Overweight detection method and apparatus, and self-moving cleaning device

Abstract

The present application provides an overweight detection method and apparatus, and a self-moving cleaning device. The method is applied to the self-moving cleaning device, the self-moving cleaning device comprises a mechanical arm and a self-moving chassis, and the mechanical arm is mounted on the self-moving chassis. The method comprises: controlling the mechanical arm to perform an operation of grabbing an object; acquiring current data and / or chassis state information of the self-moving cleaning device, wherein the current data comprises the current of a drive motor of a specified joint of the mechanical arm, and the chassis state information is the position relationship of the self-moving chassis relative to a movement plane; and on the basis of the current data and / or the chassis state information, determining whether the object grabbed by the mechanical arm is overweight.

Description

Overweight detection methods, devices, and self-propelled cleaning equipment Cross-reference of related applications

[0001] This application claims priority to Chinese patent application No. 202510309046.X, filed on March 14, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of smart home technology, and in particular relates to an overweight detection method, device and self-moving cleaning equipment. Background Technology

[0003] A robotic arm can grasp objects and thus change their position. For example, the robotic arm on a household robot can grasp objects to organize household items and facilitate home cleaning. Summary of the Invention

[0004] A first aspect of this application provides an overweight detection method applied to a self-moving cleaning device. The self-moving cleaning device includes a robotic arm and a self-moving chassis. The robotic arm is mounted on the self-moving chassis. The method includes: controlling the robotic arm to perform an operation of grasping an object; acquiring current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to a moving plane; and determining whether the object grasped by the robotic arm is overweight based on the current data and / or the chassis status information.

[0005] A second aspect of this application provides an overweight detection device applied to a self-moving cleaning device. The self-moving cleaning device includes a robotic arm and a self-moving chassis. The robotic arm is mounted on the self-moving chassis. The device includes: a gripping module for controlling the robotic arm to perform a gripping operation; an acquisition module for acquiring current data and / or chassis status information of the self-moving cleaning device; wherein the current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; and a determination module for determining whether the object gripped by the robotic arm is overweight based on the current data and / or the chassis status information.

[0006] A third aspect of this application provides a self-moving cleaning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The self-moving cleaning device includes a robotic arm and a self-moving chassis, the robotic arm being mounted on the self-moving chassis, and the processor executing the computer program to implement the method described in the first aspect above.

[0007] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0008] A fifth aspect of this application provides a computer program product that, when run on a self-moving cleaning device, causes the self-moving cleaning device to perform the method described in the first aspect above. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0010] Figure 1 is a schematic diagram of a self-moving cleaning device provided in an embodiment of this application.

[0011] Figure 2 is a schematic flowchart of an overweight detection method provided in an embodiment of this application.

[0012] Figure 3 is a flowchart illustrating the steps of another overweight detection method provided in an embodiment of this application.

[0013] Figure 4 is a schematic diagram of an overweight detection device provided in an embodiment of this application.

[0014] Figure 5 is a schematic diagram of another self-moving cleaning device provided in an embodiment of this application. Detailed Implementation

[0015] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0016] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity or the order of execution, and that the words "first" and "second" do not necessarily imply that they are different.

[0017] The load-bearing capacity of a robotic arm is limited. When using a robotic arm to grasp an object, if the object is too heavy, it will cause the robotic arm to bear too much load and be damaged, the object to fall, the chassis to tilt forward or the center of gravity to become unstable, which will affect the execution of subsequent tasks.

[0018] In view of this, embodiments of this application provide an overweight detection method, device, and self-moving cleaning equipment to detect whether the object grasped by the robotic arm is overweight, thereby avoiding damage to the robotic arm.

[0019] The overload detection method in this application is applied to a self-moving cleaning device. Figure 1 is a schematic diagram of a self-moving cleaning device provided in an embodiment of this application. As shown in Figure 1, the self-moving cleaning device may include a self-moving chassis and a robotic arm, the robotic arm being mounted on the self-moving chassis. The self-moving chassis can move on the ground using wheels and casters.

[0020] The robotic arm may include a first joint M1, a second joint M2, a third joint M3, a fourth joint M4, a fifth joint M5, and an end effector. The first joint M1 and the second joint M2 may be indirectly connected. In some embodiments, the first and second joints may be connected via a rotary seat. A first link connects the second joint M2 and the third joint M3; a second link connects the third joint M3 and the fourth joint M4; a third link connects the fourth joint M4 and the fifth joint M5; and the fifth joint M5 is connected to the end effector.

[0021] The first joint M1 is connected to the chassis and is used to control the rotation of the robotic arm around the vertical axis; the second joint M2 supports the robotic arm through pitch rotation; the third joint M3 is in the same direction as the joints of the second joint M2 and the fourth joint M4; the fifth joint M5 is the self-rotating joint of the end effector, as shown in the figure. The fifth joint M5 can rotate along the axis of the connecting rod between the fourth joint M4 and the fifth joint M5, thereby adjusting the direction in which the end effector grips the object; the end effector can place or grip objects by opening and closing.

[0022] Each joint of the robotic arm can be driven by a corresponding drive motor. By controlling the drive motors, the self-moving cleaning device can drive each joint to rotate, thereby controlling the robotic arm to change its posture.

[0023] When a self-propelled cleaning device uses a robotic arm to grasp an object, it can calculate the object's gripping point. Based on this point, it can calculate the target angles of each joint when the end effector gripper reaches the gripping point. Based on these target angles, the self-propelled cleaning device can control the operation of each drive motor, thereby changing the robotic arm's posture so that the end effector gripper can reach the object's gripping point. After reaching the gripping point, the end effector gripper can close and grasp the object. After the end effector gripper has grasped the object, it can control the rotation of the third and fourth joints of the robotic arm to lift the object.

[0024] The robotic arm has a limited load-bearing capacity. If the object is too heavy, it will cause the robotic arm to be overloaded and damaged, resulting in economic losses for the user. It may also cause the object to fall and be damaged. It may also cause the chassis to tilt forward or the center of gravity to be unstable, making the self-propelled cleaning equipment unstable or tipping over.

[0025] Based on this, this application provides an overweight detection method to determine whether an object grasped by a robotic arm is overweight.

[0026] The technical solution of this application will be described below through specific embodiments.

[0027] Referring to Figure 2, a flowchart of an overweight detection method provided in an embodiment of this application is shown, which may include the following steps.

[0028] S201, control the robotic arm to perform the operation of grasping an object.

[0029] The execution subject of this embodiment is the aforementioned self-moving cleaning device. The self-moving cleaning device can be a sweeping and mopping robot with a robotic arm, a household robot with a robotic arm, etc. This application embodiment does not limit the specific type of self-moving cleaning device.

[0030] During cleaning tasks, self-propelled cleaning equipment can grasp objects when organizing or cleaning surfaces covered by objects. When grasping an object, the equipment controls its robotic arm to perform the grasping operation. The equipment can drive the third and fourth joints of the robotic arm to rotate, thereby changing the position of the end effector gripper. When the end effector gripper reaches the grasping point of the object, the equipment can control the fifth joint to rotate, changing the direction of the end effector gripper. When the end effector gripper reaches the designated direction, it can control the end effector gripper to close, allowing the robotic arm to grasp the object.

[0031] After gripping an object, the self-moving cleaning device can drive the third and fourth joints of the robotic arm to rotate, thereby lifting the object to a designated position. During the lifting process, it can detect whether the object gripped by the robotic arm is overweight.

[0032] S202, Obtain the current data and / or chassis status information of the self-moving cleaning device.

[0033] The aforementioned current data includes the current of the drive motors of designated joints of the robotic arm. A designated joint is a joint used to change the position of the end effector gripper of the robotic arm, and the robotic arm may include one or more designated joints. In some embodiments, the designated joints may be the second joint M2, the third joint M3, and the fourth joint M4 in the robotic arm shown in FIG1. ​​The aforementioned current data may include the current of the drive motor of the third joint and the current of the drive motor of the fourth joint.

[0034] The chassis status information described above refers to the positional relationship between the self-moving chassis and the moving plane. The chassis status information can be characterized by the angle between the bottom surface of the self-moving chassis and the moving plane, or by the change in the angle between the bottom surface of the self-moving chassis and the moving plane before and after the object-grabbing operation.

[0035] The self-propelled cleaning device can acquire the roll angle and / or pitch angle of its self-propelled chassis to determine the angle between the bottom surface of the self-propelled chassis and the moving plane. The roll angle refers to the angle of rotation of the self-propelled chassis about its longitudinal axis. The pitch angle refers to the angle of rotation of the self-propelled chassis about its transverse axis, which is an axis perpendicular to the longitudinal axis and located in the plane of symmetry of the object. In some embodiments, the straight line corresponding to the forward direction of the self-propelled chassis can be the longitudinal axis of the self-propelled chassis. The roll angle and / or pitch angle can be determined by sensors. In some embodiments, the sensors can be vision sensors, lidar, etc.

[0036] In some embodiments, the self-propelled cleaning device may include an inertial measurement unit (IMU) to acquire its roll and / or pitch angles. The IMU, through built-in sensors such as accelerometers and gyroscopes, can perceive the motion and attitude changes of the self-propelled chassis in space in real time. In some embodiments, the accelerometer can detect the components of gravitational acceleration along different axes to calculate the tilt angle of the self-propelled chassis; the gyroscope measures angular velocity to accurately track the rotation of the self-propelled chassis. The method for determining the roll and / or pitch angles based on the IMU can refer to existing technologies and will not be elaborated here.

[0037] S203, based on the current data and / or the chassis status information, determine whether the object grasped by the robotic arm is overweight.

[0038] The self-propelled cleaning device can determine whether the object grasped by the robotic arm is overweight based on the current of the drive motor of a designated joint. Each designated joint can have a corresponding first current threshold. If the current of the drive motor of any designated joint is greater than the corresponding first current threshold and the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0039] In some embodiments, the designated joints can be the second joint M2, the third joint M3, and the fourth joint M4 in the robotic arm shown in FIG1. ​​The aforementioned current data may include the current of the drive motor of the third joint and the current of the drive motor of the fourth joint.

[0040] After the robotic arm grasps an object, the self-moving cleaning device can monitor the current of the drive motors of the second joint, the third joint, and the fourth joint, and thus determine whether the object grasped by the robotic arm is overweight based on the current of the drive motors of the third and fourth joints.

[0041] If the current of the drive motor of the second, third and / or fourth joint is greater than the corresponding first current threshold and the duration is greater than the preset time threshold, then it is determined that the object grasped by the robotic arm is overweight.

[0042] In some embodiments, when the current of the drive motor of the second joint is detected to be greater than the corresponding first current threshold, the duration for which the current of the drive motor of the second joint is greater than the corresponding first current threshold can be counted. If the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0043] In some embodiments, when the current of the drive motor of the third joint is detected to be greater than the corresponding first current threshold, the duration for which the current of the drive motor of the third joint is greater than the corresponding first current threshold can be counted. If the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0044] In some embodiments, when the current of the drive motor of the fourth joint is detected to be greater than the corresponding first current threshold, the duration for which the current of the drive motor of the fourth joint is greater than the corresponding first current threshold can be counted. If the duration is greater than a preset time threshold, it can be determined that the object grasped by the robotic arm is overweight.

[0045] In some embodiments, if the duration for which the current of the drive motor of the third joint is greater than the corresponding first current threshold is greater than a preset time threshold, and the duration for which the current of the drive motor of the fourth joint is greater than the corresponding first current threshold is greater than the preset time threshold, then it is determined that the object grasped by the robotic arm is overweight.

[0046] The first current threshold corresponding to the third joint and the first current threshold corresponding to the fourth joint can be the same or different. The first current thresholds for the third and fourth joints can be obtained through prior testing. Based on the testing, the correspondence between the output current of a specified joint and the force against gravity can be determined, thereby determining the first current threshold corresponding to the specified joint based on the maximum weight it can withstand. The method for obtaining the current of the drive motor can refer to existing technologies and will not be elaborated here. In some embodiments, the aforementioned preset time threshold can be 100ms.

[0047] Since the output torque and current of the drive motor are positively correlated, the greater the current of the drive motor, the greater the output torque of the drive motor, and thus the greater the gravity that a specified joint can overcome. Therefore, in this embodiment, the current of the drive motor of a specified joint can be used to determine whether the object grasped by the robotic arm is overweight.

[0048] The self-propelled cleaning equipment can also determine whether the object being gripped by the robotic arm is overweight based on the chassis status information.

[0049] In some embodiments, the object grasped by the robotic arm is determined to be overweight when there is an angle greater than a predetermined threshold between the bottom surface of the self-moving chassis and the moving plane. In some embodiments, the predetermined threshold can be 1.5 degrees. The object grasped by the robotic arm can also be determined to be overweight when the roll angle is greater than 1.5 degrees, the pitch angle is greater than 1.5 degrees, or the angle between the combined roll and pitch angles and the moving plane is greater than 1.5 degrees. The values ​​are determined by the design requirements of the self-moving chassis and the actual working environment, representing the permissible range of attitude changes of the chassis under normal operating conditions.

[0050] In other embodiments, the object grasped by the robotic arm is determined to be overweight when the changes in the roll angle and / or pitch angle of the self-propelled chassis before and after the object grasping operation are greater than a corresponding predetermined change. In some embodiments, the predetermined change can be 1.5 degrees. When the change in roll angle is greater than 1.5 degrees, the change in pitch angle is greater than 1.5 degrees, or the change in the angle formed by the combination of roll angle and pitch angle is greater than 1.5 degrees, the object grasped by the robotic arm can be determined to be overweight.

[0051] When the object grasped by the robotic arm is too heavy, the center of gravity of the self-moving cleaning device shifts upward, causing instability. When the center of gravity is unstable, the self-moving chassis is prone to losing balance, resulting in an angle between the self-moving chassis and the moving plane. Therefore, the angle between the self-moving chassis and the moving plane can be used to determine whether the object grasped by the robotic arm is too heavy.

[0052] In this embodiment, current data can be used alone to determine whether the object grasped by the robotic arm is overweight, chassis status information can be used alone to determine whether the object grasped by the robotic arm is overweight, or both current data and chassis status information can be used together to determine whether the object grasped by the robotic arm is overweight. In some embodiments, after grasping the object, the current of the drive motor of the third joint, the current of the drive motor of the fourth joint, and the angle between the bottom surface of the self-moving chassis and the moving plane can be monitored. When the current of the drive motor of the third joint is greater than a first current threshold for a duration exceeding a preset time threshold, the current of the drive motor of the fourth joint is greater than the first current threshold for a duration exceeding a preset time threshold, or there is an angle greater than a preset threshold between the bottom surface of the self-moving chassis and the moving plane, it can be determined that the object grasped by the robotic arm is overweight.

[0053] It is understandable that self-propelled cleaning equipment can grasp objects using a robotic arm. After grasping the object, the robotic arm needs to rotate designated joints to change the object's posture. Each designated joint has a corresponding drive motor. When the robotic arm grasps and lifts an object, the torque output by the drive motor needs to overcome the object's gravity, allowing the object to be lifted and held at a certain height. The greater the gravity that the designated joint needs to overcome, the higher the output torque of the corresponding drive motor. The output torque of the drive motor is positively correlated with the current; therefore, the higher the current of the drive motor, the higher the output torque, meaning the greater the gravity that the designated joint needs to overcome. Since the gravity that the designated joint needs to overcome comes from the weight of the object, the current of the drive motor can be used to detect whether the object is overweight. When the current of the drive motor is greater than a current threshold, it indicates that the gravity that the designated joint needs to overcome is too high, meaning the object is overweight. In this embodiment, the current of the drive motor of the designated joint can be used to determine whether the gravity that the designated joint needs to overcome is too high, thereby determining that the object grasped by the robotic arm is overweight. By using the current of the drive motor to promptly detect when an object is overweight, timely action can be taken to prevent damage to specific joints and thus protect those joints.

[0054] When lifting an object using multiple designated joints, each joint works together to overcome the object's weight. However, the weight each joint needs to overcome is not equal to the object's weight. Therefore, judging whether an object is overloaded solely based on its weight is not practical for real-world applications. This embodiment of the application can determine whether the pressure overcome by each designated joint is excessive by checking if the motor current of that joint is too high. This makes the assessment of overload more accurate and facilitates timely protection of the designated joints.

[0055] This embodiment uses current data and chassis offset status to monitor whether the object grasped by the robotic arm is overweight in a timely manner, thereby detecting overweight situations in time, avoiding damage to the robotic arm, and preventing the object from falling off, thus ensuring the stable operation of the self-moving cleaning equipment.

[0056] Referring to Figure 3, a flowchart of another overweight detection method provided in an embodiment of this application is shown, which may include the following steps.

[0057] S301, control the robotic arm to perform the operation of grasping an object.

[0058] The executing entity in this embodiment can be the first cleaning device described above. S301 in this embodiment can refer to S201 in the previous embodiment, and will not be repeated here.

[0059] S302, obtain the current of the drive motor corresponding to the opening and closing shaft.

[0060] The end effector gripper has a corresponding drive motor on its opening and closing shaft, which drives the end effector gripper to open or close. The self-moving cleaning device can monitor the current of the drive motor corresponding to the opening and closing shaft to determine whether the end effector gripper has performed a gripping operation.

[0061] S303, if the current of the drive motor corresponding to the opening and closing shaft is greater than the corresponding second current threshold, then it is determined that the end gripper has performed a gripping operation.

[0062] If the current of the drive motor corresponding to the opening and closing shaft is greater than the corresponding second current threshold, it can be determined that the end effector has performed a gripping operation. After determining that the end effector has performed a gripping operation, it is possible to detect whether the gripped object is overweight.

[0063] S304, Obtain the current data and / or chassis status information of the self-moving cleaning device.

[0064] The current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane.

[0065] S305, based on the current data and / or the chassis status information, determine whether the object grasped by the robotic arm is overweight.

[0066] S304-S305 of this embodiment can refer to S202-S203 of the previous embodiment, and will not be repeated here.

[0067] After determining that the object being grasped by the robotic arm is overweight, the robotic arm can be controlled to place the object, thereby avoiding damage to the robotic arm and preventing the object from falling during movement, ensuring that neither the object nor the robotic arm is damaged. In some embodiments, the third and fourth joints can be driven to rotate, thereby bringing the end effector gripper to the placement point on the ground attachment, and then the end effector gripper can be driven to open to place the object.

[0068] Before performing overload detection, this embodiment can first determine whether the end effector gripper has performed a gripping operation. After the end effector gripper has performed a gripping operation, overload detection is then performed by measuring the current of the drive motor of a designated joint and the angle between the self-moving chassis and the moving plane. Based on this, when the end effector gripper has not performed a gripping operation, the overload detection and judgment of the object can be omitted, thus avoiding unnecessary work by the self-moving cleaning equipment. If the object gripped by the robotic arm is overloaded, the gripping and placement of the object can be stopped to prevent the robotic arm from being damaged due to excessive load, or to prevent the object from falling, the chassis from tilting forward, or the center of gravity from becoming unstable. This improves the safety and reliability of the robotic arm in gripping objects and ensures the operational stability and safety of the self-moving cleaning equipment.

[0069] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0070] Referring to Figure 4, a schematic diagram of an overweight detection device provided in an embodiment of this application is shown. The overweight detection device is applied to a self-moving cleaning device, which includes a robotic arm and a self-moving chassis. The robotic arm is mounted on the self-moving chassis. Specifically, the overweight detection device may include a gripping module 41, an acquisition module 42, and a determination module 43, wherein: the gripping module 41 is used to control the robotic arm to perform the operation of gripping an object; the acquisition module 42 is used to acquire the current data and / or chassis status information of the self-moving cleaning device; wherein, the current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; the determination module 43 is used to determine whether the object gripped by the robotic arm is overweight based on the current data and / or the chassis status information.

[0071] In some embodiments, the robotic arm includes a plurality of the designated joints, and the determining module 43 includes: a first determining submodule, used to determine that the object grasped by the robotic arm is overweight if the current of the drive motor of any of the designated joints is greater than the corresponding first current threshold and the duration is greater than a preset time threshold.

[0072] In some embodiments, the robotic arm includes a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; the designated joint includes the second joint, the third joint, and the fourth joint; a first link connects the second joint and the third joint; a second link connects the third joint and the fourth joint; and a third link connects the fourth joint and the fifth joint.

[0073] In some embodiments, the determining module 43 includes: an angle determination submodule, used to determine whether there is an angle greater than a predetermined threshold between the bottom surface of the self-moving chassis and the moving plane, or whether the change in the angle before and after the object-grabbing operation is greater than the predetermined threshold; and a second judgment submodule, used to determine, based on the judgment result, that the object grasped by the robotic arm is overweight. In some embodiments, the angle determination submodule includes: an angle acquisition unit, used to acquire the roll angle and / or pitch angle of the self-moving chassis, or acquire the change in the roll angle and / or pitch angle of the self-moving chassis before and after the object-grabbing operation; and a judgment unit, used to determine whether the roll angle and / or pitch angle are respectively greater than the corresponding preset angle; or, to determine whether the change in the roll angle and / or pitch angle is greater than the corresponding predetermined change.

[0074] In some embodiments, the self-moving chassis is equipped with an inertial measurement unit (IMU) for acquiring the roll angle and / or pitch angle of the self-moving chassis. In some embodiments, the robotic arm includes an end effector with a corresponding opening and closing axis. A drive motor corresponding to the opening and closing axis drives the end effector to open or close, and the end effector is used to grasp the object. The device further includes: an opening and closing axis current acquisition module for acquiring the current of the drive motor corresponding to the opening and closing axis; and a grasping determination module for determining that the end effector has performed a grasping operation if the current of the drive motor corresponding to the opening and closing axis is greater than a corresponding second current threshold.

[0075] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0076] Figure 5 is a schematic diagram of another self-moving cleaning device provided in an embodiment of this application. As shown in Figure 5, the self-moving cleaning device 500 of this embodiment includes: at least one processor 50 (only one is shown in Figure 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50. When the processor 50 executes the computer program 52, it implements the steps in any of the above-described method embodiments.

[0077] The self-moving cleaning device 500 may be a household robot or a robotic vacuum cleaner with a robotic arm. This self-moving cleaning device may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will understand that Figure 5 is merely an example of the self-moving cleaning device 500 and does not constitute a limitation on the self-moving cleaning device 500. It may include more or fewer components than illustrated, or combine certain components, or use different components. In some embodiments, the self-moving cleaning device 500 may also include input / output devices, network access devices, etc.

[0078] The processor 50 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0079] In some embodiments, the memory 51 may be an internal storage unit of the self-propelled cleaning device 500. In some embodiments, the memory 51 may be a hard disk or RAM of the self-propelled cleaning device 500. In other embodiments, the memory 51 may be an external storage device of the self-propelled cleaning device 500. In still other embodiments, the memory 51 may be a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-propelled cleaning device 500. Further, the memory 51 may include both internal storage units and external storage devices of the self-propelled cleaning device 500. The memory 51 is used to store operating systems, applications, bootloaders, data, and other programs. In some embodiments, the memory 51 is used to store program code of the computer program. The memory 51 may also be used to temporarily store data that has been output or will be output.

[0080] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0081] This application provides a computer program product that, when run on a self-moving cleaning device, enables the self-moving cleaning device to perform the steps described in the above-described method embodiments.

[0082] Compared with existing technologies, the embodiments of this application have the following advantages: Applying the method in the embodiments of this application, it is possible to determine whether the object grasped by the robotic arm is overweight. After the self-moving cleaning device controls the robotic arm to perform the operation of grasping an object, it can determine whether the object grasped by the robotic arm is overweight by using the current data and / or chassis status information of the self-moving cleaning device. The current data includes the current of the drive motor of a specified joint of the robotic arm. The specified joint is used to change the posture of the robotic arm. During the change of posture, the drive motor of the specified joint outputs torque, thereby enabling the robotic arm to overcome the gravity of the object. The greater the gravity that the specified joint needs to overcome, the higher the output torque of the corresponding drive motor. The output torque of the drive motor is positively correlated with the current; therefore, the higher the current of the drive motor, the higher the output torque of the drive motor, i.e., the greater the gravity that the specified joint needs to overcome. Since the gravity that the specified joint needs to overcome comes from the weight of the object, it is possible to determine whether the object is overweight by using the current of the drive motor of the specified joint. Furthermore, when the object grasped by the robotic arm is overweight, it will cause instability in the center of gravity of the self-moving cleaning device, resulting in a shift of the self-moving chassis relative to the moving plane. The aforementioned chassis status information refers to the positional relationship between the self-moving chassis and the moving plane. Therefore, based on the chassis status information, it can be determined whether the object is overweight. The method in this embodiment can determine whether the object grasped by the robotic arm is overweight through at least one method, thereby avoiding damage to the robotic arm or the object falling, and improving the operational stability and safety of the self-moving cleaning equipment.

[0083] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application 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 this application, and should all be included within the protection scope of this application.

Claims

An overweight detection method, characterized in that, The method, applicable to a self-propelled cleaning device, the self-propelled cleaning device comprising a robotic arm and a self-propelled chassis, wherein the robotic arm is mounted on the self-propelled chassis, comprises: Control the robotic arm to perform the operation of grasping an object; Acquire current data and / or chassis status information of the self-moving cleaning device; wherein, the current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; and Based on the current data and / or the chassis status information, determine whether the object grasped by the robotic arm is overweight. The method as described in claim 1, characterized in that, The robotic arm includes multiple designated joints. Determining whether the object grasped by the robotic arm is overweight based on the current data and / or the chassis status information includes: If the current of the drive motor of any of the specified joints is greater than the corresponding first current threshold and the duration is greater than the preset time threshold, then it is determined that the object grasped by the robotic arm is overweight. The method as described in claim 1 or 2, characterized in that, The robotic arm includes a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; The designated joint includes the second joint, the third joint, and the fourth joint; A first link connects the second joint and the third joint; A second link connects the third joint and the fourth joint; and A third link connects the fourth joint and the fifth joint. The method as described in claim 1 or 2, characterized in that, The step of determining whether the object grasped by the robotic arm is overweight based on the current data and / or the chassis status information includes: Determine whether there is an angle greater than a predetermined threshold between the self-moving chassis and the moving plane, or whether the change in the angle before and after the object-grabbing operation is greater than the predetermined threshold; and Based on the judgment result, it is determined whether the object grasped by the robotic arm is overweight. The method as described in claim 4, characterized in that, The determination of whether there is an angle greater than a predetermined threshold between the self-moving chassis and the moving plane, or whether the change in the angle before and after the object-grabbing operation is greater than the predetermined threshold, includes: Obtain the roll angle and / or pitch angle of the self-moving chassis, or obtain the changes in the roll angle and / or pitch angle of the self-moving chassis before and after the object-grabbing operation; and Determine whether the roll angle and / or the pitch angle are respectively greater than the corresponding preset angles; or, determine whether the change in roll angle and / or the change in pitch angle are greater than the corresponding predetermined change. The method as described in claim 5, characterized in that, The self-moving chassis is equipped with an inertial measurement unit, which is used to obtain the roll angle and / or pitch angle of the self-moving chassis. The method as described in any one of claims 1-6, characterized in that, The robotic arm includes an end effector gripper with a corresponding opening and closing shaft. A drive motor corresponding to the opening and closing shaft drives the end effector gripper to open or close. The end effector gripper is used to grasp the object. Before acquiring the current data and / or chassis status information of the self-moving cleaning device, the method further includes: Obtain the current of the drive motor corresponding to the opening and closing shaft; and If the current of the drive motor corresponding to the opening and closing shaft is greater than the corresponding second current threshold, it is determined that the end gripper has performed a gripping operation. An overweight detection device, characterized in that, An application to a self-propelled cleaning device, the self-propelled cleaning device comprising a robotic arm and a self-propelled chassis, the robotic arm being mounted on the self-propelled chassis, the device comprising: A grasping module, which controls the robotic arm to perform the operation of grasping an object; The acquisition module is used to acquire current data and / or chassis status information of the self-moving cleaning device; wherein, the current data includes the current of the drive motor of a specified joint of the robotic arm, and the chassis status information is the positional relationship of the self-moving chassis relative to the moving plane; and The determining module is used to determine whether the object grasped by the robotic arm is overweight based on the current data and / or the chassis status information. The apparatus as claimed in claim 8, characterized in that, The robotic arm includes multiple designated joints, and the determining module includes: The first judgment submodule is used to determine that the object grasped by the robotic arm is overweight if the current of the drive motor of any of the specified joints is greater than the corresponding first current threshold and the duration is greater than the preset time threshold. The apparatus as described in claim 8 or 9, characterized in that, The robotic arm includes a first joint, a second joint, a third joint, a fourth joint, and a fifth joint; The designated joint includes the second joint, the third joint, and the fourth joint; A first link connects the second joint and the third joint; A second link connects the third joint and the fourth joint; and A third link connects the fourth joint and the fifth joint. The apparatus as described in claim 8 or 9, characterized in that, The determining module includes: Angle determination submodule, used to determine whether there is an angle greater than a predetermined threshold between the self-moving chassis and the moving plane, or whether the change in the angle before and after the object-grabbing operation is greater than the predetermined threshold; and The second judgment submodule is used to determine whether the object grasped by the robotic arm is overweight based on the judgment result. The apparatus as claimed in claim 11, characterized in that, The included angle determination submodule includes: Angle acquisition unit, wherein the angle acquisition unit is used to acquire the roll angle and / or pitch angle of the self-moving chassis, or to acquire the change in the roll angle and / or pitch angle of the self-moving chassis before and after the object grabbing operation; and The determination unit is used to determine whether the roll angle and / or the pitch angle are respectively greater than the corresponding preset angles; or, to determine whether the change in roll angle and / or the change in pitch angle are greater than the corresponding predetermined change. The apparatus as claimed in claim 12, characterized in that, The self-moving chassis is equipped with an inertial measurement unit, which is used to obtain the roll angle and / or pitch angle of the self-moving chassis. The apparatus as described in any one of claims 8-13, characterized in that, The robotic arm includes an end effector gripper with a corresponding opening and closing shaft. A drive motor corresponding to the opening and closing shaft drives the end effector gripper to open or close. The end effector gripper is used to grasp the object. The device also includes: An opening / closing shaft current acquisition module, used to acquire the current of the drive motor corresponding to the opening / closing shaft; and The gripping judgment module is used to determine that the end gripper has performed a gripping operation if the current of the drive motor corresponding to the opening and closing shaft is greater than the corresponding second current threshold. A self-propelled cleaning device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that... The self-moving cleaning device includes a robotic arm and a self-moving chassis, the robotic arm being mounted on the self-moving chassis, and the processor executing the computer program implementing the method as described in any one of claims 1-7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-7. A computer program product, characterized in that, When the computer program product is run on the self-moving cleaning device, it causes the self-moving cleaning device to perform the method as described in any one of claims 1-7.

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