Control method and apparatus for movable device, and movable device and storage medium
By installing an emergency stop module on the household robot, the robot arm can be stopped abruptly upon detecting a press, thus solving the problem of the robot arm going out of control and ensuring the safety of both the user and the equipment.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- BEIJING ROBOROCK INNOVATION TECH CO LTD
- Filing Date
- 2025-10-28
- Publication Date
- 2026-05-15
AI Technical Summary
New types of household robots, equipped with flexible robotic arms, pose a risk of injury to pets, people, or furniture if the arms malfunction in an emergency.
An emergency stop module is installed on the main body of the equipment. When the emergency stop module is pressed, the robotic arm is controlled to enter the emergency stop state. The robotic arm is powered off or maintains its current posture to avoid loss of control.
It enables timely intervention in emergency situations, preventing the robotic arm from harming pets, people, or furniture, and improving the safety and reliability of the equipment.
Smart Images
Figure CN2025130728_15052026_PF_FP_ABST
Abstract
Description
Control methods, devices, mobile devices, and storage media for mobile devices Cross-reference to related applications
[0001] This disclosure claims priority to Chinese patent application No. 202411587898.7, filed on November 7, 2024, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This disclosure relates to the field of smart homes, and in particular to a method, apparatus, mobile device, and readable storage medium for controlling a mobile device. Background Technology
[0003] Compared to traditional cleaning robots, the new type of household robot, equipped with a relatively flexible robotic arm with a large range of motion, has expanded its application scenarios. For example, it can perform obstacle removal during the cleaning process and organize items, thus solving more of the household chores for users. Summary of the Invention
[0004] In view of this, the present disclosure provides a control method, apparatus, mobile device, and readable storage medium for a mobile device.
[0005] In a first aspect, embodiments of this disclosure provide a control method for a mobile device, the mobile device including a device body and a robotic arm disposed on the device body, the device body further including an emergency stop module, the method including:
[0006] If the emergency stop module is detected to be pressed and the robotic arm is in a working or resetting action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture.
[0007] Secondly, embodiments of this disclosure provide a control device for a mobile device, the mobile device including a device body and a robotic arm disposed on the device body, the device body further including an emergency stop module, the device including:
[0008] The detection module is used to detect whether the emergency stop module is pressed;
[0009] The control module is used to detect that the emergency stop module is pressed and the robotic arm is in a working or resetting action, and then control the robotic arm to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture.
[0010] Thirdly, embodiments of this disclosure provide a mobile device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect.
[0011] Fourthly, embodiments of this disclosure provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.
[0012] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description
[0013] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:
[0014] Figure 1 shows one of the structural schematic diagrams of a mobile device according to an embodiment of the present disclosure;
[0015] Figure 2 shows a second schematic diagram of the structure of a mobile device according to an embodiment of the present disclosure;
[0016] Figure 3 shows a flowchart illustrating the control method for a mobile device according to an embodiment of the present disclosure;
[0017] Figure 4 shows a structural block diagram of a control device for a mobile device according to an embodiment of the present disclosure. Detailed Implementation
[0018] The technical solutions of the embodiments of this disclosure will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure are within the scope of protection of this disclosure.
[0019] The terms "first," "second," etc., used in this disclosure and in the claims are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this disclosure can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0020] New types of household robots have raised safety concerns for users, especially those with pets or children. In case of an emergency, such as when the robot stops and becomes unresponsive, the uncontrolled movement of the robotic arm could cause harm to pets, people, or furniture.
[0021] In view of this, the present disclosure provides a control method, device, mobile device, and readable storage medium for a mobile device, which solves the problem of uncontrolled movement of a robotic arm when it is paused and unresponsive.
[0022] The control method, apparatus, mobile device, and readable storage medium of the present disclosure are described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0023] This disclosure provides a mobile device, which can be a household robot, cleaning equipment, etc., as shown in Figures 1 and 2. The mobile device includes a main body 101 and a robotic arm 104 mounted on the main body 101, as well as a walking assembly mounted on the main body 101. The walking assembly includes wheels 102 and casters 103. The main body 101 can achieve linear movement along the x-axis and y-axis, linear movement along the z-axis, and rotation along the z-axis via the wheels 102 and casters 103. The linear movement of the main body 101 along the z-axis, i.e., the adjustment of the height of the main body 101 off the ground, can be achieved through the wheels 102 and / or casters 103. The wheels 102 and casters 103 can be raised and lowered individually or together, thereby achieving the adjustment of the height of the main body 101 off the ground.
[0024] The main body 101 of the device is provided with a housing 105, which is used to accommodate the robotic arm 104. The end of the movable robotic arm 104 is provided with a gripper. The robotic arm 104 includes multiple rotating shafts and connecting rods connecting the rotating shafts. The number of rotating shafts determines the flexibility of the robotic arm 104. The robotic arm 104 can be a multi-degree-of-freedom robotic arm, such as three-degree-of-freedom, four-degree-of-freedom, five-degree-of-freedom, etc. The specific number of degrees of freedom is not specifically limited in this disclosure.
[0025] In one embodiment, the robotic arm 104 includes rotating shafts M1, M2, M3, M4, and M5. Rotating shaft M1 can rotate the robotic arm 104 to the left or right (in Figure 1, the paper-faced direction is inward or outward). Rotating shaft M2 rotates in the same direction as rotating shafts M4 and M3. Rotating shafts M1 and M2 are primarily responsible for the robotic arm 104's exit and return to the storage compartment. After the robotic arm 104 exits the storage compartment, rotating shafts M1 and M2 maintain a fixed angle. A storage compartment 105 for retrieving the robotic arm 104 can be provided on the main body 101. The robotic arm 104 can be folded and stored back in the storage compartment 105; this state indicates the robotic arm 104 is in the storage compartment. When the robotic arm is unfolded, it can extend from the storage compartment 105; this state indicates the robotic arm 104 is out of the storage compartment. Rotary shafts M3 and M4 determine the position of the gripper of the robotic arm 104 in space, while rotary shaft M5 is the spin joint of the gripper, which determines the gripper's posture.
[0026] In one embodiment, the mobile device also includes a camera (not shown) installed on the main body 101 of the device. The camera can be used to identify objects. After the object is identified, it can be gripped and transported with the assistance of the robotic arm 104.
[0027] The functions of mobile devices include:
[0028] (1) Assisted floor cleaning function
[0029] Traditional cleaning robots often encounter numerous obstacles along their path when performing floor cleaning tasks. While robots with obstacle avoidance capabilities actively dodge these obstacles and maintain a safe distance to minimize collisions and scratches, this can lead to missed areas under and around obstacles, resulting in low cleaning coverage. In contrast to traditional cleaning robots that can only avoid obstacles and thus miss large areas, the mobile device disclosed in this invention, with the assistance of a robotic arm, can grasp and move obstacles to clean the area under and around them, improving floor cleaning coverage and enhancing user satisfaction with the floor cleaning function.
[0030] (2) Automatic sorting function
[0031] Users' homes may have objects scattered or fallen on the floor, making the floor messy. Therefore, in addition to cleaning the floor, robots also need to be able to automatically tidy up. The mobile device disclosed herein can automatically identify and mark obstacles on the floor during cleaning or patrol, and automatically sort and tidy up the obstacles after cleaning, such as slippers placed at the door, toys placed in the children's room, and crumpled paper left in the trash can.
[0032] In addition, the mobile device disclosed herein may also have other household chores functions, such as cleaning baseboards, real-time home monitoring, and pet companionship.
[0033] In one embodiment, the main body 101 of the mobile device disclosed herein may further include a power-on / off module (not shown in the figure) and a recharge module (not shown in the figure). The basic functions of the power-on / off module include: a long press to power on or off the mobile device, and a short press to start, continue, or pause a task. The basic functions of the recharge module include: a short press to recharge, dust collection, or pause, and a long press to wash, wash fabric, or pause. In one embodiment, the power-on / off module includes a power button and a power button indicator light. The power button responds to user presses, and the power button indicator light indicates the power-on / off status of the mobile device's main unit. The recharge module includes a recharge button and a recharge button indicator light. The recharge button responds to user presses, and the recharge button indicator light indicates the status of the mobile device related to the base station.
[0034] In one embodiment, the main body 101 of the mobile device disclosed herein may also be provided with an emergency stop module 106, which may be located in an easily accessible position on the top surface of the main body 101. Unlike other buttons, when the emergency stop module 106 is triggered, the mobile device immediately enters an emergency stop state. In this state, the wheels 102, casters 103, and robotic arm 104 are either de-energized or the robotic arm 104 remains energized. The emergency stop module 106 enables the mobile device to stop suddenly in emergency situations, preventing the robotic arm from becoming uncontrollable.
[0035] It should be noted that the emergency stop of a mobile device differs from automatic and manual pauses. An emergency stop occurs when the emergency stop module 106 is triggered in an emergency, de-energizing the wheels 102, casters 103, and robotic arm 104, or keeping the robotic arm 104 energized; manual intervention is required. An automatic pause occurs when the mobile device reports a stop error and automatically stops; the wheels 102, casters 103, and robotic arm 104 remain powered during the stop and can resume operation via the power-on / off module or the user device app. Specific scenarios include: getting stuck and failing to escape, overcurrent in the main brush, side brushes, mop, and other chassis-mounted cleaning devices, overcurrent emergency stop of the robotic arm, and error-induced stop due to obstacle intrusion. A manual pause occurs when the mobile device can be stopped immediately by pressing a button on the device itself or using the user device app; the wheels 102, casters 103, and robotic arm 104 remain powered during the stop and can resume operation via the power-on / off module or the user device app. After an automatic or manual pause, the current task can be resumed; after an emergency stop, only a new task can be started.
[0036] In one embodiment, the emergency stop module 106 of this disclosure includes an emergency stop button and an emergency stop button light. The emergency stop button is used to respond to the user's pressing operation. The emergency stop button light can be turned off, constantly lit, or flashing at different frequencies. It can also be lit according to different brightness and different colors to distinguish the states of the robotic arm, such as emergency stop state, in-feed state, in the process of returning to the feeder, standby state, paused state, working state, and non-working state. The process of returning to the feeder includes the process of performing a reset action or returning to the feeder after the work is completed. The working state includes the process of performing an exit action, as well as gripping, lifting, and placing objects. In some embodiments, when the robotic arm is in the in-feed state or in the process of returning to the feeder, the emergency stop button light breathes and flashes; when the robotic arm is in the standby state, automatic pause state, or manual pause state, the emergency stop button light is constantly lit; when the robotic arm is in the working state, the emergency stop button light flashes quickly; when the robotic arm is in the emergency stop state, the emergency stop button light flashes slowly; when the robotic arm is in the non-working state, the emergency stop button light is off.
[0037] In one embodiment, the device body 101 of the mobile device disclosed herein may also be provided with a function adjustment module 107, which can be used to select and control the operating mode of the mobile device. In some embodiments, when the mobile device is a cleaning device, the operating modes of the cleaning device include, but are not limited to: mopping mode, sweeping mode, dust collection mode, high-efficiency obstacle avoidance cleaning mode, scheduled cleaning mode, etc. In addition to adjusting the operating mode of the cleaning device, the function adjustment module 107 can also control the specific cleaning method of the cleaning device, such as adjusting the travel speed of the cleaning device and controlling the cleaning frequency of the cleaning components. Through the function adjustment module 107, users can directly control the operation of the mobile device, thereby improving the user experience.
[0038] In one embodiment, the device body 101 of the mobile device disclosed herein may also be provided with a status indicator light 108, which can indicate WiFi connection status, robotic arm function on / off status, etc. In some embodiments, when the robotic arm function is turned on, the status indicator light 108 has a brightness of 100% and when the robotic arm function is turned off, the status indicator light 108 has a brightness of 20%.
[0039] This disclosure provides a control method for a mobile device, as shown in Figure 3. The method includes:
[0040] S301 If the emergency stop module is detected to be pressed and the robotic arm is in a working or resetting action, the robotic arm is controlled to enter the emergency stop state; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains the current posture.
[0041] In this step, the level status of the circuit corresponding to the emergency stop module or whether an electrical signal is generated is detected to determine whether the emergency stop module is effectively pressed. If the emergency stop module is confirmed to be effectively pressed, and if the robotic arm is currently in a working or resetting action, the robotic arm is controlled to enter the emergency stop state. In the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture, thereby achieving an immediate stop for the robotic arm. The working actions of the robotic arm include the execution of the ejection action, as well as the states of gripping, lifting, and placing objects. The resetting action refers to the process of the robotic arm folding and retracting back into the compartment.
[0042] In one embodiment, the duration of the emergency stop module being effectively pressed can also be determined by detecting the level state or the duration of the generated electrical signal. The emergency stop module is deemed effectively pressed when the pressing reaches a second duration threshold. This second duration threshold is a pre-set threshold used to judge the duration of the emergency stop module being pressed, i.e., the effectiveness of the press. By setting a second duration threshold to determine the effectiveness of the emergency stop module press, accidental user touches leading to an emergency stop are avoided, preventing disruption to the robotic arm's operation.
[0043] In related technologies, the pause function of a movable robotic arm is triggered in the event of an emergency, causing the robotic arm to temporarily stop. However, if the software malfunctions and the pause fails to respond during an emergency, there is a risk that the robotic arm may malfunction and cause harm to pets, people, or furniture.
[0044] This disclosure provides a method for controlling the main body and robotic arm of a mobile device to stop immediately by triggering an emergency stop module. When using the robotic arm's related functions, the user can press the button to stop the device at any time, enabling timely intervention in emergency situations. This can prevent the mobile device from causing damage to surrounding pets, people, objects, and facilities due to loss of control, protecting the safety of pets, people, and property, improving the safety of device use, and also preventing damage to the mobile device.
[0045] In one embodiment of this disclosure, detecting that the emergency stop module is pressed and the robotic arm is in a working or resetting action, and controlling the robotic arm to enter an emergency stop state includes: if the emergency stop module is pressed and the robotic arm is in a working or resetting action, generating an emergency stop command; and in response to the emergency stop command, controlling the robotic arm to enter an emergency stop state.
[0046] In this embodiment, when the robotic arm is in a working or resetting action, if the emergency stop module is detected to be effectively pressed, an emergency stop command, i.e., a control signal, is generated. This control signal is used to drive the control circuit to cut off the power supply to the robotic arm, thereby de-energizing the robotic arm. Alternatively, the control signal can be used to drive the control circuit to energize the robotic arm and maintain its current posture.
[0047] In one embodiment of this disclosure, the method further includes: if the emergency stop module is detected to be pressed and the robotic arm is in a working or resetting action, then controlling the walking component of the mobile device to stop.
[0048] In this embodiment, the system determines whether the emergency stop module is effectively pressed by detecting the level state of the circuit corresponding to the emergency stop module or whether an electrical signal is generated. If the emergency stop module is effectively pressed, and if the robotic arm is currently in a working or resetting action, the system controls the power supply to the mobile device's walking components (i.e., the wheels and casters) to stop, thus halting the mobile device's movement. In one embodiment, if the emergency stop module is detected to be effectively pressed when the robotic arm is in a working or resetting action, an emergency stop command, i.e., a control signal, is generated. This control signal drives the control circuit to cut off the power supply to the walking components, causing the walking components to stop.
[0049] In some embodiments, when the emergency stop module is effectively pressed, both the robotic arm and the walking assembly can come to an emergency stop, or only one of them can do so. In some embodiments, when the emergency stop module is effectively pressed, if the robotic arm malfunctions or performs a dangerous action, but the walking wheels are functioning normally and do not pose a threat, only the power to the robotic arm can be cut off; if the walking wheels move uncontrollably in a dangerous direction, but the robotic arm's actions are safe, only the power to the walking wheels can be cut off. Furthermore, in extremely urgent situations, such as when the entire mobile device becomes uncontrollable and may cause serious harm to personnel or the environment, the power to both can be cut off simultaneously, causing the entire mobile device to stop operating immediately.
[0050] In one embodiment of this disclosure, the method further includes: acquiring a task control command, and if the robotic arm is in an emergency stop state, not responding to the task control command.
[0051] In this embodiment, during an emergency stop, upon receiving a task control command, the system does not respond to the command; that is, it neither executes a new task nor continues the original task. In some embodiments, during an emergency stop, user manual operations, voice operations, and software controls are ignored.
[0052] When a robotic arm is in an emergency stop state, it indicates that the robotic arm may have lost control. Therefore, it will no longer respond to task control commands to ensure that it does not perform any tasks in the emergency stop state. This is to prevent the robotic arm from continuing to lose control and causing harm to pets, people, or furniture, and to improve the safety of the equipment.
[0053] In one embodiment of this disclosure, the method further includes: if the robotic arm is in an emergency stop state, and the duration of the emergency stop state is greater than a first duration threshold, then controlling the robotic arm to perform a reset action, wherein the reset action includes the robotic arm returning to its storage compartment; or,
[0054] The main body of the equipment is also equipped with a power on / off module. The method also includes: if the power on / off module and the emergency stop module are pressed at the same time, and the robotic arm is in the working action or in the emergency stop state, then control the robotic arm to perform a reset action.
[0055] In this embodiment, the method of triggering the robotic arm to reset is defined, and the robotic arm resetting refers to the action of folding and storing the robotic arm back into the compartment.
[0056] In one embodiment, the robotic arm automatically resets. If the robotic arm is in an emergency stop state for a duration exceeding a first duration threshold (e.g., 10 minutes), meaning the robotic arm remains in an emergency stop state without operation for an extended period, a reset action is initiated. The first duration threshold is a pre-set threshold used to determine the duration of the emergency stop state.
[0057] In addition, an automatic reset action can be triggered when the robotic arm is in standby or paused for a long time without operation.
[0058] In another embodiment, the robotic arm's reset action can be triggered by a button. Specifically, when the power-on / off module and the emergency stop module are simultaneously pressed, and the robotic arm is in operation or in an emergency stop state, the robotic arm is controlled to perform a reset action. In one embodiment, when the robotic arm is in operation or in an emergency stop state, and the power-on / off module and the emergency stop module are simultaneously pressed, a reset command is generated; in response to the reset command, the robotic arm is controlled to perform a reset action.
[0059] It should be noted that during the robotic arm's reset process, that is, before the robotic arm's retraction is complete, if a task control command is received, it can respond to the task control command. In some embodiments, manual operation or voice operation by the user will execute the task control command.
[0060] In one embodiment, the reset action is performed as follows: it is determined whether there is an object in the gripper of the robotic arm. If there is, the robotic arm slowly lowers the object and then opens the gripper to return to the compartment; if not, the gripper is opened directly and the robotic arm returns to the compartment.
[0061] In this embodiment of the disclosure, controlling the robotic arm to reset can ensure that the robotic arm returns to its initial position (i.e., inside the chamber), which facilitates precise control of subsequent work and also avoids collisions with other equipment, obstacles, personnel, pets, etc., thus helping to protect the safety of the robotic arm itself and the surrounding equipment, personnel, and pets.
[0062] In one embodiment of this disclosure, the main body of the device is further provided with a recharge module. The method further includes: when the robotic arm is in the process of resetting and the power-on / off module or the recharge module is detected to be pressed, the robotic arm is controlled to enter a reset pause state; wherein, in the reset pause state, the robotic arm suspends the reset action.
[0063] In this embodiment, when the robotic arm is in the process of resetting, if the power-on / off module or the recharge module is detected to be pressed, the robotic arm is controlled to pause the reset action. In another embodiment, when the robotic arm is in the process of resetting, if the power-on / off module or the recharge module is detected to be pressed, a reset pause command is generated, and in response to the reset pause command, the robotic arm is controlled to pause the reset action.
[0064] By controlling the robotic arm to pause and reset, the flexibility of operation is increased. Users can pause the reset action at any time according to the actual situation or emergency needs, avoiding unnecessary waiting or errors, as well as potential collision risks.
[0065] In one embodiment of this disclosure, the method further includes:
[0066] If the power-on / off module is detected to be pressed and the robotic arm is in a reset / pause state, then the robotic arm is controlled to continue performing the reset action; or,
[0067] If the power-on / off module and the emergency stop module are detected to be pressed simultaneously, and the robotic arm is in a reset pause state, then the robotic arm is controlled to re-execute the reset action.
[0068] In this embodiment, after the robotic arm pauses during the reset action, it can choose to continue resetting or reset again.
[0069] When the robotic arm is in a reset pause state, if the power switch module is detected to be pressed, the robotic arm is controlled to continue performing the reset action. In one embodiment, when the robotic arm is in a reset pause state, if the power switch module is detected to be pressed, a continue reset command is generated, and in response to the continue reset command, the robotic arm is controlled to continue performing the reset action.
[0070] When the robotic arm is in a reset pause state, if the power-on / off module and the emergency stop module are simultaneously pressed, the robotic arm is controlled to re-execute the reset action. In one embodiment, when the robotic arm is in a reset pause state, if the power-on / off module and the emergency stop module are simultaneously pressed, a re-reset command is generated, and in response to the re-reset command, the robotic arm is controlled to re-execute the reset action.
[0071] Continuing to reset and resetting differ in continuity and starting point. When the robotic arm pauses during the reset process, choosing to continue means resuming the reset procedure from the pause point until the entire reset is completed. Continuing to reset maintains the continuity of the reset process and does not interrupt the original reset procedure. This is suitable for situations where the reset is paused due to a brief malfunction, operational interruption, or temporary need, and where the malfunction has been resolved or the need has been met, allowing for seamless resumption of the reset. When the robotic arm pauses during the reset process, choosing to reset means abandoning the current reset process and restarting the entire reset procedure from the initial state or starting point. Resetting interrupts the original reset procedure and starts the reset operation from the beginning. This is suitable for situations due to a serious malfunction, operational error, or the need to completely reset the robotic arm's state. In these cases, continuing to reset may not achieve the desired effect or meet safety requirements, thus necessitating restarting the reset procedure.
[0072] In practical applications, an appropriate reset method can be selected based on the specific circumstances to ensure the safety and stability of the robotic arm.
[0073] In one embodiment of this disclosure, the method further includes: detecting that the power-on / off module of the mobile device is pressed and the robotic arm has changed from an emergency stop state to a storage state, then controlling the mobile device to perform a task.
[0074] In this embodiment, the robotic arm performs a reset action from an emergency stop state. After the reset action is completed and the arm transitions to an in-feed state, it controls the mobile device to execute a task when it detects that the power-on / off module has been pressed. In other words, starting a task after the robotic arm is in an emergency stop state requires two steps: first, transitioning from the emergency stop state to the in-feed state, and then receiving a task start command from the in-feed state to initiate the task. In one embodiment, the robotic arm has already transitioned from the emergency stop state to the in-feed state. When it detects that the power-on / off module of the mobile device has been pressed, it generates a task start command and, in response to the task start command, controls the mobile device to execute a task.
[0075] It should be noted that starting a task while the robotic arm is in an emergency stop state differs from starting a task while it is in a paused state. Starting a task while in a paused state requires only one step: receiving the start command. Starting a task while in an emergency stop state requires two steps: first, a reset action must be performed to complete the insertion into the storage compartment, and then the start command must be received before the task can begin.
[0076] When a robotic arm stops operating due to various external or internal emergencies and enters an emergency stop state, directly resuming the task without a reset may cause the robotic arm to start in an uncertain position or state, increasing the risk of accidents or incidents. Resetting from the emergency stop state before resuming the task ensures the robotic arm restarts in a safe initial state, avoiding potential dangers.
[0077] In one embodiment of this disclosure, the method further includes: if the power-on / off module and emergency stop module of the mobile device are pressed simultaneously, and the robotic arm is in a storage state, then the robotic arm function of the mobile device is turned on or off.
[0078] In this embodiment, when the robotic arm is in the storage state, if the power-on module and emergency stop module of the mobile device are simultaneously pressed (e.g., pressed and held for more than 4 seconds), the robotic arm function of the mobile device is turned on or off. Specifically, if the robotic arm is in the storage state and the robotic arm function is off, the robotic arm function is turned on in response to the simultaneous pressing of the power-on module and emergency stop module; if the robotic arm is in the storage state and the robotic arm function is on, the robotic arm function is turned off in response to the simultaneous pressing of the power-on module and emergency stop module. If the robotic arm is outside the storage state, a reset action must be performed by pressing and holding the power-on module and emergency stop module first, and then pressing and holding the power-on module and emergency stop module again to turn off the robotic arm function. In one embodiment, if the power-on module and emergency stop module of the mobile device are simultaneously pressed and the robotic arm is in the storage state, a robotic arm function control command is generated, and the robotic arm function of the mobile device is turned on or off in response to the robotic arm function control command.
[0079] In one embodiment, when a user uses the mobile device for the first time, the robotic arm function can be activated by simultaneously pressing the power on / off module and the emergency stop module, or it can be activated through the user's device app. The robotic arm can then be controlled to perform functions such as assisting in floor cleaning, tidying up objects on the floor, and cleaning baseboards.
[0080] If the robotic arm function is not activated, its related functions cannot be used, but basic cleaning functions of movable equipment, such as sweeping and mopping, are unaffected.
[0081] In this embodiment of the disclosure, the method of manually turning the robotic arm function on or off by the user ensures that the user has authorized the activation of the robotic arm function, thereby improving safety.
[0082] In this embodiment of the disclosure, an emergency stop module is provided on the mobile device. Different control functions can be realized through the emergency stop module or through a combination of the emergency stop module and other buttons, such as emergency stop, reset, pause reset, continue reset, re-reset, and switch on / off of the robotic arm function, thereby realizing flexible control of the mobile device.
[0083] In one embodiment of this disclosure, the emergency stop module includes an emergency stop button and an emergency stop button light; the method further includes controlling the emergency stop button light according to different brightness, color and / or flashing frequency based on different states of the robotic arm.
[0084] In this embodiment, the emergency stop module includes an emergency stop button and an emergency stop button indicator. The emergency stop button responds to user pressing operations, and the emergency stop button indicator represents various states of the robotic arm, including emergency stop state, in-feed state, out-of-feed state, return-to-feed state, standby state, paused state, and working state. These states can be distinguished by their on / off state, brightness, color, or flashing frequency. In some embodiments, when the robotic arm is in the in-feed, out-of-feed, or return-to-feed state, the emergency stop button indicator flashes in a breathing pattern; when the robotic arm is in standby, automatic pause, or manual pause state, the emergency stop button indicator remains constantly lit; when the robotic arm is in a working state, including grasping, lifting, and placing, the emergency stop button indicator flashes rapidly; when the robotic arm is in an emergency stop state, the emergency stop button indicator flashes slowly; and when the robotic arm is not in a working state, the emergency stop button indicator is off.
[0085] In this embodiment of the disclosure, the different states of the robotic arm can be indicated by the on / off state, brightness, color, or flashing frequency of the emergency stop button light, so that the user can intuitively and clearly understand the current state of the robotic arm.
[0086] As a specific implementation of the control method for the aforementioned mobile device, this disclosure provides a control device for a mobile device. The mobile device includes a device body and a robotic arm disposed on the device body. The device body also includes an emergency stop module. As shown in FIG4, the control device 400 for the mobile device includes a detection module 401 and a control module 402.
[0087] Among them, the detection module 401 is used to detect whether the emergency stop module is pressed;
[0088] The control module 402 is used to control the robotic arm to enter an emergency stop state when the detection module 401 detects that the emergency stop module is pressed and the robotic arm is in a working or resetting action; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture.
[0089] Furthermore, the control module 402 is also used to generate an emergency stop command when the detection module 401 detects that the emergency stop module is pressed and the robotic arm is in a working or resetting action; and to control the robotic arm to enter an emergency stop state in response to the emergency stop command.
[0090] Furthermore, the control module 402 is also used to acquire task control commands, and if the robotic arm is in an emergency stop state, it will not respond to the task control commands.
[0091] Furthermore, the control module 402 is also configured to control the robotic arm to perform a reset action when the robotic arm is in an emergency stop state and the duration of the emergency stop state is greater than a first duration threshold, wherein the reset action includes the robotic arm returning to its storage compartment; or,
[0092] The main body of the device is also provided with a power on / off module and a detection module 401, which is also used to detect whether the power on / off module and the emergency stop module are pressed at the same time;
[0093] The control module 402 is also used to control the robotic arm to perform a reset action when the detection module 401 detects that the power-on / off module and the emergency stop module are pressed at the same time, and the robotic arm is in a working action or in an emergency stop state.
[0094] Furthermore, the main body of the device is also provided with a recharge module and a detection module 401, which is also used to detect whether the power-on / off module or the recharge module is pressed;
[0095] The control module 402 is further configured to control the robotic arm to enter a reset pause state when the robotic arm is in a reset action and the detection module 401 detects that the power-on / off module or the recharge module is pressed; wherein, in the reset pause state, the robotic arm suspends the reset action.
[0096] Furthermore, the control module 402 is also configured to control the robotic arm to continue performing the reset action when the detection module 401 detects that the power-on / off module has been pressed and the robotic arm is in a reset pause state; or,
[0097] The control module 402 is also used to control the robotic arm to re-execute the reset action when the detection module 401 detects that the power-on / off module and the emergency stop module are pressed at the same time and the robotic arm is in a reset pause state.
[0098] Furthermore, the control module 402 is also used to control the mobile device to perform a task when the detection module 401 detects that the power-on / off module of the mobile device is pressed and the robotic arm has changed from an emergency stop state to a storage state.
[0099] Furthermore, the control module 402 is also used to turn on or off the robotic arm function of the mobile device when the detection module 401 detects that the power-on / off module and the emergency stop module of the mobile device are pressed at the same time, and the robotic arm is in the storage state.
[0100] Furthermore, the emergency stop module includes an emergency stop button and an emergency stop button indicator light;
[0101] The control module 402 is also used to control the emergency stop button light according to different brightness, color and / or flashing frequency according to different states of the robotic arm.
[0102] The control device 400 of the mobile device in this embodiment can be a mobile device or a component in the mobile device, such as an integrated circuit or a chip. The control device 400 of the mobile device provided in this embodiment can implement the various processes implemented in the control method embodiment of the mobile device in FIG1, and will not be described again here to avoid repetition.
[0103] This disclosure also provides a mobile device, which includes a processor and a memory. The memory stores a program or instructions that can run on the processor. When the program or instructions are executed by the processor, they implement the various steps of the control method embodiment of the mobile device described above and can achieve the same technical effect. To avoid repetition, they will not be described again here.
[0104] Memory can be used to store software programs and various data. Memory can primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area can store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, memory can include volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory in embodiments of this disclosure includes, but is not limited to, these and any other suitable types of memory.
[0105] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly handles operations related to the operating system, user interface, and applications, while the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor.
[0106] This disclosure also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described control method embodiments for the mobile device and achieve the same technical effects. To avoid repetition, these will not be described again here.
[0107] This disclosure provides a control method, apparatus, mobile device, and readable storage medium for a mobile device. When an emergency stop module is detected to be pressed, and the robotic arm is in a working or resetting action, the robotic arm is controlled to enter an emergency stop state. In this emergency stop state, the robotic arm is either de-energized or energized and maintains its current posture. According to this disclosure, users can perform an emergency stop at any time while using the robotic arm's functions, enabling timely intervention in emergency situations. This prevents the mobile device from causing damage to surrounding pets, people, objects, and facilities due to loss of control, protecting the safety of pets, people, and property, improving the safety of device use, and preventing damage to the mobile device.
[0108] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this disclosure is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0109] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.
Claims
1. A control method for a mobile device, characterized in that, The mobile device includes a device body and a robotic arm disposed on the device body. The device body is also provided with an emergency stop module. The method includes: If the emergency stop module is detected to be pressed and the robotic arm is in a working or resetting action, the robotic arm is controlled to enter an emergency stop state; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture.
2. The method according to claim 1, characterized in that, The step of detecting that the emergency stop module is pressed, and that the robotic arm is in the working action or the reset action, and controlling the robotic arm to enter the emergency stop state, includes: If the emergency stop module is detected to be pressed, and the robotic arm is in the working action or the reset action, an emergency stop command is generated. In response to the emergency stop command, the robotic arm is controlled to enter the emergency stop state.
3. The method according to claim 1 or 2, characterized in that, The method further includes: Obtain task control instructions; if the robotic arm is in the emergency stop state, it will not respond to the task control instructions.
4. The method according to any one of claims 1-3, characterized in that, The method further includes: If the robotic arm is in the emergency stop state, and the duration of the emergency stop state exceeds a first duration threshold, then the robotic arm is controlled to perform the reset action, wherein the reset action includes the robotic arm returning to its storage compartment; or, The main body of the device is also provided with a power on / off module, and the method further includes: If the power-on / off module and the emergency stop module are simultaneously pressed, and the robotic arm is in the working state or the emergency stop state, then the robotic arm is controlled to perform the reset action.
5. The method according to claim 4, characterized in that, The main body of the device is also provided with a recharge module, and the method further includes: If the robotic arm is in the process of resetting and the power-on / off module or the recharge module is pressed, the robotic arm is controlled to enter a reset pause state; wherein, in the reset pause state, the robotic arm suspends the reset action.
6. The method according to claim 5, characterized in that, The method further includes: If the power-on / off module is detected to be pressed and the robotic arm is in the reset pause state, then the robotic arm is controlled to continue performing the reset action; or, If the power-on / off module and the emergency stop module are simultaneously pressed, and the robotic arm is in the reset pause state, then the robotic arm is controlled to re-execute the reset action.
7. The method according to any one of claims 1-6, characterized in that, The method further includes: If the power-on / off module of the mobile device is detected to be pressed and the robotic arm has changed from the emergency stop state to the in-bay state, then the mobile device is controlled to perform a task.
8. A control device for a mobile device, characterized in that, The mobile device includes a device body and a robotic arm disposed on the device body. The device body is also provided with an emergency stop module. The device includes: The detection module is used to detect whether the emergency stop module is pressed; The control module is configured to control the robotic arm to enter an emergency stop state when the detection module detects that the emergency stop module is pressed and the robotic arm is in a working or resetting action; wherein, in the emergency stop state, the robotic arm is de-energized, or the robotic arm is energized and maintains its current posture.
9. A mobile device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the steps of the control method for the mobile device as described in any one of claims 1 to 7.
10. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the control method for the mobile device as described in any one of claims 1 to 7.