Method, apparatus, robot and storage medium for preventing mechanical arm jamming

Abstract

The embodiment of the application provides a method, device, robot and storage medium for preventing mechanical arm from being stuck, which are applied to a surface cleaning robot, the surface cleaning robot comprising a mechanical arm and a motor driving the mechanical arm to stretch and retract, the mechanical arm being capable of stretching and retracting relative to a body when cleaning a surface, the method comprising: acquiring an operating electrical parameter of the motor; determining whether the mechanical arm is stuck based on the operating electrical parameter; and running a mechanical arm stuck self-recovery logic if it is determined that the mechanical arm is stuck. According to the application, whether the mechanical arm is stuck can be automatically detected based on the operating electrical parameter of the motor. After it is determined that the mechanical arm is indeed stuck, the mechanical arm stuck self-recovery logic can be automatically triggered. The surface cleaning robot can complete the detection process by itself, and automatically complete the self-recovery process when the problem of being stuck is detected. The user can be helped to independently handle some simple mechanical arm stuck problems, and the continuity of work is ensured.

Description

Technical Field

[0001] This invention relates to the field of intelligent device technology, and in particular to a method, apparatus, robot, and storage medium for preventing robotic arms from getting stuck. Background Technology

[0002] In related technologies, people's lives are becoming increasingly reliant on the assistance of smart devices. For example, more and more people are using robotic vacuum cleaners to sweep the floor and surface cleaning robots, such as window cleaning robots, to clean windows. This not only saves manpower but also avoids the safety hazards associated with cleaning operations.

[0003] However, many problems inevitably arise during the use of the aforementioned surface cleaning robot, such as the issue of the robotic arm getting stuck. The robotic arm is connected to a scraper, and the extension and retraction of the robotic arm drives the scraper to extend and retract as well. When cleaning with the scraper is needed, the robotic arm extends the scraper, allowing it to protrude outside the robot body and contact the surface to be cleaned. As the robot body moves, it performs a scraping operation on the surface. After using the scraper, the robotic arm can be controlled to retract, allowing it to pull the scraper back into the robot body. It is clear that the robotic arm needs to extend and retract, and if certain factors affect its movement, such as foreign objects getting stuck in its travel path, it will cause the robotic arm to get stuck. When the robotic arm is stuck, the scraper connected to the robotic arm cannot extend or retract normally, preventing the surface cleaning robot from cleaning the surface properly. For example, if a foreign object gets stuck in the robotic arm's travel path during use, causing it to get stuck, and the robot has only cleaned part of the surface, leaving another area uncleaned, the user cannot continue using the surface cleaning robot. For ordinary users, the first thing they think of is sending the surface cleaning robot for inspection and repair.

[0004] The problem with this approach is that the surface cleaning robot cannot continue to complete the unfinished cleaning work, which increases the labor costs of sending the robot for inspection and repair. Summary of the Invention

[0005] This invention provides a method, device, robot, and storage medium for preventing robotic arms from jamming, thereby ensuring the continuity of cleaning operations and reducing the labor costs of sending items for inspection and maintenance.

[0006] In a first aspect, embodiments of the present invention provide a method for preventing robotic arm jamming, applied to a surface cleaning robot. The surface cleaning robot includes a robotic arm and a motor that drives the robotic arm to extend and retract. The robotic arm can extend and retract relative to the robot body when cleaning a surface. The method includes: Obtain the operating electrical parameters of the motor; Based on the aforementioned operating electrical parameters, determine whether the robotic arm has become stuck; If it is determined that the robotic arm is stuck, the robotic arm stuck self-recovery logic is executed.

[0007] Optionally, the operating electrical parameters include the first output current of the motor, and determining whether the robotic arm is stuck based on the operating electrical parameters includes: Determine whether the first output current is greater than or equal to a preset current threshold; If the first output current is greater than or equal to the preset current threshold, it is determined that the robotic arm is stuck.

[0008] Optionally, the step of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold includes: Determine the duration for which the first output current is greater than or equal to the preset current threshold; If the duration is greater than or equal to a preset duration threshold, it is determined that the robotic arm is stuck.

[0009] Optionally, the step of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold includes: If the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is within the preset range, then it is determined that the robotic arm is stuck.

[0010] Optionally, the step of running the robotic arm jam self-recovery logic if it is determined that the robotic arm is jammed includes: If it is determined that the robotic arm is stuck, then the motor is controlled to rotate in the first direction; After the motor operates in the first direction, the motor is controlled to operate in a second direction, wherein the first direction is opposite to the second direction.

[0011] Optionally, the first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

[0012] Optionally, controlling the motor to operate in a first direction includes: The motor is controlled to operate in the first direction at the maximum safe operating voltage.

[0013] Optionally, controlling the motor to operate in a first direction includes: Control the motor to rotate in a first direction for a first preset time; The control of the motor to operate in the second direction includes: The motor is controlled to operate in a second direction for a second preset duration.

[0014] Optionally, after the motor has rotated in the first direction, controlling the motor to rotate in the second direction includes: After the motor has been running in the first direction, it is determined whether the absolute value of the second output current of the motor is less than a preset current threshold. If the second output current is less than the preset current threshold, the motor is controlled to run in the second direction.

[0015] Optionally, after controlling the motor to operate in the second direction, the method further includes: Determine whether the third output current of the motor is less than a preset current threshold; If the third output current is greater than or equal to the preset current threshold, an alarm message is output.

[0016] Optionally, the output alarm information includes: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the surface cleaning robot, or any one or more of these methods.

[0017] Optionally, if the third output current is greater than or equal to the preset current threshold, an alarm message is output, including: If the third output current is greater than or equal to the preset current threshold, the motor is controlled to stop running and an alarm message is output.

[0018] Secondly, embodiments of the present invention provide a device for preventing robotic arm jamming, disposed on a surface cleaning robot. The surface cleaning robot includes a robotic arm and a motor for extending and retracting the robotic arm. The robotic arm can extend and retract relative to the robot body when cleaning the surface. The device includes: The acquisition module is used to acquire the operating electrical parameters of the motor; The determination module is used to determine whether the robotic arm is stuck based on the operating electrical parameters; The self-recovery module is used to run the robotic arm jamming self-recovery logic when it is determined that the robotic arm is jammed.

[0019] Optionally, the operating electrical parameters include the first output current of the motor, and the determining module is used to: Determine whether the first output current is greater than or equal to a preset current threshold; If the first output current is greater than or equal to the preset current threshold, it is determined that the robotic arm is stuck.

[0020] Optionally, the determining module is configured to: Determine the duration for which the first output current is greater than or equal to the preset current threshold; If the duration is greater than or equal to a preset duration threshold, it is determined that the robotic arm is stuck.

[0021] Optionally, the determining module is configured to: If the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is within the preset range, then it is determined that the robotic arm is stuck.

[0022] Optionally, the self-recovery module is used for: If it is determined that the robotic arm is stuck, then the motor is controlled to rotate in the first direction; After the motor operates in the first direction, the motor is controlled to operate in a second direction, wherein the first direction is opposite to the second direction.

[0023] Optionally, the first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

[0024] Optionally, the self-recovery module is used for: The motor is controlled to operate in the first direction at the maximum safe operating voltage.

[0025] Optionally, the self-recovery module is used for: Control the motor to rotate in a first direction for a first preset time; The control of the motor to operate in the second direction includes: The motor is controlled to operate in a second direction for a second preset duration.

[0026] Optionally, the self-recovery module is used for: After the motor has been running in the first direction, it is determined whether the absolute value of the second output current of the motor is less than a preset current threshold. If the second output current is less than the preset current threshold, the motor is controlled to run in the second direction.

[0027] Optionally, the device further includes an alarm module, the alarm module being used for: Determine whether the third output current of the motor is less than a preset current threshold; If the third output current is greater than or equal to the preset current threshold, an alarm message is output.

[0028] Optionally, the alarm module is used to: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the surface cleaning robot, or any one or more of these methods.

[0029] Optionally, the alarm module is further configured to: If the third output current is greater than or equal to the preset current threshold, the motor is controlled to stop running and an alarm message is output.

[0030] Thirdly, embodiments of the present invention provide a surface cleaning robot, including a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the method for preventing the robotic arm from getting stuck in the first aspect.

[0031] Fourthly, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, wherein when the executable code is executed by a processor of a surface cleaning robot, the processor can at least implement the method for preventing the robotic arm from getting stuck in the first aspect.

[0032] This invention allows for the automatic detection of robotic arm jamming based on the motor's operating electrical parameters. Once jamming is confirmed, the robotic arm's self-recovery logic is automatically triggered. In this way, when the robotic arm jams due to simple factors, the surface cleaning robot can autonomously complete the detection process and automatically perform self-recovery upon detecting the jamming issue. Therefore, this invention helps users handle simple robotic arm jamming problems independently. After successful self-recovery, the surface cleaning robot can continue with unfinished cleaning tasks. Furthermore, this invention reduces the frequency of inspection and maintenance of the surface cleaning robot, saving on labor costs associated with such services. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A flowchart illustrating a method for preventing robotic arm jamming, provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a method for implementing a self-recovery logic for a stuck robotic arm, provided by an embodiment of the present invention. Figure 3 This is a schematic diagram of a scenario for displaying alarm information provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of a scenario for broadcasting alarm information according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating a scenario where a user's mobile phone displays alarm information, provided by an embodiment of the present invention. Figure 6 A schematic diagram of a device for preventing robotic arm jamming provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a surface cleaning robot provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] 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,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0037] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0038] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0039] This invention provides a method for preventing robotic arm jamming, applicable to surface cleaning robots. The surface cleaning robot can be a window cleaning robot, a table cleaning robot, etc. It includes a robotic arm, a motor for extending and retracting the robotic arm, and other components. The robotic arm can extend and retract relative to the robot body when cleaning the surface. The robotic arm is connected to a scraper, and the extension and retraction of the robotic arm drives the scraper to extend and retract as well. When cleaning with the scraper is needed, the robotic arm extends the scraper, allowing it to protrude outside the robot body and contact the surface to be cleaned. As the robot body moves, it can perform a scraping operation on the surface. After using the scraper, the robotic arm can be controlled to retract, allowing the robotic arm to retract the scraper back into the robot body.

[0040] Figure 1 A flowchart of a method for preventing robotic arm jamming provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes the following steps: 101. Obtain the operating electrical parameters of the motor.

[0041] 102. Based on the operating electrical parameters, determine whether the robotic arm is stuck.

[0042] 103. If it is determined that the robotic arm is stuck, then run the robotic arm stuck self-recovery logic.

[0043] In summary, this invention first acquires the motor's operating electrical parameters, and then automatically determines whether the robotic arm has jammed based on these parameters. In this way, the surface cleaning robot can automatically detect equipment malfunctions. Upon determining that the robotic arm is jammed, the surface cleaning robot can automatically run its self-recovery logic, eliminating the need for the user to send the robot for inspection and repair; the device can automatically attempt self-recovery. If the device successfully completes self-recovery, the user no longer needs to send the surface cleaning robot for inspection and repair. Therefore, this invention reduces the number of times the surface cleaning robot needs to be sent for inspection and repair, saving on labor costs associated with such services. If the surface cleaning robot jams while cleaning a surface, causing the cleaning operation to be interrupted, it can continue to complete the remaining cleaning operations after completing self-recovery. The method for preventing robotic arm jamming provided by embodiments of this invention will be described in detail below.

[0044] The operating electrical parameters of the motor may include the motor's first output current. Accordingly, the process of determining whether the robotic arm is stuck based on the operating electrical parameters can be implemented as follows: determine whether the first output current is greater than or equal to a preset current threshold; if the first output current is greater than or equal to the preset current threshold, then determine that the robotic arm is stuck.

[0045] In practical applications, a preset current threshold can be set. This preset current threshold can be a relatively large current value, exceeding the current output value of a typical motor during operation. In one possible application scenario, the preset current threshold can be set to 600mA. Of course, different preset current thresholds can also be set according to different motor models and their output current values ​​under normal operating conditions. This embodiment of the invention does not limit the specific settings for these thresholds.

[0046] After setting the preset current threshold, the first output current of the motor can be compared with the preset current threshold. If the first output current is greater than or equal to the preset current threshold, it can be determined that the robotic arm is stuck, and the robotic arm stuck self-recovery logic can be run. For example, assuming the first output current is 610mA, it can be determined that the robotic arm is stuck, and the robotic arm stuck self-recovery logic can be run.

[0047] It should be noted that the first output current of the motor can be obtained according to a preset cycle, and then each obtained first output current can be compared with a preset current threshold. If it is determined that the first output current is greater than or equal to the preset current threshold, it is determined that the robotic arm is stuck.

[0048] Understandably, in some cases, the robotic arm may only experience a temporary jam and then recover immediately, or the first output current may only momentarily increase to exceed the preset current threshold due to external factors. Such situations can be disregarded as jamming. Therefore, to further ensure the accuracy of determining whether the robotic arm has jammed, the process of determining that the robotic arm has jammed if the first output current is greater than or equal to the preset current threshold can be implemented as follows: determine the duration for which the first output current is greater than or equal to the preset current threshold; if the duration is greater than or equal to the preset duration threshold, then determine that the robotic arm has jammed.

[0049] For example, the preset duration threshold can be set to 5 seconds, but the value can be adjusted according to the specific application scenario. In practical applications, when the first output current obtained in a certain instance is greater than the preset current threshold, the first output current can continue to be obtained according to the preset cycle, and then it can be checked whether the first output current obtained each time is greater than or equal to the preset current threshold. If the first output current obtained each time is greater than or equal to the preset current threshold, and the duration for which the first output current is greater than or equal to the preset current threshold is greater than or equal to the preset duration threshold, it can be determined that the robotic arm is stuck. Otherwise, if the first output current fails to reach the preset current threshold in any one or more instances, it cannot be determined that the robotic arm is stuck.

[0050] In one possible application scenario, assuming the first output current obtained is 610mA, 620mA, ... 610mA, and each time the first output current obtained exceeds the preset current threshold of 600mA, and this situation has continued for more than the preset duration threshold of 5s, then it can be determined that the robotic arm has become stuck.

[0051] Similar to the above process principle, to ensure the accuracy of determining whether the robotic arm is stuck, the process of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold can also be implemented as follows: if the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is within a preset range, then the robotic arm is stuck. Alternatively, the process of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold can also be implemented as follows: if the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is 0, then the robotic arm is stuck.

[0052] In practical applications, the frequency generator (FG) signal corresponding to the motor can be obtained. When the current is determined to be greater than or equal to the preset current threshold, it can be determined whether the frequency generator (FG) signal is within the preset range. If so, it can be determined that the robotic arm has jammed.

[0053] Understandably, the speed feedback pulse signal reflects the motor's speed. When the initial output current of the motor is greater, the output torque of the motor is greater, and theoretically the motor speed should be faster. However, the speed feedback pulse signal that was actually measured to reflect the motor speed indicates that the motor speed is almost stopped. Therefore, it can be determined that the motor can hardly rotate. Since the movement of the robotic arm is driven by the motor, it can be determined that the robotic arm is stuck.

[0054] Based on the above analysis, the preset range can be set to a range close to 0, or the preset range can be directly set to 0. This way, when the speed feedback pulse signal is determined to be within the preset range, it can be determined that the motor speed is almost or equal to 0, and the motor is almost at a standstill. It should be added that setting the preset range to a range close to 0 (e.g., between 0 and 0.1) can increase fault tolerance. That is, when the motor speed is absolutely 0 or only a very small speed, it can be determined that the motor has stopped rotating, and the robotic arm is stuck.

[0055] The above section introduced methods for determining whether a robotic arm is stuck. The following section will describe methods for running the robotic arm's self-recovery logic after it has stuck. Optionally, such as... Figure 2As shown, if it is determined that the robotic arm is stuck, the process of running the robotic arm stuck self-recovery logic can be implemented as follows: 201. If it is determined that the robotic arm is stuck, control the motor to run in the first direction.

[0056] 202. After the motor runs in the first direction, control the motor to run in the second direction, wherein the first direction and the second direction are opposite.

[0057] Optionally, the first direction can be the opposite direction to the current direction of motor rotation, and the second direction can be the current direction of motor rotation.

[0058] In practical applications, if it is determined that the robotic arm is stuck, the motor can be controlled to rotate in the opposite direction to the current direction of operation. This can attempt to dislodge the foreign object causing the sticking, thus achieving a self-recovery process. Since the foreign object may be dislodged after the motor rotates in the opposite direction, and the surface cleaning robot may have completed the self-recovery process, the motor's rotation direction can be reversed, that is, the motor's rotation direction can be adjusted back to the previous direction of operation, so that the motor can continue cleaning operations in the previous direction of operation.

[0059] It should be noted that, in addition to the above methods, the motor's rotation direction can be adjusted multiple times. After each adjustment, the motor is controlled to run in the adjusted direction, which can also enable the surface cleaning robot to achieve a self-recovery process.

[0060] Optionally, the process of controlling the motor to run in the first direction can be implemented as follows: controlling the motor to run in the first direction under the maximum safe operating voltage.

[0061] In practical applications, the range of the normal operating voltage of the motor can be determined, and then the maximum safe operating voltage within the normal operating voltage range can be selected. Then, the motor can be controlled to run in the first direction under the maximum safe operating voltage.

[0062] It's important to note that when the motor operates at its maximum safe operating voltage, it can theoretically achieve its maximum speed. This allows the motor to rotate at its fastest speed in the first direction when the robotic arm gets stuck, thus better expelling any obstructing objects. However, regardless of the voltage used, it's crucial to ensure that a safe operating voltage is being applied. Otherwise, the motor may be damaged before the surface cleaning robot completes its self-recovery process. For example, assuming the motor's operating voltage range is 6V to 12V, a voltage of 12V can be input to make it rotate in the first direction, but a voltage higher than 12V should not be input to avoid damaging the motor.

[0063] In addition to the methods mentioned above, any voltage within its normal operating voltage range can be input into the motor to make it run in the first direction, which can also push out foreign objects that are causing the robotic arm to become stuck.

[0064] Additionally, it is worth noting that when controlling the motor to operate in the second direction, that is, when restoring the motor's operating direction to the direction previously used for cleaning, the voltage required for its normal operation can be input to the motor. For example, if the input voltage was 6V when the motor was performing normal cleaning operations, then a 6V voltage can also be input to the motor when restoring it to operate in the second direction. This can be determined according to the specific working conditions, and this embodiment of the invention does not impose any limitations.

[0065] It should be noted that, in order to further improve the self-recovery effect of the surface cleaning robot and enable the robot's robotic arm to recover immediately in one go after jamming, the process of controlling the motor to run in the first direction can also be implemented as follows: controlling the motor to run in the first direction for a first preset time. Correspondingly, the process of controlling the motor to run in the second direction can be implemented as follows: controlling the motor to run in the second direction for a second preset time.

[0066] In practical applications, the duration for which the motor rotates in the first direction can be set as a first preset duration, and the duration for which the motor rotates in the second direction can be set as a second preset duration. The first preset duration and the second preset duration can be the same or different; this embodiment of the invention does not limit this.

[0067] Specifically, before actually setting the first and second preset durations, a large amount of data is collected on the time it takes for the robotic arm to push out the foreign object after jamming in the first direction. This collected data is then analyzed to determine the first preset duration. This ensures that, to a large extent, the foreign object can be pushed out after the motor has rotated in the first direction for the first preset duration. Similarly, a large amount of data can be collected on the time it takes for the motor to push out the foreign object in the second direction. This collected data is then analyzed to determine the second preset duration.

[0068] In addition to the above-mentioned method of controlling the motor operation in a timed manner, in this embodiment of the invention, after the motor operates in the first direction, it can also be determined whether the absolute value of the second output current of the motor is less than a preset current threshold; if the second output current is less than the preset current threshold, the motor is controlled to operate in the second direction.

[0069] In other words, after the motor rotates in the first direction, the absolute value of the motor's second output current can be detected as being less than a preset current threshold. If the absolute value of the second output current is less than the preset current threshold, it indicates that the motor has returned to normal operating status, thus resolving the problem of the robotic arm jamming. This allows the motor to be controlled to rotate in the second direction. It can be understood that since the motor's rotation direction changes from the second direction to the first direction and then back to the second direction, assuming the output current is positive when the motor rotates in the second direction, the output current is negative when rotating in the first direction. Therefore, the absolute value of the second output current can be compared with the preset current threshold to ensure the accuracy of the comparison result.

[0070] In some optional embodiments, to further ensure that the motor has indeed returned to normal operating status, after controlling the motor to run in the second direction, it can be further determined whether the motor's third output current is less than a preset current threshold. Accordingly, if the third output current is greater than or equal to the preset current threshold, an alarm message is output.

[0071] In practical applications, if the absolute value of the second output current obtained when the motor is running in the first direction is already less than the preset current threshold, the direction of motor operation can be adjusted. When the motor is running in the second direction, the third output current can be collected. If the third output current is also less than the preset current threshold, it indicates that the motor has indeed returned to normal working condition, and the problem of the robotic arm getting stuck has indeed been resolved. This method effectively avoids the situation where the third output current of the motor remains too high after the motor's direction of operation is adjusted back to the second direction, thus preventing the robotic arm getting stuck from being completely resolved.

[0072] Conversely, if the third output current is greater than or equal to the preset current threshold, it indicates that the robotic arm jamming problem has not been effectively resolved, and an alarm message can be output. Alternatively, if the second output current is less than or equal to the preset current threshold, an alarm message can also be output. The alarm message is used to prompt the user that the surface cleaning robot needs to be sent for inspection and repair, because the internal damage to the surface cleaning robot may be severe, or the internal problem is no longer a simple one that the surface cleaning robot can self-recover from. It should be sent to a more professional technician or organization for inspection and repair to extend the service life of the surface cleaning robot.

[0073] The following section will introduce different ways to output alarm information.

[0074] Optionally, the process of outputting alarm information can be implemented as one or more of the following: displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the surface cleaning robot.

[0075] In practical applications, such as Figure 3 As shown, assuming the surface cleaning robot is equipped with a display panel, it could display a message such as, "A problem has been detected with your device's robotic arm, causing the cleaning scraper to be unable to extend properly. Please contact a repair shop for inspection and repair as soon as possible." Seeing this message, users would understand the problem with the surface cleaning robot and what they need to do next.

[0076] Or, such as Figure 4 As shown, if the surface cleaning robot is equipped with a voice broadcasting device, it can also broadcast an alarm message such as, "A problem has been detected where the robotic arm of your device is stuck, causing the cleaning scraper to be unable to extend normally. Please contact the relevant repair center for inspection and repair as soon as possible." Specifically, the above message can be broadcast repeatedly until the user triggers the confirmation button, or if the surface cleaning robot is a window cleaning robot, the broadcast will stop when the user removes the window cleaning robot from the window.

[0077] Alternatively, alarm information can be sent to the terminal bound to the surface cleaning robot. Specifically, when a user purchases the surface cleaning robot or at other times, the product is registered. During the registration process, the terminal identifier entered by the user, such as a mobile phone number, can be obtained. After the user enters the terminal identifier, it can be uploaded to the server. If the robotic arm is detected to be stuck, and this stuckness cannot be self-recovered, an instruction message can be sent to the server. After receiving the instruction message, the server can obtain the terminal identifier bound to the current surface cleaning robot and then send an alarm message to the terminal corresponding to that identifier, such as... Figure 5 As shown, a notification may be sent to the user's mobile phone stating, "A problem has been detected in your device where the robotic arm is stuck, causing the cleaning scraper to be unable to extend normally. Please contact the relevant repair center for inspection and repair as soon as possible."

[0078] In some optional embodiments, to protect the motor from damage, when a third output current is detected to be greater than or equal to a preset current threshold, in addition to outputting an alarm message, the motor will also be controlled to stop operating. This can prevent the motor from burning out or other components from being damaged due to the robotic arm jamming while the motor is outputting a high output current for a prolonged period of time.

[0079] This invention allows for the automatic detection of robotic arm jamming based on the motor's operating electrical parameters. Once jamming is confirmed, the robotic arm's self-recovery logic is automatically triggered. In this way, when the robotic arm jams due to simple factors, the surface cleaning robot can autonomously complete the detection process and automatically perform self-recovery upon detecting the jamming issue. Therefore, this invention helps users handle simple robotic arm jamming problems independently. After successful self-recovery, the surface cleaning robot can continue with unfinished cleaning tasks. Furthermore, this invention reduces the frequency of inspection and maintenance of the surface cleaning robot, saving on labor costs associated with such services.

[0080] The following will describe in detail one or more embodiments of the present invention a device for preventing robotic arm jamming. Those skilled in the art will understand that these devices for preventing robotic arm jamming can be configured using commercially available hardware components through the steps taught in this solution.

[0081] Figure 6 This is a schematic diagram of a device for preventing robotic arm jamming, provided in an embodiment of the present invention. Figure 6 As shown, the device is installed on a surface cleaning robot, which includes a robotic arm and a motor that drives the robotic arm to extend and retract. The robotic arm can extend and retract relative to the robot body when cleaning the surface. The device includes: Acquisition module 61 is used to acquire the operating electrical parameters of the motor; The determining module 62 is used to determine whether the robotic arm is stuck based on the operating electrical parameters; The self-recovery module 63 is used to run the robotic arm jamming self-recovery logic when it is determined that the robotic arm is jammed.

[0082] Optionally, the operating electrical parameters include the first output current of the motor, and the determining module 62 is used for: Determine whether the first output current is greater than or equal to a preset current threshold; If the first output current is greater than or equal to the preset current threshold, it is determined that the robotic arm is stuck.

[0083] Optionally, the determining module 62 is configured to: Determine the duration for which the first output current is greater than or equal to the preset current threshold; If the duration is greater than or equal to a preset duration threshold, it is determined that the robotic arm is stuck.

[0084] Optionally, the determining module 62 is configured to: If the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is within the preset range, then it is determined that the robotic arm is stuck.

[0085] Optionally, the self-recovery module 63 is used for: If it is determined that the robotic arm is stuck, then the motor is controlled to rotate in the first direction; After the motor operates in the first direction, the motor is controlled to operate in a second direction, wherein the first direction is opposite to the second direction.

[0086] Optionally, the first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

[0087] Optionally, the self-recovery module 63 is used for: The motor is controlled to operate in the first direction at the maximum safe operating voltage.

[0088] Optionally, the self-recovery module 63 is used for: Control the motor to rotate in a first direction for a first preset time; The control of the motor to operate in the second direction includes: The motor is controlled to operate in a second direction for a second preset duration.

[0089] Optionally, the self-recovery module 63 is used for: After the motor has been running in the first direction, it is determined whether the absolute value of the second output current of the motor is less than a preset current threshold. If the second output current is less than the preset current threshold, the motor is controlled to run in the second direction.

[0090] Optionally, the device further includes an alarm module, the alarm module being used for: Determine whether the third output current of the motor is less than a preset current threshold; If the third output current is greater than or equal to the preset current threshold, an alarm message is output.

[0091] Optionally, the alarm module is used to: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the surface cleaning robot, or any one or more of these methods.

[0092] Optionally, the alarm module is further configured to: If the third output current is greater than or equal to the preset current threshold, the motor is controlled to stop running and an alarm message is output.

[0093] Optionally, the surface cleaning robot is a window cleaning robot or a table cleaning robot.

[0094] Figure 6 The device shown can perform the aforementioned Figures 1 to 5 The method for preventing the robotic arm from getting stuck, as shown in the embodiment, is described in detail in the foregoing embodiments for its execution process and technical effects, and will not be repeated here.

[0095] In one possible design, the above Figure 6 The structure of the anti-jamming device shown can be implemented as a surface cleaning robot, such as... Figure 7 As shown, the surface cleaning robot may include a processor 91 and a memory 92. The memory 92 stores executable code, which, when executed by the processor 91, enables the processor 91 to at least perform the functions described above. Figures 1 to 5 The method for preventing the robotic arm from getting stuck is provided in the illustrated embodiment.

[0096] Optionally, the surface cleaning robot may also include a communication interface 93 for communicating with other devices.

[0097] Furthermore, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code. When the executable code is executed by a processor of a surface cleaning robot, the processor is able to at least achieve the aforementioned functionality. Figures 1 to 5 The method for preventing the robotic arm from getting stuck is provided in the illustrated embodiment.

[0098] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The method for preventing robotic arm jamming provided in this embodiment of the invention can be executed by a program / software, which can be provided by a network side. The surface cleaning robot mentioned in the foregoing embodiments can download the program / software to a local non-volatile storage medium, and when it needs to execute the aforementioned method for preventing robotic arm jamming, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the method for preventing robotic arm jamming provided in the foregoing embodiments. The execution process can be found in the foregoing... Figures 1 to 5 The illustration is shown in the image.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for preventing robotic arm jamming, characterized in that, An application to a surface cleaning robot, the surface cleaning robot including a robotic arm and a motor for extending and retracting the robotic arm, the robotic arm being extendable and retractable relative to the robot body when cleaning a surface, the method comprising: Obtain the operating electrical parameters of the motor; Based on the aforementioned operating electrical parameters, determine whether the robotic arm has become stuck; If it is determined that the robotic arm is stuck, the robotic arm stuck self-recovery logic is executed.

2. The method according to claim 1, characterized in that, The operating electrical parameters include the first output current of the motor, and determining whether the robotic arm is stuck based on the operating electrical parameters includes: Determine whether the first output current is greater than or equal to a preset current threshold; If the first output current is greater than or equal to the preset current threshold, it is determined that the robotic arm is stuck.

3. The method according to claim 2, characterized in that, The step of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold includes: Determine the duration for which the first output current is greater than or equal to the preset current threshold; If the duration is greater than or equal to a preset duration threshold, it is determined that the robotic arm is stuck.

4. The method according to claim 2, characterized in that, The step of determining that the robotic arm is stuck if the first output current is greater than or equal to the preset current threshold includes: If the first output current is greater than or equal to the preset current threshold, and the speed feedback pulse signal corresponding to the motor is within the preset range, then it is determined that the robotic arm is stuck.

5. The method according to claim 1, characterized in that, If it is determined that the robotic arm is stuck, the robotic arm stuck self-recovery logic is executed, including: If it is determined that the robotic arm is stuck, then the motor is controlled to rotate in the first direction; After the motor operates in the first direction, the motor is controlled to operate in a second direction, wherein the first direction is opposite to the second direction.

6. The method according to claim 5, characterized in that, The first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

7. The method according to claim 5, characterized in that, The control of the motor to operate in a first direction includes: The motor is controlled to operate in the first direction at the maximum safe operating voltage.

8. The method according to claim 5, characterized in that, The control of the motor to operate in a first direction includes: Control the motor to rotate in a first direction for a first preset time; The control of the motor to operate in the second direction includes: The motor is controlled to operate in a second direction for a second preset duration.

9. The method according to claim 5, characterized in that, The step of controlling the motor to run in a second direction after the motor has run in the first direction includes: After the motor has been running in the first direction, it is determined whether the absolute value of the second output current of the motor is less than a preset current threshold. If the second output current is less than the preset current threshold, the motor is controlled to run in the second direction.

10. The method according to claim 5, characterized in that, After controlling the motor to operate in the second direction, the method further includes: Determine whether the third output current of the motor is less than a preset current threshold; If the third output current is greater than or equal to the preset current threshold, an alarm message is output.

11. The method according to claim 10, characterized in that, The output alarm information includes: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the surface cleaning robot, or any one or more of these methods.

12. The method according to claim 10, characterized in that, If the third output current is greater than or equal to the preset current threshold, an alarm message is output, including: If the third output current is greater than or equal to the preset current threshold, the motor is controlled to stop running and an alarm message is output.

13. A device for preventing robotic arm jamming, characterized in that, The surface cleaning robot is equipped with a robotic arm and a motor that drives the robotic arm to extend and retract. The robotic arm can extend and retract relative to the robot body when cleaning the surface. The device includes: The acquisition module is used to acquire the operating electrical parameters of the motor; The determination module is used to determine whether the robotic arm is stuck based on the operating electrical parameters; The self-recovery module is used to run the robotic arm jamming self-recovery logic when it is determined that the robotic arm is jammed.

14. A surface cleaning robot, characterized in that, include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor performs the method for preventing the robotic arm from jamming as described in any one of claims 1-12.

15. A non-transitory machine-readable storage medium, characterized in that, The non-transitory machine-readable storage medium stores executable code that, when executed by the processor of the surface cleaning robot, causes the processor to perform the method for preventing robotic arm jamming as described in any one of claims 1-12.

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