CN107744371B - Cleaning robot and detection method based on cleaning robot - Google Patents
Cleaning robot and detection method based on cleaning robot Download PDFInfo
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- CN107744371B CN107744371B CN201711057417.1A CN201711057417A CN107744371B CN 107744371 B CN107744371 B CN 107744371B CN 201711057417 A CN201711057417 A CN 201711057417A CN 107744371 B CN107744371 B CN 107744371B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a cleaning robot and a detection method based on the cleaning robot, which can be applied to an application scene for monitoring whether the cleaning robot is carried or not, and can be used for comparing the sizes of a prestored distance and a measured distance in a one-to-one correspondence manner under the condition that the prestored angle is the same as the scanning angle by acquiring effective scanning data of a distance measuring sensor, wherein the prestored distance is smaller than or equal to the distance of the prestored angle pointing to the outer periphery of a robot body, and if the measured distance of at least one scanning point is smaller than the prestored distance, the cleaning robot is controlled to execute emergency actions of stopping rotation of a driving wheel, a middle scanning wheel, an edge brush and the like, so that potential danger is avoided.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning robot and a detection method based on the cleaning robot.
Background
With the development of intelligent science and technology, various types of intelligent household appliances enter the daily life of people, replace manual work for realizing household tasks such as massage, washing clothes, cooking and sweeping, greatly liberate the hands of people and save time. The intelligent cleaning robot can be more and more favored by young people, mainly because the intelligent cleaning robot can realize the functions of obstacle avoidance, cleaning path planning, positioning, map construction, automatic charging and the like through various types of sensors configured by the intelligent cleaning robot, and the intelligent degree is very high.
However, when the intelligent cleaning robot is lifted, since the rotating driving wheels, the middle sweeper, the side brush and other components are still working, potential danger is easily brought if the intelligent cleaning robot is not stopped in time. For example, when the robot is lifted and turned over for observation, the side brushes and the middle brushes throw dust onto the human body or eyes; as another example, a human hand may be caught on a finger when inadvertently contacting the drive wheel, which is very dangerous for the user, especially for babies and children.
Disclosure of Invention
The invention aims to solve the technical problem that when an intelligent cleaning robot is lifted up, emergency measures such as stopping rotation of a driving wheel, a middle broom and a side brush are taken if the intelligent cleaning robot is not timely, so that potential danger is easily brought, and provides a cleaning robot and a detection method based on the cleaning robot.
In order to solve the technical problem, the invention adopts the following technical scheme:
a cleaning robot based detection method, the cleaning robot comprising a robot body and a ranging sensor protruding from the top of the robot body, the method comprising:
obtaining effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances;
comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is correspondingly the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance from the pre-stored angle to the outer periphery of the robot body;
and if the measured distance of at least one scanning point is smaller than the pre-stored distance, controlling the cleaning robot to execute emergency action.
Wherein, the cleaning robot further comprises a ground detection sensor arranged at the bottom of the robot body, and if the measured distance of at least one scanning point is smaller than the pre-stored distance, after the step of controlling the cleaning robot to execute emergency action, the method further comprises: and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is triggered, controlling the cleaning robot to execute a protection action.
Wherein, the cleaning robot further comprises a ground detection sensor arranged at the bottom of the robot body, if the measuring distance of at least one scanning point is smaller than the pre-stored distance, after the step of controlling the cleaning robot to execute the emergency action, the method further comprises: and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
Wherein, ground examines the sensor and includes infrared emission pipe and infrared receiving tube.
Wherein the cleaning robot further comprises an acceleration sensor, and after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot to execute a protection action.
Wherein the cleaning robot further comprises an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot to remove the emergency action.
Wherein the controlling the cleaning robot to perform the emergency action comprises: and controlling a driving wheel of the cleaning robot to stop rotating.
Wherein the controlling the cleaning robot to perform a protective action comprises: and controlling the middle broom of the cleaning robot to stop rotating, and/or controlling the side brush of the cleaning robot to stop rotating.
Wherein the method further comprises: and sending prompt information for representing that the cleaning robot is lifted to a handheld client so that a user can know that the cleaning robot is lifted from the handheld client, wherein the cleaning robot is in wireless communication connection with the handheld client.
In order to solve the technical problem, the invention also adopts the following technical scheme:
a cleaning robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform any of the methods described above.
The cleaning robot and the detection method based on the cleaning robot provided by the embodiment of the invention can be applied to an application scene for monitoring whether the cleaning robot is carried or not, and by acquiring effective scanning data of a distance measuring sensor, the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances, and then comparing the pre-stored distances with the measuring distances in a one-to-one correspondence manner under the condition that the pre-stored angles are corresponding to the same scanning angles, wherein the pre-stored distances are smaller than or equal to the distances from the pre-stored angles to the outer periphery of the robot body, and if the measuring distance of at least one scanning point is smaller than the pre-stored distances, the cleaning robot is controlled to execute emergency actions, so that potential dangers are avoided.
Drawings
In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without inventive efforts.
Fig. 1 is a schematic structural view of a cleaning robot;
FIG. 2 is a schematic diagram of the ranging sensor of FIG. 1;
FIG. 3 is a schematic diagram of the working principle of the distance measuring sensor;
FIG. 4 is a schematic diagram of establishing a polar coordinate system on the cleaning robot;
fig. 5 is a bottom structure view of the cleaning robot shown in fig. 1;
FIG. 6 is a flowchart illustrating steps of a cleaning robot based detection method according to an embodiment of the present invention;
FIG. 7 is a schematic view of an application scenario in which a detection method is used to monitor whether a cleaning robot is lifted;
FIG. 8 is a diagram illustrating a pre-stored angle determined by the included angle of 6 degrees;
FIG. 9 is a schematic view of an application scenario in which a human hand is preparing to lift the cleaning robot;
FIG. 10 is a flowchart illustrating steps of a cleaning robot based inspection method according to another embodiment of the present invention;
FIG. 11 is a flowchart illustrating steps of a cleaning robot based detection method according to another embodiment of the present invention;
fig. 12 is a schematic hardware configuration diagram of a cleaning robot for performing a cleaning robot-based detection method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below clearly with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
An embodiment of the present invention provides a detection method based on a cleaning robot, as shown in fig. 1, fig. 1 is a schematic structural diagram of a cleaning robot 10. The cleaning robot 10 may be a sweeping robot, a mopping robot, or a robot integrating sweeping and mopping functions. The cleaning robot 10 includes a robot body 100 and a distance measuring sensor 200 protruding from a top 101 of the robot body 100. In the embodiment of the present invention, the distance measuring sensor 200 is a laser radar, also called a laser scanning distance meter, and for protection, the top 101 of the robot body 100 may be provided with a protective cover 102, and the protective cover 102 is connected to the top 101 of the robot body 100 through a plurality of support posts. In an alternative embodiment, the distance measuring sensor 200 may also include: the laser receiving tube assembly comprises a rotating part, a laser transmitting tube and a laser receiving tube assembly, wherein the laser transmitting tube and the laser receiving tube assembly are fixedly installed on the rotating part, a laser beam transmitted by the laser transmitting tube is received by the laser receiving tube after being reflected by an object, the measuring distance between the laser transmitting tube and the laser receiving tube assembly and the object can be calculated by utilizing a Time Of Flight (TOF) distance measuring method, and in addition, the scanning angle at the moment Of transmitting the laser beam is obtained according to the rotating angle Of the rotating part. The following description will be made by taking the distance measuring sensor 200 as a lidar.
As shown in fig. 2 and 3, fig. 2 is a schematic structural diagram of the distance measuring sensor 200 in fig. 1, and fig. 3 is a schematic functional diagram of the distance measuring sensor 200.
The distance measuring sensor 200 includes a mounting base 211, a motor 212 fixed on the mounting base 211, and a rotating part 213 rotatably provided on the mounting base 211, wherein the motor 212 rotates the rotating part 213 via a transmission member such as an elastic belt 212a, a toothed belt, or the like. A spot laser transmitter 214 and a camera 215 are fixed in the rotating portion 213. In practical applications, once the rotating portion 213 is set, the positions of the point-shaped laser transmitter 214 and the camera 215 are also fixed, so that the direction of the laser ray 214a emitted by the point-shaped laser transmitter 214 forms a fixed angle α with the optical axis 215a of the camera 215. In the embodiment of the present invention, a triangulation method in the prior art is adopted to measure the measurement distance d between the point-like laser transmitter 214 and the object OB to be measured, and the triangulation method is briefly introduced: laser rays 214a emitted by the point-shaped laser emitter 214 are incident on the surface of the object OB to be measured, the camera 215 receives scattered light rays 214b from a scanning point on the surface of the object OB to be measured, the scattered light rays 214b pass through a lens 2151 of the camera 215 and then are imaged on a photosensitive element 2152 of the camera 215, the distance from an imaging light spot of the scattered light rays 214b on the photosensitive element 2152 to one side edge of an effective imaging area on the photosensitive element 2152 is x, and the x can be obtained by searching in the photosensitive element 2152 and calculating pixel coordinates of the central position of the imaging light spot, and details are not repeated here. And calculating the value of the measuring distance d according to the position relation of the triangulation method and the following formula:
formula (1) =fs/x;
formula (2) = q/sin (β);
wherein β is equal to 90 ° - α; s is the distance between the point laser transmitter 214 and the center point of the lens 2151; f is the focal length of the camera 215.
When the rotating part 213 rotates at the adjustable frequency, the range sensor 200 can perform 360 ° omni-directional scanning of the surrounding environment, and the effective scanning data of the range sensor 200 can include the measured distance d of the scanning point OB1 projected on the object OB and the scanning angle corresponding to the measured distance d, with respect to the polar coordinate system established on the cleaning robot 10 as shown in fig. 4, which has the range sensor 200 as a pole in fig. 4, can define the right-side direction of the cleaning robot 10 as the 0 ° (360 °) polar axis, and has the counterclockwise direction as a positive angle. At a certain time, the cleaning robot 10 is in the posture (position and posture) as shown in fig. 4, and the range sensor 200 is at the scanning angle
Emits a laser ray 214a and impinges on a scanning spot OB1 on the object OB, the measured distance d corresponding to a scanning angle of
It should be noted that, since the scan data of the range sensor 200 may include invalid scan data that generates a scan point on the support due to the laser beam being projected thereon, the scan data of the range sensor 200 may be referred to as valid scan data of the range sensor 200 after the invalid scan data of the range sensor 200 is removed. If the ranging sensor 200 does not generate invalid scan data, the valid scan data of the ranging sensor 200 may be scan data of the ranging sensor 200.
Fig. 5 is a schematic bottom structure view of the cleaning robot 10 shown in fig. 1, and as shown in fig. 5, the robot body 100 may include a chassis 110 and an upper cover 120, the upper cover 120 being detachably mounted on the chassis 110 to protect various functional components inside the cleaning robot 10 from being damaged by violent impacts or unintentionally dropped liquid during use; the chassis 110 and/or the upper cover 120 are used to carry and support various functional components. In an alternative embodiment, the robot body 100 may also have other design configurations, for example, the robot body 100 is an integrally molded structure or a structure separately arranged from left to right, and the material, shape, structure, etc. of the robot body 100 are not limited in the embodiment of the present invention.
The robot body 100 includes a drive system connected to the chassis 110 and configured to drive the cleaning robot 10 to move over the floor, e.g., the cleaning robot 10 may be designed to autonomously plan a path over the floor or may be designed to move over the floor in response to remote control commands. In the embodiment of the present invention, the driving system includes two driving wheels 130, at least one universal wheel 140, and a motor for driving the driving wheels 130 to rotate, the driving wheels 130 and the universal wheel 140 at least partially protrude out of the bottom of the chassis 110, for example, under the self weight of the cleaning robot 10, the two driving wheels 130 can be partially hidden in the chassis 110. In an alternative embodiment, the drive system may further include any one of a track triangle wheel, a Mecanum wheel, or the like.
The robot body 100 may further include a cleaning system, for example, the cleaning system includes one or both of a middle brush 150 and a middle brush (the middle brush and/or the middle brush may be collectively referred to as a middle brush), the middle brush 150 and the middle brush are suitable for being disposed in a receiving groove formed at the bottom of the chassis 110, and a dust suction opening is formed in the receiving groove and is communicated with the dust collecting box 160 and a dust suction fan, so that when the middle brush 150 rotates, the dust and garbage on the ground are stirred up, and the dust and garbage are sucked into the dust collecting box 160 from the dust suction opening by a suction force generated by the dust suction fan. Besides the middle sweeping brush 150 and/or the middle sweeping glue brush, the robot body 100 may further include an edge brush 170, and a sweeping coverage area of the edge brush 170 extends out of an outer contour range of the robot body 100, which is beneficial to effectively sweeping wall edges, corners and obstacle edges.
The robot body 100 may further include a floor mopping system, for example, the floor mopping system includes a water storage tank, a cleaning cloth, etc., and the water storage tank and the dust box 160 may be separately provided or may be integrally designed. In an alternative embodiment, the water in the water storage tank is sucked by the suction pump and evenly sprinkled on the cloth, and the wetted cloth wipes the floor as the cleaning robot 10 moves over the floor. In an optional embodiment, the water in the water storage tank is atomized by the atomizer to form water mist and sprayed to the ground, and then the cleaning cloth wipes the ground sprayed by the water mist.
Fig. 6 is a flowchart illustrating a detection method based on a cleaning robot according to an embodiment of the present invention, and as shown in fig. 6, the detection method includes steps S10, S20, and S30. Fig. 7 is a schematic view of an application scenario in which the detection method is applied to monitor whether the cleaning robot 10 is lifted. In the application scenario diagram shown in fig. 7, when the cleaning robot 10 is ready to be lifted, a human hand (e.g., a thumb) falls directly above the top 101 of the robot body 100 until the human hand contacts the top 101 of the robot body 100, and the distance measuring sensor 200 projects a laser ray 710 onto the human hand located directly above the top 101 of the robot body 100 by scanning, so as to form at least one scanning point 711 on the human hand.
The step S10 includes: and acquiring effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises the measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances.
In the embodiment of the present invention, the effective scanning data of the range sensor 200 includes the measured distances of the plurality of scanning points and the scanning angles corresponding to the measured distances, that is, at least two data of the measured distances and the scanning angles corresponding to the measured distances are associated with each scanning point.
The range sensor 200 may scan in small angular increments, for example, 360 ° omni-directional scanning of the surrounding environment in 1 ° angular increments, that is, 360 scanning points can be projected by one rotation of the range sensor 200; as another example, a 360 ° omni-directional scan of the surrounding environment is performed in 2 ° angular increments, that is, a rotation of the range sensor 200 can project 180 scan points. Of course, the ranging sensor 200 with different specification parameters and performances may be selected according to actual needs, for example, the maximum scanning angle of the ranging sensor 200 may be 90 °, 180 °, 270 °, 360 °, etc., the angle increment of the ranging sensor 200 may be 0.5 °, 1 °, 2 °, 3 °, etc., and the sampling frequency of the ranging sensor 200 may be 1000samples/s, 2000samples/s, etc.
The step S20 includes: and comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance of the pre-stored angle pointing to the outer periphery of the robot body.
Step S30 includes: and if the measured distance of at least one scanning point is less than the pre-stored distance, controlling the cleaning robot to execute an emergency action.
In the embodiment of the present invention, a radial range directly above the top 101 of the robot body 100, which is approximately defined by the outer periphery of the robot body 100, is determined, in order to determine whether a hand is located directly above the top 101 of the robot body 100, a plurality of pre-stored angles required according to practical applications are determined, and then a pre-stored distance corresponding to each pre-stored angle is obtained, where the pre-stored distance is equal to or slightly less than a distance in which the corresponding pre-stored angle points to the outer periphery of the robot body 100. For example, the pre-stored distance is less than 0 to 20mm of the distance of the corresponding pre-stored angle pointing to the outer peripheral edge direction of the robot body 100. The pre-stored distance is equal to the distance from the corresponding pre-stored angle to the outer peripheral edge of the robot body 100.
How to obtain the angle of prestoring and its corresponding distance of prestoring, can surround the baffle along the outer periphery of robot 100 for the scanning point that range sensor 200 throws falls on the surface of baffle, thereby can read the measuring distance of a plurality of scanning points of range sensor 200 and the scanning angle that corresponds with this measuring distance, confirm required angle of prestoring and the distance of prestoring from the scanning angle of a plurality of scanning points of reading and measuring distance, store angle of prestoring and the distance of prestoring.
It should be noted that the number of the obtained pre-stored angles and pre-stored distances is not limited to be the same as the number of the scanning points that can be projected when the distance measuring sensor 200 rotates once, for example, 180 scanning points can be projected by using the distance measuring sensor 200 that can perform 360 ° omnidirectional scanning on the surrounding environment with 2 ° angular increments; however, according to the practical requirement, as shown in fig. 8, a plurality of pre-stored angles may be determined at an included angle of 6 ° apart, and then the pre-stored distance corresponding to each pre-stored angle is obtained, based on which, 60 pre-stored angles and their corresponding pre-stored distances may be obtained.
Taking the pre-stored angle of 30 ° and the pre-stored distance of 10cm as an example, as shown in fig. 8, when a human hand (e.g., thumb) falls on the top 101 of the robot body 100 and blocks the laser beam with the scanning angle of 30 °, an application scenario ready to lift the cleaning robot 10 is formed as shown in fig. 9. Under the condition that the pre-stored angle and the scanning angle are both 30 degrees, comparing the pre-stored distance with the measured distance d1, obviously, the measured distance d1 is less than 10cm, so as to judge whether the cleaning robot 10 is ready to be carried up, and thus, the cleaning robot 10 is controlled to execute an emergency action, wherein the emergency action comprises stopping rotation of a driving wheel, and can also comprise stopping rotation of a middle sweeping wheel and/or stopping rotation of a side brush.
As can be seen from the general knowledge of life, when a hand (for example, a thumb) of a person falls directly above the top 101 of the robot body 100, the left hand or the right hand of the person can block laser beams at a plurality of adjacent scanning angles, and based on this, in order to avoid erroneous judgment caused by hair, debris, etc. falling on the top 101 of the robot body 100, and to prevent the cleaning robot 10 from performing an emergency operation, the measurement distances of a plurality of adjacent scanning points and the prestored distances can be compared in a one-to-one correspondence manner, and if the measurement distances of the plurality of scanning points are all smaller than the corresponding prestored distances, it is determined that the cleaning robot 10 is ready to be carried, and the cleaning robot 10 is controlled to perform the emergency operation.
In an alternative embodiment, in order to determine whether the cleaning robot 10 has been lifted, a floor detection sensor disposed at the bottom of the robot body 100 may be used, and specifically, fig. 10 is a flowchart of a detection method based on a cleaning robot according to another embodiment of the present invention, and the flowchart of fig. 10 is formed by adding step S40 after step S30 in fig. 6.
Step S40 includes: and judging whether the ground detection sensor is triggered within a first preset time length, and controlling the cleaning robot 10 to execute a protection action if the ground detection sensor is triggered. The first preset time period may be set to a very short time period, such as 0.1s, 0.2s, 2s, 3s, etc.; in the embodiment of the present invention, the ground detection sensor includes an infrared transmitting tube and an infrared receiving tube which are cooperatively operated in pairs, and when the cleaning robot 10 has been lifted, a distance between the infrared transmitting tube and the infrared receiving tube and the ground becomes large, so that a signal output from the infrared receiving tube is changed, which is used as a trigger condition. The protection actions include: the middle brush stops rotating and/or the side brush stops rotating.
In an alternative embodiment, in order to determine whether the cleaning robot 10 has been carried up, an acceleration sensor provided in the robot body 100 may be used, and based on this, step S40 may be replaced with: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot 10 to execute a protection action. The second preset time period may be set to a shorter time period, for example, 0.1s, 0.2s, 2s, 3s, etc.; in the embodiment of the present invention, when there is an acceleration process at the moment the cleaning robot 10 is lifted, a jump occurs in the Z-axis acceleration value of the acceleration sensor.
The cleaning robot 10 mentioned above having been carried up may include: a case where the driving wheels of the cleaning robot 10 are completely lifted off the ground, a case where the distance of the bottom of the robot body 100 from the ground is increased but the driving wheels are not lifted off the ground, and the like.
In the embodiment of the present invention, when it is monitored that the cleaning robot 10 is ready to be lifted or has been lifted, a prompt message indicating that the cleaning robot 10 is lifted may be sent to a handheld client, where the handheld client includes but is not limited to a smart phone, a tablet computer, a notebook computer, a desktop computer, a remote controller, and the like, and the handheld client may be installed with corresponding application software, so that a user can know that the cleaning robot 10 is lifted from the handheld client, where the cleaning robot 10 is in wireless communication connection with the handheld client.
The detection method based on the cleaning robot provided by the embodiment of the invention can be applied to an application scene of monitoring whether the cleaning robot 10 is carried or not, by acquiring effective scanning data of the ranging sensor 200, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances, and then comparing the pre-stored distances with the measuring distances in a one-to-one correspondence manner under the condition that the pre-stored angles are corresponding to the same scanning angles, wherein the pre-stored distances are smaller than or equal to the distances of the pre-stored angles pointing to the outer periphery of the robot body 100, and if the measuring distance of at least one scanning point is smaller than the pre-stored distances, controlling the cleaning robot 10 to execute emergency actions to avoid potential dangers.
Fig. 11 is a flowchart illustrating a detection method based on a cleaning robot according to another embodiment of the present invention, and as shown in fig. 11, the detection method includes steps S610, S620, S630, and S640.
Step S610 includes: and acquiring effective scanning data of the ranging sensor, wherein the effective scanning data comprises the measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances.
Step S620 includes: and comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance of the pre-stored angle pointing to the outer periphery of the robot body.
Step S630 includes: and if the measured distance of at least one scanning point is less than the pre-stored distance, controlling the cleaning robot to execute an emergency action.
In the embodiment of the present invention, the explanation of step S610, step S620, and step S630 may refer to the explanation of step S10, step S20, and step S30, respectively, which is not repeated herein.
Step S640 includes: and judging whether the ground detection sensor is triggered within a first preset time period, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
The case where the ground detection sensor is not triggered may be the encounter of other practical application scenarios including, but not limited to: 1) The cleaning robot 10 drills under the floor curtain causing the floor curtain to fall on the top 101 of the robot body 100; 2) Objects with a slightly larger volume, such as a water cup, a toy and the like, are placed on the top 101 of the robot body 100. The emergency operation of controlling the cleaning robot 10 is to control the driving wheels of the cleaning robot 10 to rotate again.
In an alternative embodiment, in order to determine whether the cleaning robot 10 encounters other application scenarios similar to those described above, an acceleration sensor provided in the robot body 100 may be used, and based on this, step S640 is replaced by: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot 10 to remove the emergency action.
Fig. 12 is a schematic hardware structure diagram of a cleaning robot for performing the detection method in the above embodiment according to an embodiment of the present invention. As shown in fig. 12, the cleaning robot 10 includes:
at least one processor 810; and (c) a second step of,
a memory 820 communicatively coupled to the at least one processor; wherein,
the memory 820 stores instructions executable by the at least one processor 810 to enable the at least one processor 810 to perform any of the detection methods described above when executed by the at least one processor 810.
The processor 810 and the memory 820 may be connected by a bus or other means.
The memory 820 is a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer executable program, and program instructions corresponding to the detection method in the embodiment of the present invention. The processor 810 executes various functional applications of the cleaning robot 10 and data processing, i.e., implements the detection method in the above-described method embodiments, by executing nonvolatile software programs, instructions, stored in the memory 820.
The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. A detection method based on a cleaning robot, wherein the cleaning robot comprises a robot body and a distance measuring sensor protruding out of the top of the robot body, and the method comprises the following steps:
obtaining effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances;
comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is correspondingly the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance from the pre-stored angle to the outer periphery of the robot body, and the pre-stored angle has the corresponding pre-stored distance;
and if the measured distance of at least one scanning point is smaller than the pre-stored distance, controlling the cleaning robot to execute an emergency action.
2. The method of claim 1, wherein the cleaning robot further comprises a ground detection sensor disposed at a bottom of the robot body, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises:
and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is triggered, controlling the cleaning robot to execute a protection action.
3. The method of claim 1, wherein the cleaning robot further comprises a ground detection sensor disposed at a bottom of the robot body, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises:
and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
4. The method of claim 2 or 3, wherein the ground detection sensor comprises an infrared emitting tube and an infrared receiving tube.
5. The method of claim 1, the cleaning robot further comprising an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scan point is less than the pre-stored distance, the method further comprises:
and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot to execute a protection action.
6. The method of claim 1, the cleaning robot further comprising an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scan point is less than the pre-stored distance, the method further comprises:
and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot to remove the emergency action.
7. The method of any of claims 1-3, 5, 6, wherein the controlling the cleaning robot to perform a contingent action comprises: and controlling a driving wheel of the cleaning robot to stop rotating.
8. The method of claim 2 or 5, wherein the controlling the cleaning robot to perform a protective action comprises: and controlling the middle broom of the cleaning robot to stop rotating, and/or controlling the side brush of the cleaning robot to stop rotating.
9. The method according to claim 2 or 5, characterized in that the method further comprises:
and sending prompt information representing that the cleaning robot is lifted to a handheld client so that a user can know that the cleaning robot is lifted from the handheld client, wherein the cleaning robot is in wireless communication connection with the handheld client.
10. A cleaning robot, characterized by comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of any one of claims 1-9.
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| CN108994810A (en) * | 2018-07-26 | 2018-12-14 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven chassis convenient for heat dissipation |
| GB2582955B (en) * | 2019-04-10 | 2023-02-08 | Jotun As | Monitoring module |
| CN109991588A (en) * | 2019-04-29 | 2019-07-09 | 北京握奇数据股份有限公司 | A kind of laser radar scanning device |
| JP7231503B2 (en) | 2019-06-28 | 2023-03-01 | 株式会社マキタ | Optical sensor and robot dust collector |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
| GB2591511B (en) * | 2020-01-31 | 2022-06-15 | Dyson Technology Ltd | A cleaner head for a vacuum cleaner |
| CN112021998B (en) * | 2020-07-20 | 2023-08-29 | 科沃斯机器人股份有限公司 | Data processing method, measurement system, autonomous mobile device and cleaning robot |
| CN112234932B (en) * | 2020-09-21 | 2022-04-29 | 苏州鼎威新能源有限公司 | Control method and device for photovoltaic cleaning equipment and storage medium |
| CN118356120B (en) * | 2024-06-19 | 2024-09-24 | 追觅创新科技(苏州)有限公司 | Control method of cleaning robot |
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