CN112022023A - Adaptive calibration learning method for ground sensor of sweeper - Google Patents
Adaptive calibration learning method for ground sensor of sweeper Download PDFInfo
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- CN112022023A CN112022023A CN202010686269.5A CN202010686269A CN112022023A CN 112022023 A CN112022023 A CN 112022023A CN 202010686269 A CN202010686269 A CN 202010686269A CN 112022023 A CN112022023 A CN 112022023A
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- control module
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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Abstract
The invention discloses a self-adaptive calibration learning method for a ground sensor of a sweeper, which comprises the following steps: step 1: the sweeper is used for suspension judgment; step 2: the control module calls a default program for self-checking, judges the received electric signal and an initially set cliff threshold value, executes the step 4 if the electric signal is larger than the cliff threshold value, and executes the step 3 if the electric signal is smaller than the cliff threshold value; and step 3: the control module calls a learning program and a correction program to process the currently received electric signal, the correction program returns a correction value, the control module updates the cliff threshold value to the correction value and judges the currently returned electric signal, if the electric signal is larger than the cliff threshold value, the step 4 is executed, otherwise, the step 3 is executed; and 4, step 4: and (4) the sweeper normally walks and cleans, the control module judges the electric signal and the cliff threshold value in real time during the period, if the electric signal is greater than the cliff threshold value, the sweeper is backed and turns to continue cleaning, and if the electric signal is smaller than the cliff threshold value, the step is executed.
Description
Technical Field
The invention relates to the technical field of sweeper, in particular to a self-adaptive calibration learning method for a ground sensor of a sweeper.
Background
Along with the development of the society, people have stronger and stronger requirements on intelligent equipment, and meanwhile, the expectations and the requirements on the intelligent equipment are higher and higher, so that people hope that the intelligent equipment can walk more accurately and the sweeping coverage rate is better for a sweeping robot.
When the sweeping robot is used for sweeping and walking, whether the ground exists or not must be always detected so as to ensure that falling accidents cannot happen in places such as stairs or high steps. However, since the floors of the current users at home are various, and the color difference and the infrared reflectivity are also very different, the infrared reflectivity of the floor sweeping robot on some floors, especially dark floors, is quite low, and at this time, the infrared light reflected back to the receiving sensor is very little, so that the floor sweeping robot can misjudge that the cliff is detected, trigger the backward movement, and influence the normal operation of the cleaning work and the cleaning coverage rate.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a calibration learning method for a ground detection sensor of a sweeper, so that the sweeper can automatically adapt to the ground in a user home through learning, and when the sweeper is started and starts sweeping in the user home, the infrared reflection condition of the ground can be automatically detected by the sweeper, the sensitivity of the sensor can be automatically adjusted, and the ground can be automatically detected.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a ground sensor self-adaptation calibration learning method of machine of sweeping floor, the machine of sweeping floor includes detection module, drive module and control module, detection module is raised the detecting element including setting up in abdominal high detecting element and setting up in the wheel of machine of sweeping floor wheel department, high detecting element is used for detecting the machine of sweeping floor belly terrain clearance to convert the detected signal value into the signal of telecommunication and send control module, the detecting element is raised to the wheel and is used for detecting whether the wheel is lifted, the signal value that detecting element output is raised to the controlling module receipt high detecting element and wheel, and send the advancing direction of signal to drive module control machine of sweeping floor:
step 1: starting the sweeper, sending a first detection signal to a wheel lifting detection unit by a control module, returning a lifting signal value to the control module by the wheel lifting detection unit, if the lifting signal value is 0, executing the step 2, otherwise, sending a fault signal outwards by the control module;
step 2: the control module calls a default program to perform self-checking, the control module sends a second detection signal to the height detection unit, the height detection unit returns an electric signal to the control module in real time, the control module judges the electric signal and an initially set cliff threshold value, if the electric signal is larger than the cliff threshold value, step 4 is executed, and if the electric signal is smaller than the cliff threshold value, step 3 is executed;
and step 3: the control module calls a learning program, the control module calls a correction program to process the currently received electric signal, the correction program returns a correction value to the control module, the control module updates the cliff threshold value to the correction value and judges the electric signal returned by the current height detection unit, if the electric signal is larger than the cliff threshold value, the step 4 is executed, otherwise, the step 3 is executed;
and 4, step 4: the control module sends the walking to drive module and cleans the signal, drive module control sweeper normally walks and cleans, the period control module judges signal of telecommunication and cliff threshold value that high detecting element returns in real time, if the signal of telecommunication is greater than cliff threshold value, then carries out step 4, if the signal of telecommunication is less than cliff threshold value, then control module sends to drive module and backs the turn signal, drive module drive sweeper backs a certain distance and normal walking and cleaning after turning to, and high detecting element converts the detection signal value into the signal of telecommunication and sends to control module in real time during.
Preferably, the height detection unit comprises an infrared transmitter and an infrared receiver which are arranged at the front end of the belly of the sweeper, the infrared transmitter is used for transmitting infrared light to the ground, and the infrared receiver is used for receiving infrared light reflected by the ground and converting the infrared light into an electric signal to be sent to the control module.
Preferably, the infrared emitter is an infrared light emitting diode and can emit infrared light with a central value of 940 nm.
Preferably, the infrared receiver is an infrared photodiode, and the central value of sensitivity to infrared light is 940 nm.
Preferably, the cliff threshold is initially set to 7.
Preferably, the correction program is that the control module performs subtraction calculation on the currently received electric signal, and the correction value is the currently received electric signal-preset value.
Preferably, the preset value is 2.
Preferably, if the floor in the cleaning area of the sweeper has two or more floor reflectivities, the sweeper needs to be manually placed in the next floor reflectivity cleaning area.
Preferably, after the control module detects that the sweeper moves backwards for two times continuously, the control module calls the learning program.
(III) advantageous effects
The invention provides a self-adaptive calibration learning method for a ground sensor of a sweeper. The method has the following beneficial effects: the invention can lead the sweeper to better detect and judge the ground and the cliff (steps and the like) in most of the families of users (the ground with normal or better infrared reflectivity), the threshold value of the cliff is set at a relatively medium position when the user leaves a factory, thus better ensuring the sensitivity, but if the infrared reflectivity of the ground in the family of the user is lower, the sweeper is easy to misjudge and cannot walk, the invention can lead the sweeper to change the threshold value of the cliff in a self-adaptive way according to the ground condition by calling a learning program, thereby realizing better sweeping coverage rate or stronger adaptability of the sweeper.
Drawings
Fig. 1 is a schematic flow chart of a sweeper program according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a technical solution, a method for adaptive calibration and learning of a floor sensor of a sweeper, the sweeper comprises a detection module, a driving module and a control module, wherein the detection module comprises a height detection unit arranged at the belly and a wheel elevation detection unit arranged at the wheel of the sweeper, the wheel elevation detection unit is a pressure sensor, when the wheel elevation detection unit is not suspended, the wheel elevation detection unit detects a pressure value, returning to 0 for sending 1 or other values, the height detection unit is used for detecting the height of the belly of the sweeper from the ground, and converts the detection signal value into an electric signal to be sent to the control module, the wheel lifting detection unit is used for detecting whether the wheel is lifted, the control module receives signal values output by the height detection unit and the wheel lifting detection unit and sends signals to the driving module to control the traveling direction of the sweeper:
step 1: starting the sweeper, sending a first detection signal to a wheel lifting detection unit by a control module, returning a lifting signal value to the control module by the wheel lifting detection unit, if the lifting signal value is 0, executing the step 2, otherwise, sending a fault signal outwards by the control module;
step 2: the control module calls a default program to perform self-checking, the control module sends a second detection signal to the height detection unit, the height detection unit returns an electric signal to the control module in real time, the control module judges the electric signal and an initially set cliff threshold value, if the electric signal is larger than the cliff threshold value, step 4 is executed, and if the electric signal is smaller than the cliff threshold value, step 3 is executed;
and step 3: the control module calls a learning program, the control module calls a correction program to process the currently received electric signal, the correction program returns a correction value to the control module, the control module updates the cliff threshold value to the correction value and judges the electric signal returned by the current height detection unit, if the electric signal is larger than the cliff threshold value, the step 4 is executed, otherwise, the step 3 is executed;
and 4, step 4: the control module sends the walking to drive module and cleans the signal, drive module control sweeper normally walks and cleans, the period control module judges signal of telecommunication and cliff threshold value that high detecting element returns in real time, if the signal of telecommunication is greater than cliff threshold value, then carries out step 4, if the signal of telecommunication is less than cliff threshold value, then control module sends to drive module and backs the turn signal, drive module drive sweeper backs a certain distance and normal walking and cleaning after turning to, and high detecting element converts the detection signal value into the signal of telecommunication and sends to control module in real time during.
The height detection unit comprises an infrared transmitter and an infrared receiver which are arranged at the front end of the belly of the sweeper (namely, the position in front of the wheel of the belly of the sweeper), the infrared transmitter is used for transmitting infrared light to the ground, and the infrared receiver is used for receiving infrared light reflected by the ground and converting the infrared light into an electric signal to be sent to the control module.
The infrared emitter is an infrared light emitting diode and can emit infrared light with the central value of 940 nm.
The infrared receiver is an infrared photosensitive diode, and the central value of sensitivity to infrared light is 940 nm.
The cliff threshold is initially set to 7.
The correction program is that the control module carries out subtraction calculation on the currently received electric signal, and the corrected value is the preset value of the currently received electric signal.
The preset value is 2.
If the floor in the floor sweeping area has two or more floor reflectivities, the floor sweeping machine needs to be manually placed in the next floor reflectivity sweeping area.
And when the control module detects that the sweeper moves backwards for two times continuously, the control module calls the learning program.
Example 1
When only one ground reflectivity exists in the cleaning area of the sweeper, the sweeper is placed on the ground, the sweeper is started, the sweeper is firstly detected through the wheel lifting detection unit, whether the wheel is lifted or not is judged, the sweeper is not suspended, if the return value is 0, the sweeper is not suspended, a default program is executed, if the return value is other, the sweeper is suspended, and an alarm is sent to be adjusted manually.
After the sweeper executes the default program, the default program is the first program that must be executed after the sweeper is turned on every time (whether the sweeping is suspended or not is temporarily not set as the program), so the default program may also be called an initialization program, and the threshold value of the suspended cliff in the default program is initially set, which is 7 in this embodiment, which means that the belly of the sweeper is about 10cm away from the ground at this time.
When the sweeper executes a default program, the control module judges an electric signal (voltage signal) returned by the infrared receiver and an initially set cliff threshold value (7 at the moment), if the electric signal is larger than 7, the sweeper normally walks and cleans, if the electric signal is smaller than 7, the ground clearance of the belly of the sweeper exceeds 10cm, and if the front is a step, the sweeper judges that the front is the step, retreats for a certain distance and turns to continue to walk and clean.
Namely step 1, step 2 and step 4.
Example two
When the ground reflectivity of the cleaning area of the sweeper is low, namely the situation that the electric signal is judged to be smaller than the initially set cliff threshold value in the step 2 exists, the control module calls a learning program, the initially set cliff threshold value is updated to a correction value through the correction program, the new cliff threshold value is usually lower than the initially set cliff threshold value, the judgment is continued, if the electric signal is still smaller than the initially set cliff threshold value, the control module regulates the pressure of the learning program again, the cliff threshold value (the last cliff threshold value at the moment) is continuously updated to the correction value (the correction value is the current correction value at the moment), the judgment is continued until the electric signal is larger than the cliff threshold value, and the step 4 is executed.
Namely step 1, step 2, step 3 and step 4.
EXAMPLE III
If two kinds of ground with large difference of infrared reflectivity exist in a user home, when the sweeper moves from the ground with high reflectivity to the ground with relatively low reflectivity, the cliff threshold value judgment is triggered and the sweeper retreats (namely, the ground with low emission is judged to be the cliff), so that the sweeper cannot enter the area to be swept, the user can manually move the sweeper into the area, the cliff threshold value is not suitable for the area because the sweeper performs normal sweeping before moving into the area, and the backing steering movement is inevitably and continuously generated when the sweeper is placed on the ground to walk.
Example four
In order to enable the sweeper to be moved to a stepped area with high reflectivity for sweeping after learning the ground with low reflectivity, the cliff is insensitive to reaction and falls off, namely, the preferred scheme is that the sweeper is manually restarted after the area is replaced each time.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a ground sensor self-adaptation calibration learning method of machine of sweeping floor, a serial communication port, the machine of sweeping floor includes detection module, drive module and control module, detection module is raised the detecting element including setting up in abdominal high detecting element and setting up in the wheel of machine of sweeping floor wheel department, high detecting element is used for detecting the machine of sweeping floor belly terrain clearance to convert detected signal value into signal transmission to control module, the detecting element is raised to the wheel and is used for detecting whether the wheel is lifted, the signal value that detecting element output is raised to high detecting element and wheel is received to control module, and send the direction of travel of signal to drive module control machine of sweeping floor:
step 1: starting the sweeper, sending a first detection signal to a wheel lifting detection unit by a control module, returning a lifting signal value to the control module by the wheel lifting detection unit, if the lifting signal value is 0, executing the step 2, otherwise, sending a fault signal outwards by the control module;
step 2: the control module calls a default program to perform self-checking, the control module sends a second detection signal to the height detection unit, the height detection unit returns an electric signal to the control module in real time, the control module judges the electric signal and an initially set cliff threshold value, if the electric signal is larger than the cliff threshold value, step 4 is executed, and if the electric signal is smaller than the cliff threshold value, step 3 is executed;
and step 3: the control module calls a learning program, the control module calls a correction program to process the currently received electric signal, the correction program returns a correction value to the control module, the control module updates the cliff threshold value to the correction value and judges the electric signal returned by the current height detection unit, if the electric signal is larger than the cliff threshold value, the step 4 is executed, otherwise, the step 3 is executed;
and 4, step 4: the control module sends the walking to drive module and cleans the signal, drive module control sweeper normally walks and cleans, the period control module judges signal of telecommunication and cliff threshold value that high detecting element returns in real time, if the signal of telecommunication is greater than cliff threshold value, then carries out step 4, if the signal of telecommunication is less than cliff threshold value, then control module sends to drive module and backs the turn signal, drive module drive sweeper backs a certain distance and normal walking and cleaning after turning to, and high detecting element converts the detection signal value into the signal of telecommunication and sends to control module in real time during.
2. The adaptive calibration learning method for the floor sensor of the sweeper according to claim 1, wherein the height detection unit comprises an infrared transmitter and an infrared receiver which are arranged at the front end of the belly of the sweeper, the infrared transmitter is used for transmitting infrared light to the ground, and the infrared receiver is used for receiving the infrared light reflected by the ground, converting the infrared light into an electric signal and sending the electric signal to the control module.
3. The adaptive calibration learning method for the floor sensor of the sweeper according to claim 2, wherein the infrared emitter is an infrared light emitting diode capable of emitting infrared light with a center value of 940 nm.
4. The adaptive calibration learning method for the floor sensor of the sweeper according to claim 2, wherein the infrared receiver is an infrared photodiode, and the center value of sensitivity to infrared light is 940 nm.
5. The adaptive calibration learning method for the floor sensor of the sweeper of claim 1, wherein the threshold value for the cliff is initially set to 7.
6. The adaptive calibration learning method for the floor sensor of the sweeper according to claim 1, wherein the correction program is a subtraction calculation performed by the control module on the currently received electrical signal, and the correction value is the currently received electrical signal-the preset value.
7. The adaptive calibration learning method for the floor sensor of the sweeper according to claim 6, wherein the preset value is 2.
8. The method of claim 1, wherein if two or more floor reflectivities exist for a floor in a cleaning area of the sweeper, the sweeper needs to be manually placed in the next floor reflectivity cleaning area.
9. The adaptive calibration learning method for the floor sensor of the sweeper of claim 8, wherein the control module invokes the learning procedure when the control module detects two consecutive backward movements of the sweeper.
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| CN202010686269.5A CN112022023A (en) | 2020-07-16 | 2020-07-16 | Adaptive calibration learning method for ground sensor of sweeper |
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Cited By (1)
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