the processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, memory 720, bus 730, etc., in specific implementations, the self-moving cleaning device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the solution of this application, and does not necessarily include all the components shown in the figures.

[0113] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer program product. This computer program product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of multiple embodiments or some parts of the embodiments of this application.

[0114] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for a robotic arm, characterized in that, A base station for use with a self-propelled cleaning device, the base station being equipped with an attitude detection module, the self-propelled cleaning device including a robotic arm, the end of the robotic arm having a docking part for engaging with a target cleaning accessory in the base station; the method includes: In response to the robotic arm moving to the attitude detection area corresponding to the attitude detection module, the current attitude data of the robotic arm is obtained through the attitude detection module, and an attitude adjustment command is obtained based on the current attitude data and the target cleaning accessory; The attitude adjustment command is sent to the self-moving cleaning device so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the docking action of controlling the robotic arm to drive the docking part to perform docking with the target cleaning accessory.

2. The control method for the robotic arm according to claim 1, characterized in that, The posture detection module includes a visual sensing device, and the acquisition of the current posture data of the robotic arm through the posture detection module includes: Images of multiple joints in the robotic arm are acquired using the visual sensing device; Feature extraction is performed on images of multiple joints in the robotic arm to obtain the angles of multiple joints in the robotic arm; The current posture data of the robotic arm is obtained based on the angles of multiple joints in the robotic arm.

3. The control method for the robotic arm according to claim 1 or 2, characterized in that, The step of obtaining the attitude adjustment command based on the current attitude data and the target cleaning accessory includes: Obtain target posture data corresponding to the target cleaning accessory, wherein the target posture data includes the angles of multiple joints in the robotic arm when the docking part is physically engaged with the target cleaning accessory; The current attitude data is compared with the target attitude data to obtain the attitude deviation; Based on the posture deviation, adjustment commands are generated to control the angles of multiple joints in the robotic arm.

4. The control method for the robotic arm according to claim 3, characterized in that, The step of generating adjustment commands for controlling the angles of multiple joints in the robotic arm based on the posture deviation includes: Based on the posture deviation, the joint deviation angles corresponding to multiple joints in the robotic arm are obtained; Generate corresponding joint control signals based on multiple joint deviation angles; The attitude adjustment command is obtained based on multiple joint control signals. The attitude adjustment command includes at least one parameter for controlling the rotation angle, angular velocity and torque of multiple joints in the robotic arm.

5. The control method for the robotic arm according to claim 1, characterized in that, The method further includes: The attitude adjustment command is sent to the self-moving cleaning device so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment command before and / or during the disassembly operation of the docking part driven by the robotic arm.

6. The control method for the robotic arm according to claim 2, characterized in that, The robotic arm includes multiple joints, including wrist joints for controlling the docking portion to adjust its position; the current posture data includes the current position data of the docking portion; the method further includes: The posture detection module acquires images of the wrist joint; Feature extraction is performed on the image of the wrist joint to obtain the angle of the wrist joint relative to the central axis of the target cleaning accessory; The current pose data of the docking part is obtained based on the angle of the wrist joint relative to the central axis of the target cleaning accessory.

7. The control method for the robotic arm according to claim 6, characterized in that, The attitude adjustment command includes a pose adjustment command for adjusting the attitude of the docking part; the method further includes: The pose adjustment command is generated based on the current pose data of the docking part and the preset target pose data.

8. The control method for the robotic arm according to claim 7, characterized in that, The attitude adjustment command is used to control the robotic arm to drive the docking part to move until the attitude deviation between the current attitude data and the target attitude data is less than a first preset threshold, and / or until the attitude deviation between the current pose data and the target pose data is less than a second preset threshold, so as to complete the physical docking.

9. The control method for the robotic arm according to claim 1, characterized in that, The method further includes: Send a docking command to the self-moving cleaning device to trigger the self-moving cleaning device to control the robotic arm to move to the attitude detection area; The docking command is generated by the base station when at least one of the following conditions is met: Received a replacement part instruction from the user; Obtain the task information that the self-moving cleaning device needs to be connected to the target cleaning accessory.

10. A control method for a robotic arm, characterized in that, The method is applied to a self-propelled cleaning device, which includes a robotic arm. The end of the robotic arm is provided with a docking part for engaging with a target cleaning accessory in a base station. The base station is equipped with an attitude detection module. In response to a docking command, control the movement of the self-moving cleaning device and / or the robotic arm so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module; In the attitude detection area, before and / or during the docking action of controlling the robotic arm to drive the docking part to perform docking with the target cleaning accessory, the attitude of the robotic arm is adjusted based on the attitude adjustment command of the robotic arm obtained from the attitude detection module.

11. A control device for a robotic arm, characterized in that, A base station for use with a self-moving cleaning device, the base station being equipped with an attitude detection module, the self-moving cleaning device including a robotic arm, the end of the robotic arm having a docking part for engaging with a target cleaning accessory in the base station; the device includes: The instruction generation module is configured to respond to the robotic arm moving to the attitude detection area corresponding to the attitude detection module, obtain the current attitude data of the robotic arm through the attitude detection module, and obtain an attitude adjustment instruction based on the current attitude data and the target cleaning accessory; The instruction sending module is configured to send the attitude adjustment instruction to the self-moving cleaning device, so that the self-moving cleaning device adjusts the attitude of the robotic arm based on the attitude adjustment instruction before and / or during the execution of the docking action by controlling the robotic arm to drive the docking part to perform the docking action with the target cleaning accessory.

12. A control device for a robotic arm, characterized in that, An application is made to a self-propelled cleaning device, the self-propelled cleaning device including a robotic arm, the end of which is provided with a docking part for engaging with a target cleaning accessory in a base station, the base station being equipped with an attitude detection module; the device includes: The motion control module is configured to control the movement of the self-moving cleaning device and / or the robotic arm in response to a docking command, so that the robotic arm moves to the attitude detection area corresponding to the attitude detection module. The docking control module is configured to adjust the attitude of the robotic arm based on the attitude adjustment command of the robotic arm obtained from the attitude detection module before and / or during the docking action of controlling the robotic arm to drive the docking part to perform docking with the target cleaning accessory in the attitude detection area.

13. A base station, characterized in that, The base station is equipped with an attitude detection module, and the base station also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1 to 9.

14. A self-propelled cleaning device, characterized in that, The self-moving cleaning device includes a robotic arm, the end of which is provided with a docking part for engaging with a target cleaning accessory in a base station. The self-moving cleaning device also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 10.

15. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 9, or the steps of the method according to any one of claims 10.

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