CN114947626B - Side brush state determining method and device, sweeper and computer readable storage medium - Google Patents
Side brush state determining method and device, sweeper and computer readable storage medium Download PDFInfo
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- CN114947626B CN114947626B CN202210805148.7A CN202210805148A CN114947626B CN 114947626 B CN114947626 B CN 114947626B CN 202210805148 A CN202210805148 A CN 202210805148A CN 114947626 B CN114947626 B CN 114947626B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The embodiment of the application discloses a method and a device for determining an edge brushing state, a sweeper and a computer readable storage medium. The sweeper comprises an edge brush and a detection sensor, wherein the distance between the detection sensor and a central shaft of the edge brush is smaller than the length of a blade of the edge brush, and the method comprises the following steps: acquiring a pulse signal through the detection sensor; identifying the pulse signal and determining the period of the pulse signal; and determining whether the side brush state of the sweeper is abnormal or not according to the period of the pulse signal and the corresponding preset period. Therefore, automatic detection of whether the state of the side brush of the sweeper is abnormal is realized, and the cleaning effect is prevented from being influenced by the abnormal state of the side brush.
Description
Technical Field
The present application relates to the field of sweeper technologies, and in particular, to a method and an apparatus for determining an edge brushing state, a sweeper and a computer readable storage medium.
Background
With the continuous improvement of the living standard of people, the sweeper is slowly popularized. Because of the function and convenience of simple operation, the sweeper becomes a common household appliance for most people, and more users purchase the sweeper to replace users to finish house cleaning work.
The sweeper is usually provided with an edge brush, however, the edge brush is generally projected to the vertical projection surface of the sweeper and is easy to be blocked by a small gap; or the hair is wound, so that the rotating speed of the side brush is reduced; or the motor driving the side brush is abnormal, so that the rotation of the side brush is slowed down. In short, the side brush is abnormal in rotation speed due to various reasons, so that the cleaning effect is affected, but the prior art cannot detect whether the state of the side brush is abnormal, and further cannot know the hidden trouble that the side brush speed is slow.
Therefore, the sweeper in the prior art cannot detect whether the state of the side brush is abnormal or not.
Disclosure of Invention
Accordingly, an object of the embodiments of the present application is to provide a method and apparatus for determining an edge brush state, a sweeper and a computer readable storage medium, which can solve the problem that the existing sweeper cannot detect whether the state of the edge brush is abnormal.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for determining an edge brush state, which is applied to a sweeper, where the sweeper includes an edge brush and a detection sensor, and a distance between the detection sensor and a central axis of the edge brush is smaller than a length of a blade of the edge brush, and the method includes:
acquiring a pulse signal through the detection sensor;
identifying the pulse signal and determining the period of the pulse signal;
and determining whether the side brush state of the sweeper is abnormal or not according to the period of the pulse signal and the corresponding preset period.
According to one embodiment of the disclosure, the identifying the pulse signal and determining the period of the pulse signal include:
identifying a rising edge and/or a falling edge of the pulse signal;
the period of the pulse signal is determined according to two adjacent rising edges and/or falling edges.
According to a specific embodiment of the disclosure, the side brush is correspondingly provided with a plurality of detection sensors, and the identifying the pulse signal and determining the period of the pulse signal includes:
identifying rising edges and/or falling edges of the pulse signals detected by each detection sensor;
and determining the period of the pulse signals according to the adjacent rising edge and/or falling edge of the pulse signals detected by each detection sensor and the weight of each detection sensor, wherein the weight of each detection sensor is determined according to the distance between each detection sensor and the central axis of the side brush.
According to one embodiment of the disclosure, the determining whether the state of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period includes:
if the difference value between the period of the pulse signal and the corresponding preset period is within the preset range, determining that the side brush state of the sweeper is normal;
if the difference value between the period of the pulse signal and the preset period is not in the preset range, determining that the side brush state of the sweeper is abnormal.
According to one embodiment of the present disclosure, the method further comprises:
and if the side brush state of the sweeper is abnormal, sending out alarm information.
According to one embodiment of the present disclosure, the preset period is determined according to a preset normal rotation speed based on the formula t=1/(n×m), where T represents the preset period, N represents the preset normal rotation speed, and M represents the number of blades of the side brush.
According to one embodiment of the present disclosure, the method further comprises:
detecting the amplitude and/or width of the pulse signal;
if the amplitude of the pulse signal is smaller than the preset amplitude and/or the width of the pulse signal is smaller than the preset width, confirming that the pulse signal is effective;
and if the amplitude of the pulse signal is larger than the preset amplitude and/or the width of the pulse signal is larger than the preset width, confirming that the pulse signal is invalid, and eliminating the invalid pulse signal.
In a second aspect, an embodiment of the present application provides an edge brush state determining apparatus applied to a floor sweeping machine, the floor sweeping machine including an edge brush and a detection sensor, a distance between the detection sensor and a central axis of the edge brush being smaller than a length of a blade of the edge brush, the apparatus including:
the acquisition module is used for acquiring pulse signals through the detection sensor;
the identification module is used for identifying the pulse signal and determining the period of the pulse signal;
and the determining module is used for determining whether the state of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period.
In a third aspect, an embodiment of the present application provides a sweeper, including a processor and a memory, where the memory stores a program or instructions that, when executed by the processor, implement the steps of the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the method according to the first aspect.
The above embodiments of the present application provide a method, an apparatus, a sweeper and a computer readable storage medium for determining the status of an edge brush. The detection sensor is arranged in a range in which the side brush can be detected, a pulse signal is acquired, the pulse signal is identified, the period of the pulse signal is determined, and whether the side brush state of the sweeper is abnormal or not is determined according to the period of the pulse signal and a corresponding preset period. Therefore, automatic detection of whether the state of the side brush of the sweeper is abnormal is realized, and the cleaning effect is prevented from being influenced by the abnormal state of the side brush.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like elements are numbered alike in the various figures.
FIG. 1 shows a flowchart of a method for determining an edge brush state according to an embodiment of the present application;
fig. 2 illustrates a bottom view of a sweeper provided by an embodiment of the present application;
FIG. 3 shows a schematic diagram of a detection sensor 220 provided by the present application;
fig. 4 shows a waveform diagram of a pulse signal according to an embodiment of the present application;
FIG. 5 is a waveform diagram of another pulse signal according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an edge brush state determining apparatus according to an embodiment of the present application.
Description of main reference numerals:
200-sweeping floor machine; 210-side brushing; 211-central axis; 212-leaf; 220-a detection sensor; 221-an infrared emission tube; 222-an infrared receiving tube; 500-side brush state determining means; 501-an acquisition module; 502-an identification module; 503-determination module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present application, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the application.
Referring to fig. 1, fig. 1 is a flowchart of a method for determining an edge brush state according to an embodiment of the present application, where the method is applied to a sweeper, the sweeper includes an edge brush and a detection sensor, and a distance between the detection sensor and a central axis of the edge brush is smaller than a length of a blade of the edge brush, as shown in fig. 1, and the method includes the following steps:
step 110, acquiring a pulse signal through the detection sensor.
Specifically, referring to fig. 2 together, fig. 2 shows a bottom view of a sweeper provided by the present application. The sweeper 200 includes an edge brush 210 and a detection sensor 220. The side brush 210 includes a central shaft 211 and a predetermined number of blades 212, each blade 212 is disposed on the central shaft 211, the central shaft 211 is connected with a driving device (not shown), and the driving device drives the central shaft 211 to rotate, and each blade 212 can rotate along with the rotation of the central shaft 211, thereby realizing the cleaning function. It should be understood that the number of the side brushes 210 and the number of the blades 212 may be set according to practical requirements, and in the embodiment of the present application, for convenience of understanding, the number of the side brushes is two, and the number of the blades is three. The color of the side brush is set to be black, so that the pulse signals sent by the detection sensor are better absorbed, and the accuracy of the received pulse signals is improved. In order that the detection sensor 220 can detect the blade 212 of the side brush 210, the distance between the detection sensor 220 and the center axis 211 of the side brush 210 is smaller than the length of the blade 212 of the side brush 210.
It should be understood that the type of the detection sensor 220 can be set according to actual requirements, please refer to fig. 3, and fig. 3 shows a schematic diagram of the detection sensor 220 according to the present application. In an embodiment of the present application, the detection sensor 220 includes an infrared sensor. The infrared sensor comprises an infrared transmitting tube 221 for transmitting signals and an infrared receiving tube 222 for receiving signals. The angle of view of infrared transmitting tube 221 and infrared receiving tube 222 is controlled by the housing of the infrared sensor. In fig. 3, the triangle FAD represents the angle of view of the infrared transmitting tube 221, the triangle CBE represents the angle of view of the infrared receiving tube 222, and the overlapping portion of the triangle FAD and the triangle CBE is the effective detection area of the infrared sensor, that is, when the length of the line segment OB that is 20cm beyond the intersection point O of the line segment BE and the line segment AF and the point B is equal to 20cm, even if the intensity of the transmitted signal of the infrared transmitting tube 221 is adjusted to the highest value, the infrared receiving tube 222 can not receive the signal, so that the detection sensor 220 can also BE used to detect the cliff, that is, after the signal is sent, if the pulse signal is not received or the received pulse signal is smaller than the preset minimum value, it is determined that the sweeping machine encounters the cliff, and a backward or another measure is needed to avoid the cliff.
During the operation of the sweeper, the detection sensor sends out a signal, receives the signal reflected back by the ground or other objects, and forms a pulse signal based on the received signal. When the blade of the side brush is positioned between the detection sensor and the object, the magnitude of the signal received by the detection sensor can be influenced, so that the pulse signal is reduced. When the blade of the side brush is moved away from the position between the detection sensor and the object, the pulse signal is restored. Referring to fig. 4 and fig. 5 together, fig. 4 shows a waveform diagram of a pulse signal provided by an embodiment of the present application, and fig. 5 shows a waveform diagram of another pulse signal provided by an embodiment of the present application, wherein an abscissa indicates time t and an ordinate indicates voltage v. Fig. 4 shows the pulse signal received by the detection sensor 220 when the sweeper is not in operation, i.e., the side brush is not rotating; fig. 5 shows the pulse signal received by the detection sensor 220 when the sweeper is in operation, i.e., the side brush is rotated. It will be appreciated that due to the blocking effect of the side brushes, valleys are created in the waveform of the pulse signal. The alternating passage of the plurality of side-brushing blades past the detection sensor 220 produces a periodic variation in the received pulse signal.
In an alternative embodiment, the method further comprises:
detecting the amplitude and/or width of the pulse signal;
if the amplitude of the pulse signal is smaller than the preset amplitude and/or the width of the pulse signal is smaller than the preset width, confirming that the pulse signal is effective;
and if the amplitude of the pulse signal is smaller than the preset amplitude and/or the width of the pulse signal is smaller than the preset width, confirming that the pulse signal is invalid, and eliminating the invalid pulse signal.
Specifically, since the pulse signal may also fluctuate due to the cliff, in the embodiment of the present application, the amplitude and/or the width of the pulse signal is also detected. The pulse signal is too long in amplitude and too wide in width, possibly because cliffs are encountered, but not because of the blockage of the side brushes. And reserving the effective pulse signals and eliminating the ineffective pulse signals. The accuracy of the pulse signal is further improved by confirming the validity of the pulse signal.
And 120, identifying the pulse signal and determining the period of the pulse signal.
Specifically, since the change of the speed of the side brush affects the period of the pulse signal received by the detection sensor 220, in the embodiment of the present application, the pulse signal is identified, and further, the period of the pulse signal is determined, and whether the state of the side brush is abnormal is determined by using the period.
In an alternative embodiment, step 120 includes:
identifying a rising edge and/or a falling edge of the pulse signal;
the period of the pulse signal is determined according to two adjacent rising edges and/or falling edges.
Specifically, in the embodiment of the present application, the period of the pulse signal is determined by identifying the rising edge and/or the falling edge of the pulse signal and according to two adjacent rising edges and/or falling edges. Referring to fig. 5 together, it will be understood that the period of the pulse signal can be determined by two adjacent rising edges or two adjacent falling edges, that is, the two adjacent rising edge determining periods T1 or the two adjacent falling edge determining periods T2 shown in fig. 5. The period of the pulse signal may be determined by a plurality of different adjacent two rising and/or falling edges, thereby improving the accuracy of the period.
Further, the rising edge of the pulse signal and the falling edge of the pulse signal can be identified, a period is determined according to the adjacent rising edge, a period is determined according to the adjacent falling edge, and the period of the pulse signal is determined by taking the average value of the two periods, so that the accuracy of the period is improved.
In another alternative embodiment, the side brush is correspondingly provided with a plurality of detection sensors, and step 120 includes:
identifying rising edges and/or falling edges of the pulse signals detected by each detection sensor;
and determining the period of the pulse signals according to the adjacent rising edge and/or falling edge of the pulse signals detected by each detection sensor and the weight of each detection sensor, wherein the weight of each detection sensor is determined according to the distance between each detection sensor and the central axis of the side brush.
Specifically, the side brush is correspondingly provided with a plurality of detection sensors. In this way, the periods of the pulse signals are determined together by the pulse signals detected by the plurality of detection sensors, thereby improving the accuracy of the periods of the pulse signals. In the embodiment of the application, the rising edge and/or the falling edge of the pulse signal detected by each detection sensor are identified, then the period of each pulse signal is determined according to the adjacent rising edge and/or falling edge of the pulse signal detected by each detection sensor, and finally the period of the pulse signal is determined based on the weight of each detection sensor and the period of the pulse signal corresponding to the detection sensor. The weight of each detection sensor can be determined according to the distance between each detection sensor and the central axis of the side brush, and the longer the length of the blade and the longer the arc length are considered under the same radian of the detection sensor, so that the farther the distance between the detection sensor and the central axis of the side brush is, the higher the weight is; the farther the detection sensor is from the center axis of the side brush, the lower the weight.
For example, if the period of the pulse signal detected by the first detection sensor is T3, the weight of the first detection sensor is A1, the period of the pulse signal detected by the second detection sensor is T4, the weight of the second detection sensor is A2, the period of the pulse signal detected by the third detection sensor is T5, and the weight of the third detection sensor is A3, the period of the pulse signal may be determined according to the formula t=t3×a1+t4×a2+t5×a3.
It is to be understood that the number of the detecting sensors may be set according to actual requirements, which is not limited in the embodiment of the present application.
And 130, determining whether the state of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period.
Specifically, the number of different blades and the period corresponding to different rotation speeds are different, so that the preset period is determined based on the formula t=1/(n×m) according to the preset normal rotation speed, wherein T represents the preset period, N represents the preset normal rotation speed, and M represents the number of blades of the side brush. In the embodiment of the present application, the number of blades of the side brush is 3, so t=1/(3N).
It can be understood that the period of the pulse signal is compared with the corresponding preset period, and whether the state of the side brush of the sweeper is abnormal can be determined according to the comparison result.
Thus, in an alternative embodiment, step 130 includes:
if the difference value between the period of the pulse signal and the corresponding preset period is within the preset range, determining that the side brush state of the sweeper is normal;
if the difference value between the period of the pulse signal and the preset period is not in the preset range, determining that the side brush state of the sweeper is abnormal.
Specifically, in the embodiment of the present application, the preset range is set to 20ms. It is understood that the preset range may be set according to actual requirements, which is not limited in the embodiment of the present application.
In an alternative embodiment, the method further comprises:
and if the side brush state of the sweeper is abnormal, sending out alarm information.
Specifically, if the state of the side brush of the sweeper is abnormal, alarm information needs to be sent to remind a user of the abnormality of the side brush, and then the user eliminates the abnormality of the side brush, so that the side brush can work normally again. The mode of sending out the alarm information can be set according to actual demands. For example, if the sweeper includes an LED (light-emitting diode) lamp, the warning message may be sent by controlling the LED lamp to flash or controlling the LED lamp to send red light; the method can also send alarm information to the mobile terminal bound with the sweeper by the sweeper.
According to the method for determining the side brush state, the detection sensor is arranged in the range where the side brush can be detected, the pulse signal is obtained, the pulse signal is identified, the period of the pulse signal is determined, and whether the side brush state of the sweeper is abnormal or not is determined according to the period of the pulse signal and the corresponding preset period. Therefore, automatic detection of whether the state of the side brush of the sweeper is abnormal is realized, and the cleaning effect is prevented from being influenced by the abnormal state of the side brush.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an edge brush state determining apparatus according to an embodiment of the present application, as shown in fig. 6, the edge brush state determining apparatus 500 is applied to a sweeper, the sweeper includes an edge brush and a detection sensor, a distance between the detection sensor and a central axis of the edge brush is smaller than a length of a blade of the edge brush, and the edge brush state determining apparatus 500 includes:
an acquisition module 501, configured to acquire a pulse signal through the detection sensor;
an identifying module 502, configured to identify the pulse signal and determine a period of the pulse signal;
a determining module 503, configured to determine whether the status of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period.
Optionally, the identification module 502 is specifically configured to:
identifying a rising edge and/or a falling edge of the pulse signal;
the period of the pulse signal is determined according to two adjacent rising edges and/or falling edges.
Optionally, the side brush is correspondingly provided with a plurality of detection sensors, and the identification module 502 is specifically configured to:
identifying rising edges and/or falling edges of the pulse signals detected by each detection sensor;
and determining the period of the pulse signals according to the adjacent rising edge and/or falling edge of the pulse signals detected by each detection sensor and the weight of each detection sensor, wherein the weight of each detection sensor is determined according to the distance between each detection sensor and the central axis of the side brush.
Optionally, the determining module 503 is specifically configured to:
if the difference value between the period of the pulse signal and the corresponding preset period is within the preset range, determining that the side brush state of the sweeper is normal;
if the difference value between the period of the pulse signal and the preset period is not in the preset range, determining that the side brush state of the sweeper is abnormal.
Optionally, the side brush state determining apparatus 500 further includes:
and the alarm module is used for sending alarm information if the side brush state of the sweeper is abnormal.
Optionally, the preset period is determined according to a preset normal rotation speed based on a formula t=1/(n×m), where T represents the preset period, N represents the preset normal rotation speed, and M represents the number of blades of the side brush.
Optionally, the side brush state determining apparatus 500 further includes:
detecting the amplitude and/or width of the pulse signal;
if the amplitude of the pulse signal is smaller than the preset amplitude and/or the width of the pulse signal is smaller than the preset width, confirming that the pulse signal is effective;
and if the amplitude of the pulse signal is larger than the preset amplitude and/or the width of the pulse signal is larger than the preset width, confirming that the pulse signal is invalid, and eliminating the invalid pulse signal.
The side brush state determining device provided by the embodiment of the application can realize each process of the side brush state determining method in the method embodiment of fig. 1, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted.
Optionally, the embodiment of the present application further provides a sweeper, which includes a processor and a memory, where the memory stores a program or an instruction, and the program or the instruction implements each process of the above embodiment of the method for determining an edge brushing state when executed by the processor, and can achieve the same technical effect, so that repetition is avoided, and no redundant description is given here.
Optionally, an embodiment of the present application further provides a computer readable storage medium, where a program or an instruction is stored, where the program or the instruction implements each process of the above embodiment of the method for determining an edge brushing state when executed by a processor, and the process can achieve the same technical effect, so that repetition is avoided and no detailed description is given here.
The processor is a processor in the sweeper described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the application may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (9)
1. The utility model provides a limit brush state determination method which characterized in that is applied to the machine of sweeping floor, the machine of sweeping floor includes limit brush and detection sensor, the limit brush corresponds to be provided with a plurality of detection sensor, detection sensor with the distance of the center pin of limit brush is less than the length of the blade of limit brush, the method includes:
acquiring a pulse signal through the detection sensor;
identifying rising edges and/or falling edges of the pulse signals detected by each detection sensor;
determining the period of the pulse signals according to the adjacent rising edge and/or falling edge of the pulse signals detected by each detection sensor and the weight of each detection sensor, wherein the weight of each detection sensor is determined according to the distance between each detection sensor and the central shaft of the side brush;
and determining whether the side brush state of the sweeper is abnormal or not according to the period of the pulse signal and the corresponding preset period.
2. The side brush state determining method according to claim 1, wherein the identifying the pulse signal, determining a period of the pulse signal, comprises:
identifying a rising edge and/or a falling edge of the pulse signal;
the period of the pulse signal is determined according to two adjacent rising edges and/or falling edges.
3. The method for determining the status of the side brush according to claim 1, wherein the determining whether the status of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period comprises:
if the difference value between the period of the pulse signal and the corresponding preset period is within the preset range, determining that the side brush state of the sweeper is normal;
if the difference value between the period of the pulse signal and the preset period is not in the preset range, determining that the side brush state of the sweeper is abnormal.
4. The side brush status determination method of claim 3, further comprising:
and if the side brush state of the sweeper is abnormal, sending out alarm information.
5. The side brush state determining method according to claim 3, wherein the preset period is determined based on a formula t=1/(n×m) according to a preset normal rotation speed, where T represents the preset period, N represents the preset normal rotation speed, and M represents the number of blades of the side brush.
6. The side brush status determination method of claim 1, further comprising:
detecting the amplitude and/or width of the pulse signal;
if the amplitude of the pulse signal is smaller than the preset amplitude and/or the width of the pulse signal is smaller than the preset width, confirming that the pulse signal is effective;
and if the amplitude of the pulse signal is larger than the preset amplitude and/or the width of the pulse signal is larger than the preset width, confirming that the pulse signal is invalid, and eliminating the invalid pulse signal.
7. The utility model provides a limit brush state determining device, its characterized in that is applied to the machine of sweeping the floor, the machine of sweeping the floor includes limit brush and detection sensor, the limit brush corresponds and is provided with a plurality of detection sensor, detection sensor with the distance of the center pin of limit brush is less than the length of the blade of limit brush, the device includes:
the acquisition module is used for acquiring pulse signals through the detection sensor;
the identification signal module is used for identifying the rising edge and/or the falling edge of the pulse signal detected by each detection sensor;
the period determining module is used for determining the period of the pulse signals according to the adjacent rising edges and/or falling edges of the pulse signals detected by each detection sensor and the weight of each detection sensor;
and the determining module is used for determining whether the state of the side brush of the sweeper is abnormal according to the period of the pulse signal and the corresponding preset period.
8. A sweeper comprising a processor and a memory, the memory having stored thereon a program or instructions which when executed by the processor perform the steps of the method of determining the status of an edge brush as claimed in any one of claims 1 to 6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the side brush state determination method according to any of claims 1-6.
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