CN105982624B

CN105982624B - Anti-jamming processing method and device for automatic cleaning equipment and automatic cleaning equipment

Info

Publication number: CN105982624B
Application number: CN201511021502.3A
Authority: CN
Inventors: 彭松; 温长江; 何扬; 夏勇峰
Original assignee: Xiaomi Inc; Beijing Rockrobo Technology Co Ltd
Current assignee: Xiaomi Inc; Beijing Rockrobo Technology Co Ltd
Priority date: 2015-12-30
Filing date: 2015-12-30
Publication date: 2019-04-16
Anticipated expiration: 2035-12-30
Also published as: CN105982624A

Abstract

The disclosure relates to an anti-jamming processing method and device for automatic cleaning equipment and the automatic cleaning equipment, wherein a bulge structure with a preset function is arranged at the top of the automatic cleaning equipment; the method comprises the following steps: acquiring the body posture of the automatic cleaning equipment in a working mode; judging whether the automatic cleaning equipment is hindered by the advance of an upper obstacle according to whether the machine body posture is that the automatic cleaning equipment is in a machine body inclined state; executing a predefined anti-jamming process flow when it is determined that the robotic cleaning device is obstructed from traveling by the overhead obstacle. Through the technical scheme, the posture of the automatic cleaning equipment can be accurately identified, so that the risk that the automatic cleaning equipment is stuck can be timely found and eliminated.

Description

The anti-jamming processing method and processing device of automatic cleaning equipment, automatic cleaning equipment

Technical field

This disclosure relates to the anti-jamming processing method of automated cleaning technical field more particularly to a kind of automatic cleaning equipment and Device, automatic cleaning equipment.

Background technique

The automatic cleaning equipments such as sweeping robot, floor-mopping robot have been widely used in the daily life of people In work, it is more convenient to bring to people's lives.

However, automatic cleaning equipment is during the work time, especially for the lesser family of the terrain clearances such as sofa, cabinet The height of tool, bottom gap and automatic cleaning equipment is often not much different, and all in 10cm or so, leads to automatic cleaning equipment very It may be stuck in furniture bottom, be unable to complete successfully cleaning works, it is also possible to be difficult to be found by user.

Summary of the invention

The disclosure provides a kind of anti-jamming processing method and processing device of automatic cleaning equipment, automatic cleaning equipment, to solve Deficiency in the related technology.

According to the first aspect of the embodiments of the present disclosure, a kind of anti-jamming processing method of automatic cleaning equipment is provided, it is described The top of automatic cleaning equipment is equipped with the bulge-structure of preset function；The described method includes:

Obtain the fuselage posture of automatic cleaning equipment in the operational mode；

Whether it is that the automatic cleaning equipment is in fuselage heeling condition according to the fuselage posture, judges described automatic clear Clean equipment whether by top barrier traveling hinder；

When determining that traveling of the automatic cleaning equipment by the top barrier hinders, execute predefined anti-sticking Dead process flow.

It is optionally, described to obtain the fuselage posture of automatic cleaning equipment in the operational mode, comprising:

Acquire component of acceleration of the automatic cleaning equipment on the direction of travel for being parallel to fuselage plane；

Wherein, when the increasing degree of the component of acceleration within a preset period of time reaches predetermined acceleration change rate, Determine that the automatic cleaning equipment is in fuselage heeling condition.

The automatic cleaning equipment is acquired in the rotation for being parallel to fuselage plane and on the direction vertical with fuselage direction of travel Tarnsition velocity component；

Wherein, when the instantaneous rate of change of the angular velocity of rotation component reaches default rate of change of angular, described in judgement Automatic cleaning equipment is in fuselage heeling condition.

Optionally, whether described according to the fuselage posture is that the automatic cleaning equipment is in fuselage heeling condition, is sentenced The automatic cleaning equipment that breaks whether by top barrier traveling hinder, comprising:

Obtain the running current of the running part of the automatic cleaning equipment；

When the automatic cleaning equipment is in fuselage heeling condition, if the running current is less than locked rotor current The incrementss of pre-set current value or the running current reach default incrementss, then determine the automatic cleaning equipment by The traveling of the top barrier hinders.

Obtain the walking states of the running part of the automatic cleaning equipment；

When the automatic cleaning equipment is in fuselage heeling condition, if the walking states do not meet it is predefined normal Walking states then determine that the automatic cleaning equipment is hindered by the traveling of the top barrier.

Optionally, the walking states of the running part for obtaining the automatic cleaning equipment, comprising:

The automatic cleaning equipment is obtained respectively within a preset period of time in the acceleration being parallel on fuselage direction of travel The wheel mileage that component and the running part include counts；

Wherein, when the quadratic integral value of the component of acceleration and the wheel mileage are counted in the preset time period When inside persistently reaching preset difference value, determine that the walking states do not meet the normal walking state.

Obtain respectively the automatic cleaning equipment with the momentary rotational angle velocity component in fuselage vertical direction, Yi Jisuo The corresponding wheel mileage of pair of wheels that running part includes is stated to count；

Wherein, when the calculated automatic cleaning equipment of the momentary rotational angle velocity component is around the vertical direction It rotates the wheel mileage corresponding with the pair of wheel and counts the calculated rotation around the vertical direction not When consistent, determine that the walking states do not meet the normal walking state.

Optionally, described when determining that traveling of the automatic cleaning equipment by the top barrier hinders, it executes Predefined anti-jamming process flow, comprising:

When the running current is not up to predefined locked rotor current or the running current is not up to the stall electricity The stream and difference between the locked rotor current is when reaching preset difference value, executes and cleans behaviour to the bottom of the top barrier Make.

When the running current reaches predefined locked rotor current or the running current is not up to the locked rotor current And the difference between the locked rotor current be less than preset difference value when, control the automatic cleaning equipment and exit the top obstacle The bottom of object.

Obtain the bottom surface structure feature of the top barrier；

When the bottom surface structure feature meets default feature, the bottom clean operation to the top barrier is executed, Otherwise the bottom that the automatic cleaning equipment exits the top barrier is controlled.

Optionally, the bottom structure feature for obtaining the top barrier, comprising:

Obtain at least one of base area and the flatness of the top barrier；

Wherein, when the base area is not up to preset area or flatness reaches preset planeness, described in judgement Bottom surface structure feature meets the default feature.

Obtain the distance between the sampled point of the bottom surface intermediate region of the automatic cleaning equipment and the top barrier Data；

Wherein, it is determined at the sampled point when according to the tilt angle of the range data and the automatic cleaning equipment Floor height when reaching preset height, determine that the bottom surface structure feature meets the default feature.

Optionally, described when determining that traveling of the automatic cleaning equipment by the top barrier hinders, it executes Predefined anti-jamming process flow, further includes:

When determining that needing to control the automatic cleaning equipment exits the bottom of the top barrier, to the institute identified It states top barrier to be marked, to cancel the clean operation to top barrier corresponding region.

Optionally, the bulge-structure of the preset function includes: laser ranging system.

Optionally, the top sides edge of the bulge-structure of the preset function is flat bevel edge or round edge.

According to the second aspect of an embodiment of the present disclosure, a kind of anti-jamming processing unit of automatic cleaning equipment is provided, it is described The top of automatic cleaning equipment is equipped with the bulge-structure of preset function；Described device includes:

Acquiring unit obtains the fuselage posture of automatic cleaning equipment in the operational mode；

Whether judging unit is that the automatic cleaning equipment is in fuselage heeling condition according to the fuselage posture, judgement The automatic cleaning equipment whether by top barrier traveling hinder；

Execution unit executes pre- when determining that traveling of the automatic cleaning equipment by the top barrier hinders The anti-jamming process flow of definition.

Optionally, the acquiring unit includes:

First acquisition subelement, acquires acceleration of the automatic cleaning equipment on the direction of travel for being parallel to fuselage plane Spend component；

Wherein, when the increasing degree of the component of acceleration within a preset period of time reaches predetermined acceleration change rate, The judging unit determines that the automatic cleaning equipment is in fuselage heeling condition.

Optionally, the acquiring unit includes:

Second acquisition subelement acquires the automatic cleaning equipment and is being parallel to fuselage plane and is hanging down with fuselage direction of travel Angular velocity of rotation component on straight direction；

Optionally, the judging unit includes:

First electric current obtains subelement, obtains the running current of the running part of the automatic cleaning equipment；

First judgment sub-unit, when the automatic cleaning equipment is in fuselage heeling condition, if the running current reaches Incrementss to the pre-set current value or the running current that are less than locked rotor current reach default incrementss, then described in judgement Automatic cleaning equipment is hindered by the traveling of the top barrier.

Optionally, the judging unit includes:

State obtains subelement, obtains the walking states of the running part of the automatic cleaning equipment；

Second judgment sub-unit, when the automatic cleaning equipment is in fuselage heeling condition, if the walking states are not Meet predefined normal walking state, then determines that the automatic cleaning equipment is hindered by the traveling of the top barrier.

Optionally, the state acquisition subelement includes:

First obtains module, obtains the automatic cleaning equipment respectively and is being parallel to fuselage traveling side within a preset period of time The wheel mileage that upward component of acceleration and the running part include counts；

Wherein, when the quadratic integral value of the component of acceleration and the wheel mileage are counted in the preset time period When inside persistently reaching preset difference value, second judgment sub-unit determines that the walking states do not meet the normal walking shape State.

Optionally, the state acquisition subelement includes:

Second obtains module, obtains the automatic cleaning equipment respectively fast with the momentary rotational angle in fuselage vertical direction The corresponding wheel mileage of pair of wheels that degree component and the running part include counts；

Wherein, when the calculated automatic cleaning equipment of the momentary rotational angle velocity component is around the vertical direction It rotates the wheel mileage corresponding with the pair of wheel and counts the calculated rotation around the vertical direction not When consistent, second judgment sub-unit determines that the walking states do not meet the normal walking state.

Optionally, the execution unit includes:

Second electric current obtains subelement, obtains the running current of the running part of the automatic cleaning equipment；

First executes subelement, when the running current is not up to predefined locked rotor current or the running current The not up to described locked rotor current and when the difference between the locked rotor current reaches preset difference value, executes to the top obstacle The bottom clean operation of object.

Optionally, the execution unit includes:

Third electric current obtains subelement, obtains the running current of the running part of the automatic cleaning equipment；

Second executes subelement, when the running current reaches predefined locked rotor current or the running current not When reaching the locked rotor current and the difference between the locked rotor current less than preset difference value, the automatic cleaning equipment is controlled Exit the bottom of the top barrier.

Optionally, the execution unit includes:

Feature obtains subelement, obtains the bottom surface structure feature of the top barrier；

Third executes subelement, when the bottom surface structure feature meets default feature, executes to the top barrier Bottom clean operation, otherwise control the bottom that the automatic cleaning equipment exits the top barrier.

Optionally, the feature acquisition subelement includes:

Feature obtains module, obtains at least one of base area and flatness of the top barrier；

Wherein, when the base area is not up to preset area or flatness reaches preset planeness, described second It executes subelement and determines that the bottom surface structure feature meets the default feature.

Optionally, the feature acquisition subelement includes:

Distance obtains module, obtains the sampling of the bottom surface intermediate region of the automatic cleaning equipment and the top barrier The distance between point data；

Wherein, it is determined at the sampled point when according to the tilt angle of the range data and the automatic cleaning equipment Floor height when reaching preset height, the second execution subelement determines that the bottom surface structure feature meets the default spy Sign.

Optionally, the execution unit further include:

Subelement is marked, when determining that needing to control the automatic cleaning equipment exits the bottom of the top barrier, The top barrier identified is marked, to cancel the clean operation to top barrier corresponding region.

According to the third aspect of an embodiment of the present disclosure, a kind of automatic cleaning equipment, the top of the automatic cleaning equipment are provided Portion is equipped with the bulge-structure of preset function；The automatic cleaning equipment further include:

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to:

The technical scheme provided by this disclosed embodiment can include the following benefits:

As can be seen from the above embodiments, the disclosure, can be according to the machine by identifying the fuselage posture of automatic cleaning equipment The traveling that figure state accurate judgement and discovery automatic cleaning equipment may be met with hinders and stuck risk, thus by releasing in time The risk that automatic cleaning equipment is stuck, it is ensured that the smooth execution of automated cleaning operation.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure Example, and together with specification for explaining the principles of this disclosure.

Fig. 1-3 is a kind of structural schematic diagram of automatic cleaning equipment shown according to an exemplary embodiment.

Fig. 4 is a kind of process of the anti-jamming processing method of automatic cleaning equipment shown according to an exemplary embodiment Figure.

Fig. 5 A-5E is a kind of automatic cleaning equipment shown according to an exemplary embodiment above under the action of barrier The inclined schematic diagram of fuselage occurs.

Fig. 6 is shown according to an exemplary embodiment a kind of to judge whether automatic cleaning equipment is in fuselage heeling condition Flow chart.

Fig. 7 is that a kind of automatic cleaning equipment shown according to an exemplary embodiment is inclined by the way that fuselage occurs when step ground Oblique schematic diagram.

Fig. 8 is the stream that a kind of judgement automatic cleaning equipment shown according to an exemplary embodiment whether there is stuck risk Cheng Tu.

Fig. 9 is that another kind shown according to an exemplary embodiment judges automatic cleaning equipment with the presence or absence of stuck risk Flow chart.

Figure 10 be it is shown according to an exemplary embodiment another judge automatic cleaning equipment with the presence or absence of stuck risk Flow chart.

Figure 11 is a kind of signal of the anti-jamming process flow of automatic cleaning equipment shown according to an exemplary embodiment Figure.

Figure 12 is that a kind of automatic cleaning equipment shown according to an exemplary embodiment is executed under fuselage heeling condition and swept Retouch the schematic diagram of operation.

Figure 13-25 is a kind of frame of the anti-jamming processing unit of automatic cleaning equipment shown according to an exemplary embodiment Figure.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.

Fig. 1-3 is a kind of structural schematic diagram of automatic cleaning equipment shown according to an exemplary embodiment, such as Fig. 1-3 institute Show, automatic cleaning equipment 100 can be the intelligent robots such as sweeping robot, floor-mopping robot, which can To include machine body 110, sensory perceptual system 120, control system 130, drive system 140, cleaning systems 150, energy resource system 160 With man-machine interactive system 170.Wherein:

Machine body 110 includes forward portion 111 and backward part 112, and having approximate circular shape, (front and back is all round Shape), there can also be other shapes, the approximate D-shape of circle including but not limited to behind front.

Sensory perceptual system 120 includes positioned at the position determining means 121 of 110 top of machine body, positioned at machine body 110 The buffer 122 of forward portion 111, steep cliff sensor 123 and ultrasonic sensor (not shown), infrared sensor are (in figure Be not shown), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), odometer (figure In be not shown) etc. sensing devices, to control system 130 provide machine various positions information and movement state information.Position is true Determining device 121 includes but is not limited to camera, laser ranging system (LDS).Below with the laser ranging system of triangle telemetry For illustrate how carry out position determine.The basic principle of triangle telemetry is based on the equal than relationship of similar triangles, herein not It repeats.

Laser ranging system includes luminescence unit and light receiving unit.Luminescence unit may include the light source for emitting light, light source It may include light-emitting component, such as the infrared or luminous ray light emitting diode (LED) of transmitting infrared light or luminous ray.It is excellent Selection of land, light source can be the light-emitting component of transmitting laser beam.In the present embodiment, the example by laser diode (LD) as light source Son.Specifically, due to the monochrome of laser beam, orientation and collimation property, use the light source of laser beam can make measurement compared to Other light are more accurate.For example, the infrared light or luminous ray of light emitting diode (LED) transmitting are by week compared to laser beam Such environmental effects (such as color or texture of object) is enclosed, and may be decreased in measurement accuracy.Laser diode (LD) it can be dot laser, measure the two-dimensional position information of barrier, be also possible to line laser, measure the certain model of barrier Enclose interior three dimensional local information.

Light receiving unit may include imaging sensor, and the light for being reflected by barrier or being scattered is formed on the imaging sensor Point.Imaging sensor can be the set of single or plurality of rows of multiple unit pixels.These light receiving elements can be by optical signal Be converted to electric signal.Imaging sensor can be complementary metal oxide semiconductor (CMOS) sensor or charge coupled cell (CCD) sensor, since the advantage in cost is preferably complementary metal oxide semiconductor (CMOS) sensor.Moreover, light Unit may include sensitive lens component.The light for being reflected by barrier or being scattered can advance via sensitive lens component to scheme As forming image on sensor.Sensitive lens component may include single or multiple lens.

Base portion can support luminescence unit and light receiving unit, and luminescence unit and light receiving unit are arranged on base portion and to each other Every a specific range.In order to measure the barrier situation around automatic cleaning equipment on 360 ° of directions, base portion can be made rotatable Ground is arranged in main body 110, can not also be rotated with base portion itself and be made to emit light by the way that rotating element is arranged, receives light Rotation.The angular velocity of rotation of rotating element can be obtained by setting optic coupling element and code-disc, and optic coupling element incudes on code-disc Tooth lacks, by tooth lack spacing slip over time and tooth lack between distance value be divided by instantaneous angular velocity can be obtained.What tooth lacked on code-disc is close Degree is bigger, and the accuracy rate and precision of measurement are also just corresponding higher but just more accurate in structure, and calculation amount is also higher；Conversely, The scarce density of tooth is smaller, and the accuracy rate and precision of measurement are accordingly also lower, but can be relatively easy in structure, calculation amount It is smaller, some costs can be reduced.

The data processing equipment connecting with light receiving unit, such as DSP, will be relative to the institute on 0 ° of angular direction of automatic cleaning equipment The obstacle distance value at angled place records and sends to the data processing unit in control system 130, such as comprising the application of CPU Processor (AP), location algorithm of the CPU operation based on particle filter obtain the current location of automatic cleaning equipment, and according to this position Drawing is set, is used for navigation.It is preferable to use instant positioning and map structuring (SLAM) for location algorithm.

Although the laser ranging system based on triangle telemetry can measure the infinity other than certain distance in principle Distance value at distance, but actually telemeasurement, such as 6 meters or more, realization be it is very difficult, be primarily due to light The size limitation of pixel unit on the sensor of unit, while also by the photoelectric conversion speed of sensor, sensor and connection The calculating speed of data transmission bauds, DSP between DSP influences.The measured value that laser ranging system is affected by temperature The variation that meeting generating system can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs become Shape leads to the angle change between incident light and emergent light, and luminescence unit and light receiving unit itself can also have temperature drift.Swash Optical range finding apparatus be used for a long time after, as many factors such as temperature change, vibration accumulate and caused by deformation also can serious shadow Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, be automatic cleaning equipment further into The basis of row policy enforcement, it is particularly important.

The forward portion 111 of machine body 110 can carry buffer 122, and driving wheel module 141 promotes during cleaning For automatic cleaning equipment in ground running, buffer 122 detects automated cleaning via sensing system, such as infrared sensor One or more events (or object) in the driving path of equipment 100, automatic cleaning equipment can be by being detected by buffer 122 Event (or object), such as barrier, wall, and controlling driving wheel module 141 comes automatic cleaning equipment to the event (or object) responds, for example away from barrier.

Control system 130 is arranged on the circuit main board in machine body 110, including with non-transitory memory, such as Hard disk, flash memory, random access memory, the computation processor of communication, such as central processing unit, application processor, The obstacle information that application processor is fed back according to laser ranging system draws automated cleaning using location algorithm, such as SLAM Equipment instant map in the environment.And combining buffer 122, steep cliff sensor 123 and ultrasonic sensor, infrared sensing Range information, the velocity information comprehensive descision of the sensing devices such as device, magnetometer, accelerometer, gyroscope, odometer feedback are swept the floor Which kind of working condition machine is currently at, and such as crosses threshold, and upper carpet is located at steep cliff, and either above or below is stuck, and dirt box is full, Be lifted etc., also specific next step action policy can be provided for different situations, so that the work of automatic cleaning equipment is more Add the requirement for meeting owner, there is better user experience.Further, even if the ground that control system 130 can be drawn based on SLAM Figure information planning cleaning path the most efficient and rational and cleaning method, greatly improve the sweeping efficiency of automatic cleaning equipment.

Energy resource system 160 include do not indicated in the rechargeable battery and figure that are shown on machine body 110 in Fig. 3, position Charging pile outside machine body 110.Wherein, rechargeable battery may include nickel-metal hydride battery and lithium battery etc..Rechargeable battery can To be connected with charging control circuit, battery pack charging temperature detection circuit and battery undervoltage observation circuit, charging control circuit, electricity Pond group charging temperature detection circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Host is by being arranged in machine The charging electrode of body side or lower section is connect with charging pile to charge.If having attached dust on exposed charging electrode, The plastics body of electrode perimeter can be caused to melt deformation, even result in electrode during the charging process due to the cumulative effect of charge Itself deforms, and can not continue to charge normal.

In embodiment of the disclosure, automatic to realize by combining the above-mentioned functional module in automatic cleaning equipment 100 The anti-jamming processing function of cleaning equipment 100.For example Fig. 4 is a kind of automatic cleaning equipment shown according to an exemplary embodiment Anti-jamming processing method flow chart, as shown in figure 4, this method is in automatic cleaning equipment 100, and the automated cleaning is set Standby 100 top is equipped with the bulge-structure of preset function, for example the position shown in Fig. 4 positioned at 110 top of machine body determines Device 121；So, this method may comprise steps of:

In step 402, the fuselage posture of automatic cleaning equipment 100 in the operational mode is obtained.

It in the present embodiment, may be due to the originals such as move of user when automatic cleaning equipment 100 is in non-operating mode Fuselage posture thus occurs, but this is obviously unrelated with the anti-jamming purpose of solution required for the disclosure, thus can only work Identification, judgement and processing etc. based on fuselage posture are realized under mode.Wherein, automatic cleaning equipment 100 can start in user Power switch when meeting predefined automated cleaning condition, determines and enters operating mode, certain disclosure is not to this It is limited.

In step 404, whether to be that the automatic cleaning equipment 100 is in fuselage according to the fuselage posture skewed State, judges whether the automatic cleaning equipment 100 is hindered by the traveling of top barrier.

In a step 406, when determining that traveling of the automatic cleaning equipment 100 by the top barrier hinders, Execute predefined anti-jamming process flow.

Below for each feature being related in above-described embodiment, it is described in detail respectively.

1, fuselage inclination and stuck state

Fig. 5 A-5E is a kind of work of automatic cleaning equipment 100 shown according to an exemplary embodiment barrier above With issuing the inclined schematic diagram of life body, below with reference to Fig. 5 A-5E, to automatic cleaning equipment 100 occur fuselage inclination with it is upper Relationship and principle between square barrier is stuck are described.

As shown in Figure 5A, it is assumed that although position determining means 121 can measure the ginseng such as the distance of surrounding objects, size Number, but if the bottom space height of top barrier 2 and the height of automatic cleaning equipment 100 are very close, then due to position The upper casing for setting determining device 121 is located above sensing unit, therefore Upper portion is measurement blind area, along with there are measurement errors Etc. reasons, cause position determining means 121 that top barrier 2 can not be identified to the obstruction of automatic cleaning equipment 100 or right The advance obstruction that top barrier 2 is formed is likely to form erroneous judgement etc..For example the highest point of automatic cleaning equipment 100 is about When 10cm, the liftoff spacing of cabinet, bed, sofa in user family etc. is often also 10cm or so, thus can become automated cleaning The top barrier of equipment 100.

As shown in Figure 5 B, with the advance of automatic cleaning equipment 100, if the corresponding bulge-structure of position determining means 121 Being actually lower than the bottom side height of top barrier 2, then automatic cleaning equipment 100 can normally enter the bottom of top barrier 2, And execute corresponding automated cleaning operation.And if the corresponding bulge-structure of position determining means 121 is higher than top barrier 2 really Bottom side height, then the bulge-structure will form contact point A between top barrier 2.

So, it is assumed that contact point B, automated cleaning are formed between the driving wheel module 141 of automatic cleaning equipment 100 and ground The mass center of equipment 100 is located at point C, then when automatic cleaning equipment 100 is stuck in A point by top barrier 2 during traveling, Automatic cleaning equipment 100 is rubbed the forward friction being subject on the ground by the downward gravity G and driving wheel module 141 of itself The effect of power F.The torque M of gravity G_GMeet: M_G=S_AC×G_AC⊥, wherein S_ACFor the distance between A, C two o'clock, G_AC⊥It is gravity With the component in AC line vertical direction；The torque M of frictional force F_FMeet: M_F=S_AB×F_AB⊥, wherein S_ABFor A, B two o'clock it Between distance, G_AB⊥Frictional force with the component in AB line vertical direction.Therefore, shown in Fig. 5 B for embodiment, Work as M_F> M_GWhen, automatic cleaning equipment 100 will rotate clockwise, i.e. the head of automatic cleaning equipment 100 tilts upwards, be formed State after being tilted shown in Fig. 5 C.

Wherein, as shown in Figure 5 D, the top sides of the bulge-structure at 100 top of automatic cleaning equipment can be using flat along 1211 Bevel edge structure；Alternatively, as shown in fig. 5e, the top sides of the bulge-structure at 100 top of automatic cleaning equipment can also be adopted along 1211 With round edge structure.Since the highest point of automatic cleaning equipment 100 is often touched between surrounding objects during cleaning It hits, collision is generated especially between top barrier 2 or similar object, thus by using the top sides edge of above structure 1211, the component of vertical direction can be increased, the increase of automatic cleaning equipment 100 is made to be easily accessible hypsokinesis shape as shown in Figure 5 C State is collided with sudden force with protecting the highest point of automatic cleaning equipment 100 not will receive, and helps to increase automatic cleaning equipment 100 Reliability.

2, fuselage heeling condition

Fig. 6 be it is shown according to an exemplary embodiment it is a kind of judge automatic cleaning equipment 100 whether in fuselage tilt The flow chart of state, as shown in fig. 6, can judge whether automatic cleaning equipment 100 is skewed in fuselage by following step State:

In step 602A, the acceleration information of automatic cleaning equipment 100 is acquired.

In step 602B, the angular velocity data of automatic cleaning equipment 100 is acquired.

In step 604, judge to acquire whether data meet default situation of change, be transferred to step 606A if meeting, it is no Then it is transferred to step 606B.

In the present embodiment, automatic cleaning equipment 100 can be hard according to accelerometer, the gyroscope of inside configuration etc. Part equipment realizes accurate detection to fuselage posture, certainly, the disclosure for use hardware device and be not limited.

1) by taking accelerometer as an example.When movements such as automatic cleaning equipment 100 is faced upward, nutations, will lead to vertically Acceleration of gravity in the vertically downward direction of face is in the front-rear direction for being parallel to fuselage plane (i.e. before automatic cleaning equipment 100 Into, direction of retreat) on there is component, so as to cause automatic cleaning equipment 100 on the front-rear direction for being parallel to fuselage plane Component of acceleration increases.Therefore, by obtaining acceleration of the automatic cleaning equipment 100 on the front-rear direction for being parallel to fuselage plane Component is spent, can determine that automatic cleaning equipment 100 is in when the component of acceleration increases and face upward or the fuselages such as nutation are skewed State.

Wherein, due to the measured value of accelerometer have the characteristics that instantaneous numerical value noise it is big, for a long time be averaged it is more stable, Thus automated cleaning can more accurately be judged according to accumulation situation of the measured value of accelerometer in predetermined time period Whether equipment 100 is in facing upward or the fuselages heeling conditions such as nutation.In other words, when the component of acceleration that accelerometer measures arrive exists When increasing degree in preset time period reaches predetermined acceleration change rate, it is possible to determine that the automatic cleaning equipment 100 is in machine Body heeling condition.

2) by taking gyroscope as an example.When movements such as automatic cleaning equipment 100 is faced upward, nutations, automated cleaning will lead to Shaft of the equipment 100 in fuselage left and right directions (i.e. the horizontal direction vertical with fuselage direction of travel) rotates.Therefore, lead to It crosses and obtains automatic cleaning equipment 100 in the angular velocity of rotation for being parallel to fuselage plane and on the direction vertical with fuselage direction of travel Component, can the angular velocity of rotation component increase when, determine automatic cleaning equipment 100 be in face upward or the fuselages such as nutation inclination State.

Wherein, since the measured value of gyroscope has the characteristics that instantaneous numerical value compared with accurate, long term drift is big, thus can root According to the collected momentary rotational angle speed data of gyroscope, more accurately judges whether automatic cleaning equipment 100 is in and face upward Or the fuselages heeling condition such as nutation.In other words, when the instantaneous rate of change of angular velocity of rotation component reaches default rate of change of angular When, it is possible to determine that the automatic cleaning equipment 100 is in fuselage heeling condition.

In step 606A, determine that automatic cleaning equipment 100 is in fuselage heeling condition.

In step 606B, determine that automatic cleaning equipment 100 is in standard of fuselage state.

It should be understood that on the one hand, automatic cleaning equipment 100 can also be by removing above-mentioned accelerometer and gyroscope Except measuring device, obtain the fuselage posture of automatic cleaning equipment 100, the disclosure limited not to this；On the other hand, Automatic cleaning equipment 100 can be only with any one of measuring devices such as above-mentioned accelerometer and gyroscope, can also be with Common measurement and judgement are realized using a variety of measuring devices simultaneously.

3, judge stuck risk

In embodiment of the disclosure, in step 404 for automatic cleaning equipment 100 whether by top barrier The judgement that 2 traveling hinders, i.e. automatic cleaning equipment 100 whether there is stuck risk, carry out below with reference to respective drawings detailed Explanation.

Embodiment one

In one exemplary embodiment, embodiment shown in fig. 6, i.e. automatic cleaning equipment obtained in step 402 are based on 100 posture informations can directly be determined as automatic cleaning equipment 100 when automatic cleaning equipment 100 is in fuselage heeling condition It is hindered by top barrier 2, there are stuck risks.

Embodiment two

Fig. 7 is a kind of automatic cleaning equipment 100 shown according to an exemplary embodiment by the way that machine occurs when step ground The inclined schematic diagram of body.As shown in fig. 7, when automatic cleaning equipment 100 passes by step, threshold etc., there are the positions that topography changes When, it is equally possible to cause automatic cleaning equipment 100 to be faced upward, the tilting actions such as nutation.

Therefore, when being measured by equipment such as accelerometer, gyroscopes, although can accurately understand automatic clear The inclination conditions of clean equipment 100, but the fuselage heeling condition of automatic cleaning equipment 100 is actually and caused by top barrier 2 Between stuck risk and there is no necessarily relationships.Stuck risk is more accurately judged so the disclosure further provides Mode, comprising: obtain the walking states of the running part of automatic cleaning equipment 100；Wherein, when automatic cleaning equipment 100 is in machine When body heeling condition, if walking states do not meet predefined normal walking state, determine automatic cleaning equipment 100 by upper The traveling of square barrier hinders.

In the present embodiment, when automatic cleaning equipment 100 is in fuselage heeling condition, if it is due to threshold, step Etc. causing, then automatic cleaning equipment 100 will not occur stuck, thus it still is able to realize normal walking state；And if certainly Dynamic cleaning equipment 100 is since top barrier 2 causes entry into fuselage heeling condition, then automatic cleaning equipment 100 will be due to The obstruction of top barrier 2 and influence its normal walking, to not meet predefined normal walking state, thus can be accordingly Automatic cleaning equipment 100 is recognized accurately with the presence or absence of stuck risk.

In order to make it easy to understand, being described in detail below with reference to two kinds of embodiments.

Embodiment one

Fig. 8 is a kind of judgement automatic cleaning equipment 100 shown according to an exemplary embodiment with the presence or absence of stuck risk Flow chart, as shown in figure 8, can judge automatic cleaning equipment 100 with the presence or absence of stuck risk by following step:

In step 802, the fuselage posture of automatic cleaning equipment 100 is obtained.

In step 804, when automatic cleaning equipment 100 is in fuselage heeling condition, it is transferred to step 806A and step respectively Rapid 806B.

In the present embodiment, it for the acquisition and deterministic process of the fuselage posture of automatic cleaning equipment 100, can refer to upper Embodiment shown in fig. 6 is stated, details are not described herein again.

In step 806A, the acceleration information of automatic cleaning equipment 100 is acquired.

In the present embodiment, acceleration information can be automatic cleaning equipment 100 in the traveling side for being parallel to fuselage plane Upward component of acceleration；Wherein, the problem not accurate based on accelerometer transient data, acceleration information can be automatic clear The component of acceleration of clean equipment 100 within a preset period of time in the direction of travel.

In step 806B, the wheel mileage of acquisition automatic cleaning equipment 100 is counted.

In the present embodiment, by the odometer configured in automatic cleaning equipment 100, driving power module can be obtained The wheel mileage that wheel in 141 is formed in the process of walking counts.

In step 808, when acceleration information and wheel mileage, which count, to match, it is transferred to step 810A, is otherwise turned Enter step 810B.

In step 810A, determining automatic cleaning equipment 100, there are stuck risks.

In step 810B, determine that stuck risk is not present in automatic cleaning equipment 100.

In the present embodiment, when automatic cleaning equipment 100 is hindered to advance by top barrier 2 and is in fuselage heeling condition When, it will lead to component of acceleration of the automatic cleaning equipment 100 in the direction of advance for being parallel to fuselage plane and increase, can pass through Quadratic integral operation is carried out to the component of acceleration, obtains corresponding forward travel distance；And actually due to automatic cleaning equipment 100 Occur to advance (or advanced reluctantly a bit of), thus the wheel mileage measured is counted and is obtained with the above process It obviously and is mismatched between forward travel distance, and forward travel distance is actually greater than wheel mileage and counts, i.e. automatic cleaning equipment 100 Improper vehicle wheel rotation has occurred.

Wherein, the problem not accurate based on accelerometer transient data, can within a preset period of time, persistently to automatic clear Clean equipment 100 component of acceleration in a forward direction and wheel mileage are counted and are obtained, and calculate difference between the two Value；So, when within a preset period of time, the quadratic integral value and wheel mileage of component of acceleration count between difference continue When reaching preset difference value, it is possible to determine that receive the obstruction of top barrier 2 for automatic cleaning equipment 100, there are stuck risks.

Embodiment two

Fig. 9 is that another kind shown according to an exemplary embodiment judges automatic cleaning equipment 100 with the presence or absence of stuck wind The flow chart of danger, as shown in figure 9, can judge automatic cleaning equipment 100 with the presence or absence of stuck risk by following step:

In step 902, the fuselage posture of automatic cleaning equipment 100 is obtained.

In step 904, when automatic cleaning equipment 100 is in fuselage heeling condition, it is transferred to step 906A and step respectively Rapid 906B.

In step 906A, the angular velocity data of automatic cleaning equipment 100 is acquired.

In the present embodiment, angular velocity data can for automatic cleaning equipment 100 with the rotation in fuselage vertical direction Angular velocity component；Wherein, based on gyroscope transient data precisely, there are problems that data wander, angular velocity data can for a long time Think automatic cleaning equipment 100 with the momentary rotational angle velocity component in fuselage vertical direction.

In step 906B, the wheel mileage of acquisition automatic cleaning equipment 100 is counted.

In the present embodiment, by the odometer configured in automatic cleaning equipment 100, driving power module can be obtained The wheel mileage that wheel in 141 is formed in the process of walking counts.Wherein, the wheel mileage obtained herein counts, and answers When the corresponding wheel mileage of the pair of wheels for including for the driving wheel module 141 in automatic cleaning equipment 100 counts, than 100 bottom of automatic cleaning equipment as shown in Figure 2 is provided with left and right two wheels, then needs to obtain the two vehicles respectively herein Corresponding wheel mileage is taken turns to count.

In step 909, when angular velocity data is counted with wheel mileage to match, it is transferred to step 910A, is otherwise turned Enter step 910B.

In step 910A, determining automatic cleaning equipment 100, there are stuck risks.

In step 910B, determine that stuck risk is not present in automatic cleaning equipment 100.

In the present embodiment, on the one hand, when automatic cleaning equipment 100 is hindered to advance by top barrier 2 and is in fuselage When heeling condition, the rotation number that will lead to two wheels of 100 bottom of automatic cleaning equipment is inconsistent, i.e., corresponding two wheels Mileage counts inconsistent (such as not identical；Alternatively, difference is greater than preset difference value), and such case can also usually be determined as Automatic cleaning equipment 100 occurs around the rotation with fuselage vertical direction, such as the row such as left-hand rotation, right-hand rotation during normal walking For.And on the other hand, when automatic cleaning equipment 100 is hindered to advance and be in fuselage heeling condition by top barrier 2, automatically Cleaning equipment 100 only rotates around shaft parallel with fuselage and vertical with direction of travel and causes to face upward or nutation, because And when being analyzed according only to the angular velocity of rotation component in vertical direction, obtained result be automatic cleaning equipment 100 not Occur around the rotation with fuselage vertical direction.Therefore, can be known according to the repugnance between the conclusion that above-mentioned two aspect obtains Not Chu automatic cleaning equipment 100 improper vehicle wheel rotation has occurred, therefore, it is determined that automatic cleaning equipment 100 may receive The obstruction of square barrier 2, there are stuck risks.

Wherein, based on gyroscope transient data precisely, there are problems that data wander for a long time, can be in momentary rotational angle When velocity component and wheel mileage count mismatch, it is determined as that automatic cleaning equipment 100 receives the resistance of top barrier 2 Hinder, there are stuck risks.

It is automatic clear by combining when automatic cleaning equipment 100 is in fuselage heeling condition in the above embodiments two Whether the vehicle wheel rotation of clean equipment 100 is normal, whether can be accurately judged to automatic cleaning equipment 100 by 2 institute of top barrier Hinder, thus judge its with the presence or absence of stuck risk, and avoid to automatic cleaning equipment 100 by the scenes such as step, threshold into Row erroneous judgement.

Embodiment three

Figure 10 be it is shown according to an exemplary embodiment another judge automatic cleaning equipment 100 with the presence or absence of stuck wind The flow chart of danger can judge automatic cleaning equipment 100 with the presence or absence of stuck risk by following step as shown in Figure 10:

In step 1002, the fuselage posture of automatic cleaning equipment 100 is obtained.

In step 1004, when automatic cleaning equipment 100 is in fuselage heeling condition, it is transferred to step 1006.

In step 1006, the running current of the running part of automatic cleaning equipment 100 is obtained.

In step 1008, when the variation of running current meets default situation of change, it is transferred to step 1010A, is otherwise turned Enter step 1010B.

In the present embodiment, the running part of automatic cleaning equipment 100 can be driving wheel module 141 shown in FIG. 1, that is, use In the functional component for making automatic cleaning equipment 100 realize walking.

In the present embodiment, when automatic cleaning equipment 100 is in normal walking state, the running current of running part will be tieed up It holds in predetermined current numberical range；When automatic cleaning equipment 100 is hindered by top barrier 2, running part is in script Generated driving force under running current will be unable to that automatic cleaning equipment 100 is driven to walk on, 100 meeting of automatic cleaning equipment By increasing the running current of running part, to wish that it generates bigger driving force, to overcome current obstruction.

Therefore, when above-mentioned running current is less than the increasing of the pre-set current value or the running current of locked rotor current Dosage reaches default incrementss (for example, current values increase default value or the increase amplitude of current values reaches default Amplitude etc.) when, it is possible to determine that it is hindered by automatic cleaning equipment 100 by top barrier 2, there are stuck risks, and can It avoids judging automatic cleaning equipment 100 by accident by scenes such as step, thresholds.

In step 1010A, determining automatic cleaning equipment 100, there are stuck risks.

In step 1010B, determine that stuck risk is not present in automatic cleaning equipment 100.

4, anti-jamming process flow

Figure 11 is a kind of showing for the anti-jamming process flow of automatic cleaning equipment 100 shown according to an exemplary embodiment It is intended to, as shown in figure 11, anti-jamming process flow may comprise steps of:

In step 1102, when determining that automatic cleaning equipment 100 has top barrier 2, step 1104A and step are transferred to At least one of rapid 1104B；Otherwise, directly it is transferred to step 1106.

In the present embodiment, whether automatic cleaning equipment 100 can be determined by embodiment any form of in the disclosure There are corresponding top barrier 2, i.e. automatic cleaning equipment 100 whether there is stuck risk.

In step 1104A, judge whether the running current of the running part of automatic cleaning equipment 100 is excessive, if operation electricity It flows through greatly, is then transferred to step 1108, is otherwise transferred to step 1106.

In the present embodiment, when running current is not up to predefined locked rotor current or running current is not up to stall The electric current and difference between locked rotor current reaches preset difference value constantly, shows that the running part of automatic cleaning equipment 100 is still located In the state of safer, the running current can be continued to, and executes and the bottom of top barrier 2 is cleaned.And such as Fruit running current reaches predefined locked rotor current, or close to locked rotor current (although the locked rotor current is not up to, with this Difference between locked rotor current is less than preset difference value), illustrate that automatic cleaning equipment 100 there are biggish stuck risk, should be controlled Automatic cleaning equipment 100 processed exits the bottom of top barrier 2, avoids thoroughly stuck.

In fact, just as shown in Figure 5 C, by making automatic cleaning equipment 100 generate a small amount of inclination, automated cleaning can be made The complete machine height of equipment 100 suitably reduces, and can smoothly enter into the bottom of corresponding top barrier 2；Meanwhile if automatically The running current of the running part of cleaning equipment 100 is in safe range, then can just make automatic cleaning equipment 100 directly into Enter corresponding 2 lower section of top barrier, and clean operation is carried out to corresponding region, automatic cleaning equipment can either be solved in this way 100 the problem of being obstructed, and the bottom clean operation to top barrier 2 can be realized in safe range.

In step 1104B, judge whether the bottom surface structure of top barrier 2 not easily passs through, if not easily passing through, is transferred to Step 1108, otherwise it is transferred to step 1106.

In the present embodiment, can be by obtaining the bottom surface structure feature of top barrier 2, and work as the bottom surface structure feature When meeting default feature, the bottom clean operation to top barrier 2 is executed, automatic cleaning equipment 100 is otherwise controlled and exits The bottom of square barrier 2.Wherein, the difference based on bottom surface structure feature, there may be various ways to judge that " bottom surface structure is It is no to not easily pass through ", it is exemplified below.

Embodiment one

In one embodiment, at least one of the base area of available top barrier 2 and flatness；Wherein, when Base area is not up to preset area or when flatness reaches preset planeness, determines that bottom surface structure feature meets default spy Sign, i.e., bottom surface structure is easy to pass through.

In this embodiment it is possible to pass through the position determining means 121 configured on automatic cleaning equipment 100, i.e. Laser Measuring Away from device (LDS) or camera etc., the parameters such as base area, the flatness of top barrier 2 are obtained.

On the one hand, when the base area of top barrier 2 larger (for example being greater than preset area), since automated cleaning is set Standby 100 need to contact with the bottom surface of top barrier 2 for a long time, and abrasion etc. may be caused to influence on automatic cleaning equipment 100, because And it can be determined that not easily pass through.

On the other hand, when the bottom surface flatness of top barrier 2 is lower, for example the hollow situation of bottom surface is serious, then Although automatic cleaning equipment 100 will not temporarily be stuck, it is likely to occur behind 2 inside of barrier above entrance stuck.When After automatic cleaning equipment 100 is stuck inside the bottom side of barrier 2 above, such as the stuck bottom in bed, sofa etc., then One side user if not nearby if be not easy the automatic cleaning equipment 100 that is stuck of discovery, after another aspect user discovery It is likely difficult to manually take out automatic cleaning equipment 100, thus can be determined that not easily pass through.

Wherein it is possible to be judged in conjunction with above-mentioned base area and bottom surface flatness.For example, when base area it is larger and When bottom surface flatness is poor, it is possible to determine that not easily pass through.And when base area is larger, it, can be with but when bottom surface flatness is higher It is judged to being easy passing through；And when bottom surface flatness is poor, but base area is smaller, it is possible to determine that be easy to pass through.

Embodiment two

In another embodiment, between the sampled point of the bottom surface of available automatic cleaning equipment 100 and top barrier 2 Range data；Wherein, when data and the tilt angle of automatic cleaning equipment 100 determine the bottom at sampled point according to this distance When face height reaches preset height, determine that bottom surface structure feature meets default feature.

In this embodiment, the bottom surface intermediate region of top barrier 2 and fringe region may have different height, such as The liftoff spacing of intermediate region is larger, fringe region liftoff spacing is smaller, then automatic cleaning equipment 100 can be by upper The bottom surface of square barrier 2 carries out range measurement, determines the liftoff spacer conditions of the bottom surface intermediate region of top barrier 2；Wherein, If the liftoff spacing of intermediate region is larger, automatic cleaning equipment 100 can produce smaller after entering the intermediate region Fuselage tilt angle, inclination will not even be generated, to realize more preferably clean operation, should be judged to being easy to pass through；When So, if the liftoff spacing of intermediate region is smaller, automatic cleaning equipment 100 is likely to cannot be introduced into or stuck in middle area Domain should be judged to not easily passing through.

It should be understood that

The position determining means 121 configured in automatic cleaning equipment 100 can be for laser ranging system or camera etc., this A little devices all rely on light reflection, thus when the outside of the barrier 2 above of automatic cleaning equipment 100 measures, it is practical On be difficult to measure the bottom structure feature of top barrier 2.

Correspondingly, as shown in figure 12, when the position determining means 121 on automatic cleaning equipment 100 enter top barrier 2 Bottom after, and by means of the fuselage heeling condition of automatic cleaning equipment 100, be capable of the detection of expanding location determining device 121 Region, to obtain the bottom structures features such as the base area of the top barrier 2, flatness, liftoff interval.

In a step 1106, automatic cleaning equipment 100 passes through the bottom of top barrier 2, and executes clean operation.

In step 1108, automatic cleaning equipment 100 exits the bottom of top barrier 2.

In the present embodiment, automatic cleaning equipment 100 can input little Zhan to the walking wheel motor in driving wheel module 141 Sky retreats corresponding traveling wheel slowly than reversed square wave, until detecting that the fuselage of automatic cleaning equipment 100 is straight.

In step 1110,100 pairs of top barriers 2 of automatic cleaning equipment are marked, and cancel to the top obstacle The clean up task of object 2.

It in the present embodiment, can when determining that needing to control automatic cleaning equipment 100 exits the bottom of top barrier 2 The top barrier 2 identified to be marked, to cancel the clean operation to 2 corresponding region of top barrier.Its In, top barrier 2 can be marked in the generated map of automatic cleaning equipment 100, thus this and it is subsequent Clean operation in, avoid to mark position carry out clean operation (such as only along Bian Qingjie), to avoid automatic cleaning equipment 100 are stuck in corresponding position.

Wherein, automatic cleaning equipment 100 can identify each top according to the physical structure feature of top barrier 2 Barrier 2, for example it regard the identical multiple supporting elements (such as four table legs of a desk) of structure as the same top obstacle The component of object 2, and using the corresponding region of multiple supporting element as the overlay area of the top barrier 2, to realize on this The label of square barrier 2.

Corresponding with the embodiment of anti-jamming processing method of automatic cleaning equipment above-mentioned, the disclosure additionally provides automatically The embodiment of the anti-jamming processing unit of cleaning equipment.

Figure 13 is a kind of anti-jamming processing unit block diagram of automatic cleaning equipment shown according to an exemplary embodiment.Ginseng According to Figure 13, the top of the automatic cleaning equipment is equipped with the bulge-structure of preset function；The device includes acquiring unit 1301, sentences Disconnected unit 1302 and execution unit 1303.

Wherein, acquiring unit 1301 are configured as obtaining the fuselage posture of automatic cleaning equipment in the operational mode；

Whether judging unit 1302 is configured as according to the fuselage posture being that the automatic cleaning equipment inclines in fuselage Ramp-like state, judge the automatic cleaning equipment whether by top barrier traveling hinder；

Execution unit 1303 is configured as when the traveling resistance for determining the automatic cleaning equipment by the top barrier When hindering, predefined anti-jamming process flow is executed.

As shown in figure 14, Figure 14 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, acquiring unit 1301 may include: first to adopt Collect subelement 1301A.

First acquisition subelement 1301A, is configured as acquiring the automatic cleaning equipment in the row for being parallel to fuselage plane Into the component of acceleration on direction；

As shown in figure 15, Figure 15 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, acquiring unit 1301 may include: second to adopt Collect subelement 1301B.

Second acquisition subelement 1301B, be configured as acquiring the automatic cleaning equipment be parallel to fuselage plane and with Angular velocity of rotation component on the vertical direction of fuselage direction of travel；

It should be noted that the structure of the second acquisition subelement 1301B in above-mentioned Installation practice shown in figure 15 It may be embodied in the Installation practice of earlier figures 14, this disclosure be not limited.

As shown in figure 16, Figure 16 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, judging unit 1302 may include: the first electricity Stream obtains subelement 1302A and the first judgment sub-unit 1302B.

Wherein, the first electric current obtains subelement 1302A, is configured as obtaining the fortune of the running part of the automatic cleaning equipment Row electric current；

First judgment sub-unit 1302B is configured as when the automatic cleaning equipment is in fuselage heeling condition, if institute The incrementss for stating pre-set current value or the running current that running current is less than locked rotor current reach default increase Amount then determines that the automatic cleaning equipment is hindered by the traveling of the top barrier.

It should be noted that the first electric current in Installation practice shown in above-mentioned Figure 16 obtains subelement 1302A and the The structure of one judgment sub-unit 1302B also may be embodied in the Installation practice of earlier figures 14-15, to this disclosure without Limitation.

As shown in figure 17, Figure 17 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, judging unit 1302 may include: that state obtains Take subelement 1302C and the second judgment sub-unit 1302D.

Wherein, state obtains subelement 1302C, is configured as obtaining the walking shape of the running part of the automatic cleaning equipment State；

Second judgment sub-unit 1302D is configured as when the automatic cleaning equipment is in fuselage heeling condition, if institute It states walking states and does not meet predefined normal walking state, then determine the automatic cleaning equipment by the top barrier Traveling hinder.

Sentence it should be noted that the state in Installation practice shown in above-mentioned Figure 17 obtains subelement 1302C and second The structure of disconnected subelement 1302D also may be embodied in the Installation practice of earlier figures 14-16, to this disclosure without limit System.

As shown in figure 18, Figure 18 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, on the basis of aforementioned embodiment illustrated in fig. 17, state obtains subelement 1302C and can wrap the embodiment Include: first obtains module 1302C1.

First obtains module 1302C1, is configured to obtain the automatic cleaning equipment within a preset period of time flat The wheel mileage that the capable component of acceleration on the direction of travel of fuselage plane and the running part include counts；

Wherein, when the quadratic integral value of the component of acceleration and the wheel mileage are counted in the preset time period When inside persistently reaching preset difference value, the second judgment sub-unit 1302D determines that the walking states do not meet the normal row Walk state.

As shown in figure 19, Figure 19 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, on the basis of aforementioned embodiment illustrated in fig. 17, state obtains subelement 1302C and can wrap the embodiment Include: second obtains module 1302C2.

Second obtains module 1302C2, be configured to obtain the automatic cleaning equipment in fuselage vertical direction Momentary rotational angle velocity component and the running part corresponding wheel mileage of pair of wheels that includes count；

Wherein, when the calculated automatic cleaning equipment of the momentary rotational angle velocity component is around the vertical direction It rotates the wheel mileage corresponding with the pair of wheel and counts the calculated rotation around the vertical direction not When consistent, the second judgment sub-unit 1302D determines that the walking states do not meet the normal walking state.

It should be noted that the second structure for obtaining module 1302C2 in Installation practice shown in above-mentioned Figure 19 can also To be included in the Installation practice of earlier figures 18, this disclosure is not limited.

As shown in figure 20, Figure 20 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, execution unit 1303 may include: the second electricity Stream obtains subelement 1303A and first and executes subelement 1303B.

Wherein, the second electric current obtains subelement 1303A, is configured as obtaining the fortune of the running part of the automatic cleaning equipment Row electric current；

First executes subelement 1303B, is configured as being not up to predefined locked rotor current when the running current, or The running current is not up to the locked rotor current and when the difference between the locked rotor current reaches preset difference value, executes pair The bottom clean operation of the top barrier.

It should be noted that the second electric current in Installation practice shown in above-mentioned Figure 20 obtains subelement 1303A and the One execution subelement 1303B structure also may be embodied in the Installation practice of earlier figures 14-19, to this disclosure without Limitation.

As shown in figure 21, Figure 21 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, execution unit 1303 may include: third electricity Stream obtains subelement 1303C and second and executes subelement 1303D.

Wherein, third electric current obtains subelement 1303C, obtains the running current of the running part of the automatic cleaning equipment；

Second executes subelement 1303D, when the running current reaches predefined locked rotor current or operation electricity When stream is not up to the locked rotor current and the difference between the locked rotor current less than preset difference value, the automated cleaning is controlled Equipment exits the bottom of the top barrier.

It should be noted that third electric current in Installation practice shown in above-mentioned Figure 21 obtains subelement 1303C and the Two execution subelement 1303D structures also may be embodied in the Installation practice of earlier figures 14-20, to this disclosure without Limitation.

As shown in figure 22, Figure 22 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment on the basis of aforementioned embodiment illustrated in fig. 13, execution unit 1303 may include: that feature obtains Subelement 1303E and third is taken to execute subelement 1303F.

Wherein, feature obtains subelement 1303E, is configured as obtaining the bottom surface structure feature of the top barrier；

Third executes subelement 1303F, is configured as when the bottom surface structure feature meets default feature, executes to institute The bottom clean operation for stating top barrier, otherwise controls the bottom that the automatic cleaning equipment exits the top barrier.

It should be noted that the feature in Installation practice shown in above-mentioned Figure 22 obtains subelement 1303E and third is held The structure of row subelement 1303F also may be embodied in the Installation practice of earlier figures 14-21, to this disclosure without limit System.

As shown in figure 23, Figure 23 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, on the basis of aforementioned embodiment illustrated in fig. 22, feature obtains subelement 1303C and can wrap the embodiment Include: feature obtains module 1303C1.

Feature obtains module 1303C1, is configured as obtaining in the base area and flatness of the top barrier at least One of；

Wherein, when the base area is not up to preset area or flatness reaches preset planeness, described second It executes subelement 1303D and determines that the bottom surface structure feature meets the default feature.

As shown in figure 24, Figure 24 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, on the basis of aforementioned embodiment illustrated in fig. 22, feature obtains subelement 1303C and can wrap the embodiment Include: distance obtains module 1303C2.

Distance obtains module 1303C2, is configured as obtaining the bottom surface of the automatic cleaning equipment Yu the top barrier The distance between sampled point of intermediate region data；

Wherein, it is determined at the sampled point when according to the tilt angle of the range data and the automatic cleaning equipment Floor height when reaching preset height, it is described that the second execution subelement 1303D determines that the bottom surface structure feature meets Default feature.

It should be noted that the structure that the distance in Installation practice shown in above-mentioned Figure 24 obtains module 1303C2 can also To be included in the Installation practice of earlier figures 23, this disclosure is not limited.

As shown in figure 25, Figure 25 is the anti-jamming place of another automatic cleaning equipment shown according to an exemplary embodiment The block diagram of device is managed, for the embodiment in earlier figures 20-24 on the basis of any illustrated embodiment, execution unit 1303 can be with It include: label subelement 1303G.

Subelement 1303G is marked, is configured as to determine that needing to control the automatic cleaning equipment exits the top barrier When hindering the bottom of object, the top barrier identified is marked, to cancel to top barrier corresponding region Clean operation.

About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method Embodiment in be described in detail, no detailed explanation will be given here.

For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual The purpose for needing to select some or all of the modules therein to realize disclosure scheme.Those of ordinary skill in the art are not paying Out in the case where creative work, it can understand and implement.

Correspondingly, the disclosure also provides a kind of anti-jamming processing unit of automatic cleaning equipment, the automatic cleaning equipment Top is equipped with the bulge-structure of preset function；The device includes: processor；Storage for storage processor executable instruction Device；Wherein, the processor is configured to: obtain automatic cleaning equipment fuselage posture in the operational mode；According to the machine Whether whether figure state is that the automatic cleaning equipment is in fuselage heeling condition, judge the automatic cleaning equipment by top The traveling of barrier hinders；When determining that traveling of the automatic cleaning equipment by the top barrier hinders, execute pre- The anti-jamming process flow of definition.

Correspondingly, the disclosure also provides a kind of automatic cleaning equipment, the automatic cleaning equipment includes memory, and One perhaps more than one program one of them or more than one program be stored in memory, and be configured to by one It includes the instruction for performing the following operation that a or more than one processor, which executes the one or more programs: being obtained Take the fuselage posture of automatic cleaning equipment in the operational mode；It whether is at the automatic cleaning equipment according to the fuselage posture In fuselage heeling condition, judge whether the automatic cleaning equipment is hindered by the traveling of top barrier；When determination is described certainly When dynamic cleaning equipment is hindered by the traveling of the top barrier, predefined anti-jamming process flow is executed.

Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following Claim is pointed out.

It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.

Claims

1. a kind of anti-jamming processing method of automatic cleaning equipment, which is characterized in that the top of the automatic cleaning equipment is equipped with The bulge-structure of preset function；The described method includes:

Whether it is that the automatic cleaning equipment is in fuselage heeling condition according to the fuselage posture, judges that the automated cleaning is set It is standby whether to be hindered by the traveling of top barrier；Wherein, be judged by the following manner the automatic cleaning equipment whether by The traveling of top barrier hinders: obtaining the walking states of the running part of the automatic cleaning equipment；When the automated cleaning is set When for being in fuselage heeling condition, if the walking states do not meet predefined normal walking state, determine described automatic Cleaning equipment is hindered by the traveling of the top barrier；

When determining that traveling of the automatic cleaning equipment by the top barrier hinders, predefined anti-jamming place is executed Manage process.

2. the method according to claim 1, wherein described obtain the machine of automatic cleaning equipment in the operational mode Figure state, comprising:

Wherein, when the increasing degree of the component of acceleration within a preset period of time reaches predetermined acceleration change rate, determine The automatic cleaning equipment is in fuselage heeling condition.

3. the method according to claim 1, wherein described obtain the machine of automatic cleaning equipment in the operational mode Figure state, comprising:

The automatic cleaning equipment is acquired in the rotation angle for being parallel to fuselage plane and on the direction vertical with fuselage direction of travel Velocity component；

Wherein, when the instantaneous rate of change of the angular velocity of rotation component reaches default rate of change of angular, determine described automatic Cleaning equipment is in fuselage heeling condition.

4. according to the fuselage posture whether being described automatic clear the method according to claim 1, wherein described Clean equipment is in fuselage heeling condition, judge the automatic cleaning equipment whether by top barrier traveling hinder, comprising:

When the automatic cleaning equipment is in fuselage heeling condition, if the running current is less than the default of locked rotor current The incrementss of current value or the running current reach default incrementss, then determine the automatic cleaning equipment by described The traveling of top barrier hinders.

5. the method according to claim 1, wherein the row of the running part for obtaining the automatic cleaning equipment Walk state, comprising:

Acceleration of the automatic cleaning equipment within a preset period of time on the direction of travel for being parallel to fuselage plane is obtained respectively The wheel mileage that degree component and the running part include counts；

Wherein, it is held in the preset time period when the quadratic integral value of the component of acceleration is counted with the wheel mileage It is continuous when reaching preset difference value, determine that the walking states do not meet the normal walking state.

6. the method according to claim 1, wherein the row of the running part for obtaining the automatic cleaning equipment Walk state, comprising:

Obtain respectively the automatic cleaning equipment with the momentary rotational angle velocity component and the row in fuselage vertical direction The corresponding wheel mileage of pair of wheels that portion includes is walked to count；

Wherein, when the calculated automatic cleaning equipment of the momentary rotational angle velocity component is around the rotation of the vertical direction It is inconsistent that the wheel mileage corresponding with the pair of wheel counts the calculated rotation around the vertical direction When, determine that the walking states do not meet the normal walking state.

7. the method according to claim 1, wherein described when determining the automatic cleaning equipment by described When the traveling of square barrier hinders, predefined anti-jamming process flow is executed, comprising:

When the running current be not up to predefined locked rotor current or the running current be not up to the locked rotor current and When difference between the locked rotor current reaches preset difference value, the bottom clean operation to the top barrier is executed.

8. the method according to claim 1, wherein described when determining the automatic cleaning equipment by described When the traveling of square barrier hinders, predefined anti-jamming process flow is executed, comprising:

When the running current reach predefined locked rotor current or the running current be not up to the locked rotor current and with When difference between the locked rotor current is less than preset difference value, controls the automatic cleaning equipment and exit the top barrier Bottom.

9. the method according to claim 1, wherein described when determining the automatic cleaning equipment by described When the traveling of square barrier hinders, predefined anti-jamming process flow is executed, comprising:

Obtain the bottom surface structure feature of the top barrier；

When the bottom surface structure feature meets default feature, the bottom clean operation to the top barrier is executed, otherwise Control the bottom that the automatic cleaning equipment exits the top barrier.

10. according to the method described in claim 9, it is characterized in that, the bottom structure for obtaining the top barrier is special Sign, comprising:

Obtain at least one of base area and the flatness of the top barrier；

Wherein, when the base area is not up to preset area or flatness reaches preset planeness, determine the bottom surface Structure feature meets the default feature.

11. according to the method described in claim 9, it is characterized in that, the bottom structure for obtaining the top barrier is special Sign, comprising:

Obtain the distance between the sampled point of bottom surface intermediate region of the automatic cleaning equipment and top barrier data；

Wherein, when determining the bottom at the sampled point according to the tilt angle of the range data and the automatic cleaning equipment When face height reaches preset height, determine that the bottom surface structure feature meets the default feature.

12. method according to any one of claims 7-11, which is characterized in that described when the determining automated cleaning is set When hindering by the traveling to the top barrier, predefined anti-jamming process flow is executed, further includes:

When determine need to control the automatic cleaning equipment and exit the bottom of the top barrier when, to identify it is described on Square barrier is marked, to cancel the clean operation to top barrier corresponding region.

13. the method according to claim 1, wherein the bulge-structure of the preset function includes: laser ranging Device.

14. the method according to claim 1, wherein the top sides edge of the bulge-structure of the preset function is Flat bevel edge or round edge.

15. a kind of anti-jamming processing unit of automatic cleaning equipment, which is characterized in that the top of the automatic cleaning equipment is equipped with The bulge-structure of preset function；Described device includes:

Whether judging unit is that the automatic cleaning equipment is in fuselage heeling condition according to the fuselage posture, described in judgement Automatic cleaning equipment whether by top barrier traveling hinder；Wherein, the judging unit includes: that state obtains son list Member obtains the walking states of the running part of the automatic cleaning equipment；Second judgment sub-unit, at the automatic cleaning equipment When fuselage heeling condition, if the walking states do not meet predefined normal walking state, the automated cleaning is determined Equipment is hindered by the traveling of the top barrier；

Execution unit executes predefined when determining that traveling of the automatic cleaning equipment by the top barrier hinders Anti-jamming process flow.

16. device according to claim 15, which is characterized in that the acquiring unit includes:

First acquisition subelement, acquires acceleration of the automatic cleaning equipment on the direction of travel for being parallel to fuselage plane point Amount；

Wherein, described when the increasing degree of the component of acceleration within a preset period of time reaches predetermined acceleration change rate Judging unit determines that the automatic cleaning equipment is in fuselage heeling condition.

17. device according to claim 15, which is characterized in that the acquiring unit includes:

Second acquisition subelement acquires the automatic cleaning equipment and is being parallel to fuselage plane and vertical with fuselage direction of travel Angular velocity of rotation component on direction；

18. device according to claim 15, which is characterized in that the judging unit includes:

First judgment sub-unit, when the automatic cleaning equipment is in fuselage heeling condition, if the running current reaches small Reach default incrementss in the pre-set current value of locked rotor current or the incrementss of the running current, then determines described automatic Cleaning equipment is hindered by the traveling of the top barrier.

19. device according to claim 15, which is characterized in that the state obtains subelement and includes:

First obtains module, obtains the automatic cleaning equipment respectively within a preset period of time on being parallel to fuselage direction of travel Component of acceleration and the running part wheel mileage that includes count；

Wherein, it is held in the preset time period when the quadratic integral value of the component of acceleration is counted with the wheel mileage Continuous when reaching preset difference value, second judgment sub-unit determines that the walking states do not meet the normal walking state.

20. device according to claim 15, which is characterized in that the state obtains subelement and includes:

Second obtains module, obtains the automatic cleaning equipment respectively and divides with the momentary rotational angle speed in fuselage vertical direction The corresponding wheel mileage of pair of wheels that amount and the running part include counts；

Wherein, when the calculated automatic cleaning equipment of the momentary rotational angle velocity component is around the rotation of the vertical direction It is inconsistent that the wheel mileage corresponding with the pair of wheel counts the calculated rotation around the vertical direction When, second judgment sub-unit determines that the walking states do not meet the normal walking state.

21. device according to claim 15, which is characterized in that the execution unit includes:

First executes subelement, when the running current is not up to predefined locked rotor current or the running current does not reach To the locked rotor current and when the difference between the locked rotor current reaches preset difference value, execute to the top barrier Bottom clean operation.

22. device according to claim 15, which is characterized in that the execution unit includes:

Second executes subelement, when the running current reaches predefined locked rotor current or the running current is not up to The locked rotor current and when difference between the locked rotor current is less than preset difference value, controls the automatic cleaning equipment and exits The bottom of the top barrier.

23. device according to claim 15, which is characterized in that the execution unit includes:

Third executes subelement, when the bottom surface structure feature meets default feature, executes the bottom to the top barrier Otherwise portion's clean operation controls the bottom that the automatic cleaning equipment exits the top barrier.

24. device according to claim 23, which is characterized in that the feature obtains subelement and includes:

Wherein, when the base area is not up to preset area or flatness reaches preset planeness, the third is executed Subelement determines that the bottom surface structure feature meets the default feature.

25. device according to claim 23, which is characterized in that the feature obtains subelement and includes:

Distance obtains module, obtain the bottom surface intermediate region of the automatic cleaning equipment and the top barrier sampled point it Between range data；

Wherein, when determining the bottom at the sampled point according to the tilt angle of the range data and the automatic cleaning equipment When face height reaches preset height, the third executes subelement and determines that the bottom surface structure feature meets the default feature.

26. the device according to any one of claim 21-25, which is characterized in that the execution unit further include:

Subelement is marked, when determining that needing to control the automatic cleaning equipment exits the bottom of the top barrier, to knowledge Not Chu the top barrier be marked, to cancel to the clean operation of top barrier corresponding region.

27. device according to claim 15, which is characterized in that the bulge-structure of the preset function includes: Laser Measuring Away from device.

28. device according to claim 15, which is characterized in that the top sides edge of the bulge-structure of the preset function is Flat bevel edge or round edge.

29. a kind of automatic cleaning equipment, which is characterized in that the top of the automatic cleaning equipment is equipped with the protrusion knot of preset function Structure；The automatic cleaning equipment further include:

Processor；

Memory for storage processor executable instruction；

Wherein, the processor is configured to: