CN108095647B - Anti-falling method and device for sweeping device - Google Patents
Anti-falling method and device for sweeping device Download PDFInfo
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- CN108095647B CN108095647B CN201711340251.4A CN201711340251A CN108095647B CN 108095647 B CN108095647 B CN 108095647B CN 201711340251 A CN201711340251 A CN 201711340251A CN 108095647 B CN108095647 B CN 108095647B
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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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- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The embodiment of the invention provides a method for preventing a floor sweeping device from falling, wherein the bottom of the floor sweeping device is provided with a preset number of sensors, two ends of the bottom of the floor sweeping device are symmetrically provided with two wheels, and the method comprises the following steps: in the working process of the sweeping device, when the first sensor is determined to detect the falling signal, the sweeping device is controlled to rotate until the second sensor detects the falling signal, then the rotating mode of the sweeping device corresponding to the second sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The method and the device for preventing the sweeping device from falling off provided by the embodiment of the invention are suitable for preventing the sweeping device from falling off from the edge of the ground.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for preventing a floor sweeping device from falling.
Background
Along with the development of the society and the progress of science and technology, the intelligent technology develops thereupon, and the device of sweeping the floor of intelligence comes soon, and the user begins to use the device sanitation and hygiene of sweeping the floor of intelligence to replace artifical sanitation and hygiene, and wherein the device of sweeping the floor of intelligence is through moving on ground to sanitation and hygiene.
However, the existing intelligent sweeping device may fall from a high place in the sweeping process, so that the intelligent sweeping device is damaged, and after the intelligent sweeping device falls from the high place, the user may be required to manually reset the intelligent sweeping device again, so that the intelligent sweeping device can continue to work, the efficiency of the intelligent sweeping device is low, and the user experience is poor.
Disclosure of Invention
In order to overcome the above technical problems or at least partially solve the above technical problems, the following technical solutions are proposed:
according to a first aspect, an embodiment of the present invention provides a method for preventing a floor sweeping device from falling, where a preset number of sensors are arranged at a bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, including:
in the working process of the sweeping device, when the first sensor detects a falling signal, the sweeping device is controlled to rotate until the second sensor detects the falling signal;
determining a rotation mode of the sweeping device corresponding to the second sensor;
controlling the sweeping device to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
the sweeping device is controlled to work along the direction parallel to the edge of the ground.
Specifically, according to the device rotation mode control of sweeping the floor and sweeping the rotation of device, two wheels until the device of sweeping the floor all with the parallel step in ground edge include:
controlling the sweeping device to rotate until the third sensor detects a falling signal, wherein the third sensor is adjacent to the second sensor;
determining a first angle to be rotated by the sweeping device by taking the midpoint of a wheel adjacent to the third sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle so that a connecting line of the third sensor and the circle center of the sweeping device is vertical to the edge of the ground;
and controlling the two wheels of the sweeping device to rotate by taking the circle centers as fixed points according to a preset second angle so that the two wheels are parallel to the edge of the ground.
Specifically, according to the device rotation mode control of sweeping the floor and sweeping the rotation of device, two wheels until the device of sweeping the floor all with the parallel step in ground edge include:
controlling the sweeping device to rotate until the first sensor detects the falling signal again;
determining a third angle of the sweeping device to be rotated by taking the midpoint of the wheel adjacent to the first sensor as a fixed point, and controlling the sweeping device to rotate according to the third angle, so that a connecting line of the first sensor and the circle center of the sweeping device is vertical to the edge of the ground;
according to the preset sixth degree, the two wheels of the sweeping device are controlled to rotate by taking the circle centers as fixed points, so that the two wheels are parallel to the edge of the ground.
Specifically, the manner of determining the first angle includes any one of:
determining a fourth angle, and determining a first angle according to the fourth angle and the first included angle;
determining a fifth angle, and determining a third angle according to the fifth angle and the second included angle;
the first included angle is an included angle between the third sensor and the second sensor, and the second included angle is an included angle between the first sensor and the second sensor;
the fourth angle is an angle which takes the second sensor to just detect the ground as a starting point, the third sensor to just detect the falling signal as a rotating angle between end points, and the fifth angle is an angle which takes the second sensor to just detect the ground as a starting point and the first sensor to just detect the falling signal as a rotating angle between the end points.
Specifically, the step of controlling the rotation of the sweeping device until the second sensor detects a falling signal comprises:
and controlling the sweeping device to rotate along the first direction by taking the circle center as a fixed point until the second sensor detects a falling signal.
Specifically, the step of controlling the rotation of the sweeping device until the third sensor detects a falling signal comprises:
controlling the sweeping device to rotate along a first direction by taking the circle center as a fixed point until a falling signal is detected by a third sensor;
wherein, according to the pivoted step of first angle control device of sweeping the floor, include:
and controlling the sweeping device to rotate along the first direction according to the first angle.
Specifically, control device of sweeping the floor and rotate, until first sensor detects the step of falling the signal again, include:
controlling the sweeping device to rotate along a second direction by taking the circle center as a fixed point until the first sensor detects the falling signal again, wherein the second direction is opposite to the first direction;
according to the step of third angle control device pivoted of sweeping the floor, include:
and controlling the sweeping device to rotate along the second direction according to the third angle.
Specifically, determining the manner in which the sensor detects the fall signal includes:
and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
Further, the step of controlling the rotation of the sweeping device until the second sensor detects the falling signal further comprises:
and controlling the sweeping device to perform anti-shake treatment.
According to the second aspect, an embodiment of the present invention further provides a device for preventing a floor sweeping device from falling, where a preset number of sensors are arranged at the bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, including:
the control module is used for controlling the sweeping device to rotate until the second sensor detects a falling signal when the first sensor detects the falling signal in the working process of the sweeping device;
the determining module is used for determining the rotation mode of the sweeping device corresponding to the second sensor;
the control module is also used for controlling the sweeping device to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
and the control module is also used for controlling the sweeping device to work along the direction parallel to the edge of the ground.
The control module is specifically used for controlling the sweeping device to rotate until the third sensor detects a falling signal, and the third sensor is adjacent to the second sensor;
the control module is specifically used for determining a first angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the third sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connecting line of the third sensor and the circle center of the sweeping device is perpendicular to the edge of the ground;
the control module is specifically used for controlling the two wheels of the sweeping device to rotate by taking the circle centers as fixed points according to a preset second angle, so that the two wheels are parallel to the edge of the ground.
The control module is specifically used for controlling the sweeping device to rotate until the first sensor detects the falling signal again;
the control module is specifically used for determining a third angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the first sensor as a fixed point, and controlling the sweeping device to rotate according to the third angle, so that a connecting line of the first sensor and the circle center of the sweeping device is perpendicular to the edge of the ground;
the control module is specifically used for controlling the two wheels of the sweeping device to rotate by taking the circle centers as fixed points according to a preset sixth degree, so that the two wheels are parallel to the edge of the ground.
The determining module is specifically configured to determine a fourth angle, and determine a first angle according to the fourth angle and the first included angle;
the determining module is specifically further configured to determine a fifth angle, and determine a third angle according to the fifth angle and the second included angle;
the first included angle is an included angle between the third sensor and the second sensor, and the second included angle is an included angle between the first sensor and the second sensor;
the fourth angle is an angle which takes the second sensor to just detect the ground as a starting point, the third sensor to just detect the falling signal as a rotating angle between end points, and the fifth angle is an angle which takes the second sensor to just detect the ground as a starting point and the first sensor to just detect the falling signal as a rotating angle between the end points.
Specifically, the control module is further used for controlling the sweeping device to rotate in the first direction by taking the circle center of the sweeping device as a fixed point until the second sensor detects a falling signal.
The control module is specifically used for controlling the sweeping device to rotate along the first direction by taking the circle center as a fixed point until the falling signal is detected by the third sensor;
the control module is specifically used for controlling the sweeping device to rotate along the first direction according to the first angle.
The control module is specifically further configured to control the sweeping device to rotate in a second direction with the circle center as a fixed point until the first sensor detects the falling signal again, and the second direction is opposite to the first direction;
the control module is specifically used for controlling the sweeping device to rotate along the second direction according to the third angle.
Specifically, the determining module is further configured to determine that a fall signal is detected when any sensor detects that the height of any sensor from the ground is greater than a preset threshold.
Further, the control module is also used for controlling the sweeping device to perform anti-shake treatment.
According to a third aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the fall prevention method of the sweeping device of the first aspect.
An embodiment of the present invention provides a computing device according to a fourth aspect, including: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the method for preventing the sweeping device from falling.
The invention provides a method and a device for preventing a sweeping device from falling off, compared with the prior art, the sweeping device is provided with a preset number of sensors at the bottom, two wheels are symmetrically arranged at two ends of the bottom of the sweeping device, in the working process of the sweeping device, when a first sensor detects a falling signal, the sweeping device is controlled to rotate until a second sensor detects the falling signal, then the rotating mode of the sweeping device corresponding to the second sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The in-process of sweeping the floor the device work promptly, the first sensor in the device of sweeping the floor can detect the signal of falling to after detecting the signal of falling, the control device of sweeping the floor rotates, until should sweep the floor two wheels of device and the edge of ground is parallel, and sweep the floor the device and the edge of ground after being parallel, just continue to work, thereby can avoid the intelligence to sweep the floor the device and fall from the eminence, and then can promote the efficiency that the device work was swept to this intelligence, promote user experience.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a top view of a bottom structure of a floor sweeping device according to an embodiment of the invention;
fig. 2 is a flowchart of a method for preventing a floor sweeping device from falling down according to an embodiment of the present invention;
fig. 3 is a top view of a connecting line between the circle center of the sweeping device and the right sensor of the embodiment of the invention, which is perpendicular to the edge of the ground;
fig. 4 is a top view of a connecting line between the circle center of the sweeping device and the left sensor of the embodiment of the invention, which is perpendicular to the edge of the ground;
fig. 5 is a top view of the left wheel of the sweeping device of the embodiment of the invention, which is parallel to the edge of the ground;
fig. 6 is a top view of the right wheel of the sweeping device of the embodiment of the invention being parallel to the edge of the ground;
fig. 7 is a schematic structural view of a fall-prevention device of the sweeping device according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, 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 this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As will be appreciated by those skilled in the art, a "terminal" as used herein includes both devices having a wireless signal receiver, which are devices having only a wireless signal receiver without transmit capability, and devices having receive and transmit hardware, which have devices having receive and transmit hardware capable of two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service), which may combine voice, data processing, facsimile and/or data communication capabilities; a PDA (Personal Digital Assistant), which may include a radio frequency receiver, a pager, internet/intranet access, a web browser, a notepad, a calendar and/or a GPS (Global Positioning System) receiver; a conventional laptop and/or palmtop computer or other device having and/or including a radio frequency receiver. As used herein, a "terminal" or "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or situated and/or configured to operate locally and/or in a distributed fashion at any other location(s) on earth and/or in space. As used herein, a "terminal Device" may also be a communication terminal, a web terminal, a music/video playing terminal, such as a PDA, an MID (Mobile Internet Device) and/or a Mobile phone with music/video playing function, or a smart tv, a set-top box, etc.
Fig. 1 is a top view structural diagram of a sweeping device, the sweeping device in the embodiment of the present invention is a circular device, the bottom of the sweeping device is provided with a predetermined number of sensors, for example, 3 sensors, the bottom of the sweeping device in the embodiment of the present invention is described with 3 sensors, the three sensors are a first sensor, a second sensor 11 (a sensor located in the middle), and a third sensor, and two wheels are symmetric at two ends of the bottom of the sweeping device, and are a left wheel and a right wheel respectively.
Example one
The embodiment of the invention provides a method for preventing a floor sweeping device from falling, wherein a preset number of sensors are arranged at the bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, as shown in fig. 2, the method comprises the following steps:
For the embodiment of the present invention, the first sensor may be a sensor located on the left side of the second sensor, or may be a sensor located on the right side of the second sensor. The present invention is not limited to the embodiments.
Specifically, the step of controlling the rotation of the sweeping device until the second sensor detects a falling signal comprises: and controlling the sweeping device to rotate along the first direction by taking the circle center as a fixed point until the second sensor detects a falling signal.
For the embodiment of the invention, if the first sensor is a sensor positioned on the left side of the second sensor, the sweeping device is controlled to rotate clockwise by taking the circle center as a fixed point until the second sensor detects a falling signal; if the first sensor is a sensor positioned on the right side of the second sensor, the sweeping device is controlled to rotate anticlockwise by taking the circle center as a fixed point until the second sensor detects a falling signal.
And step 202, determining a rotation mode of the sweeping device corresponding to the second sensor.
For the embodiment of the invention, the second sensor of the sweeping device, namely the sensor positioned in the middle of the sensors, is provided with a specific rotation mode. In the embodiment of the invention, when the second sensor detects the falling signal, the rotation mode corresponding to the current sweeping device is determined.
And step 203, controlling the rotation of the sweeping device according to the rotation mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground.
For the embodiment of the invention, the sweeping device is a circular device, and the sweeping device is controlled to rotate by taking the circle center as a fixed point or taking the center of the wheel as a fixed point until the two wheels of the sweeping device are parallel to the edge of the ground.
And 204, controlling the sweeping device to work along the direction parallel to the edge of the ground.
The embodiment of the invention provides a method for preventing a sweeping device from falling, and compared with the prior art, the sweeping device provided by the embodiment of the invention is provided with a preset number of sensors at the bottom, two wheels are symmetrically arranged at two ends of the bottom, in the working process of the sweeping device, when a first sensor detects a falling signal, the sweeping device is controlled to rotate until a second sensor detects the falling signal, then the rotation mode of the sweeping device corresponding to the second sensor is determined, then the sweeping device is controlled to rotate according to the rotation mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The in-process of sweeping the floor the device work promptly, the first sensor in the device of sweeping the floor can detect the signal of falling to after detecting the signal of falling, the control device of sweeping the floor rotates, until should sweep the floor two wheels of device and the edge of ground is parallel, and sweep the floor the device and the edge of ground after being parallel, just continue to work, thereby can avoid the intelligence to sweep the floor the device and fall from the eminence, and then can promote the efficiency that the device work was swept to this intelligence, promote user experience.
Example two
Another possible implementation manner of the embodiment of the present invention further includes, on the basis of the operation shown in the first embodiment, the operation shown in the second embodiment, wherein,
step 203 comprises: step 2031 (not shown), step 2032 (not shown), and step 2033 (not shown), wherein,
step 2031, controlling the sweeping device to rotate until the third sensor detects a falling signal.
Wherein the third sensor is located adjacent to the second sensor.
Specifically, the step of controlling the rotation of the sweeping device until the third sensor detects a falling signal comprises: and controlling the sweeping device to rotate along the first direction by taking the circle center as a fixed point until the third sensor detects a falling signal.
For the embodiment of the invention, if the third sensor is a sensor positioned on the right side of the second sensor and the first sensor is a sensor positioned on the left side of the second sensor, the sweeping device is controlled to rotate clockwise with the circle center as a fixed point until the right sensor detects a falling signal; if the third sensor is a sensor positioned on the left side, and the first sensor is a sensor positioned on the right side of the second sensor, the sweeping device is controlled to rotate along the anticlockwise direction by taking the circle center as a fixed point until the sensor positioned on the left side of the second sensor detects a falling signal.
Step 2032, determining a first angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the third sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connection line between the third sensor and the circle center of the sweeping device is perpendicular to the edge of the ground.
Wherein, according to the pivoted step of first angle control device of sweeping the floor, include: and controlling the sweeping device to rotate along the first direction according to the first angle.
For the embodiment of the invention, after the third sensor detects the falling signal, the sweeping device is controlled to rotate by a first angle by taking the middle point of the wheel adjacent to the third sensor as a fixed point until the connecting line of the third sensor and the circle center of the sweeping device is vertical to the edge of the ground.
For example, if the third sensor is a sensor located on the right side of the second sensor, and the first sensor is a sensor located on the left side of the second sensor, the sweeping device is controlled to rotate by a first angle with the center of the right wheel as a fixed point, and the rotation is clockwise until a connecting line between the right sensor and the center of the circle is perpendicular to the edge of the ground, as shown in fig. 3; if the third sensor is a sensor located on the left side of the second sensor, and the first sensor is a sensor located on the right side of the second sensor, the sweeping device is controlled to rotate by a first angle with the center of the left wheel as a fixed point, and the sweeping device is controlled to rotate in the counterclockwise direction until a connecting line between the sensor on the left side and the circle center is perpendicular to the edge of the ground, as shown in fig. 4.
Specifically, the manner of determining the first angle includes:
determining a fourth angle, and determining a first angle according to the fourth angle and the first included angle;
the first included angle is an included angle between the third sensor and the second sensor; the fourth angle is the angle of rotation between the starting point when the second sensor detects the ground right and the end point when the third sensor detects the falling signal right.
Wherein, if the fourth angle is theta, the first angle is delta, and the included angle between the second sensor and the third sensor is gamma, then
For example, in the embodiment of the present invention, the angle between the third sensor and the second sensor may be 60 °, that is, γ is 60 °, then
For the embodiment of the invention, if the second sensor is a sensor located in the middle, the third sensor is a sensor located on the right side of the second sensor, and the first sensor is a sensor located on the left side of the second sensor, the fourth angle is an angle between the beginning point when the middle sensor just detects the ground, and the end point when the right sensor rotates clockwise and just detects the falling signal for the first time; if the second sensor is a sensor located in the middle, the third sensor is a sensor located on the left side of the second sensor, and the first sensor is a sensor located on the right side of the second sensor, the fourth angle is an angle between the point where the middle sensor just detects the ground as a starting point and the point where the sensor rotates counterclockwise to the left side just detects the falling signal as an end point for the first time.
Step 2033, controlling the two wheels of the floor sweeping device to rotate with the circle centers as fixed points according to a preset second angle, so that the two wheels are parallel to the edge of the ground.
For the embodiment of the invention, the second angle is determined according to the included angle between two adjacent sensors, and the two wheels of the sweeping device are controlled to rotate around the circle center as a fixed point according to the second angle, so that the two wheels are parallel to the edge of the ground.
For the embodiment of the present invention, if the included angle between each sensor is 60 °, the preset second angle is 30 °. In the embodiment of the invention, if the third sensor is a sensor positioned on the left side of the second sensor, the sweeping device is controlled to rotate 30 degrees counterclockwise until the two wheels are parallel to the edge of the ground, as shown in fig. 5; if the third sensor is the sensor positioned on the right side of the second sensor, the sweeping device is controlled to rotate clockwise by 30 degrees until the two wheels are parallel to the edge of the ground, as shown in fig. 6.
EXAMPLE III
Another possible implementation manner of the embodiment of the present invention further includes, on the basis of the operation shown in the first embodiment, the operation shown in the third embodiment, wherein,
step 203 includes step 2034 (not shown), step 2035 (not shown), and step 2036 (not shown), wherein,
step 2034, the sweeping device is controlled to rotate until the first sensor detects the falling signal again.
Specifically, control device of sweeping the floor and rotate, until first sensor detects the step of falling the signal again, include: and controlling the sweeping device to rotate along the second direction by taking the circle center as a fixed point until the first sensor detects the falling signal again.
Wherein the second direction is opposite to the first direction.
For the embodiment of the invention, when the first sensor detects the falling signal, the sweeping device is controlled to rotate along the first direction by taking the circle center of the sweeping device as a fixed point until the second sensor detects the falling signal, and then the sweeping device is controlled to rotate along the second direction opposite to the first direction by taking the circle center of the sweeping device as a fixed point until the first sensor detects the falling signal again.
For example, if the first sensor is a sensor located on the left side of the second sensor, and the second sensor is a sensor located in the middle, the sweeping device is controlled to rotate clockwise to the sensor located in the middle to detect the falling signal with the circle center as a fixed point, and then the sweeping device is controlled to rotate counterclockwise to the sensor located on the left side to detect the falling signal again with the circle center as a fixed point; if the first sensor is a sensor positioned on the right side of the second sensor, and the second sensor is a sensor positioned in the middle, the sweeping device is controlled to rotate anticlockwise to the sensor in the middle to detect a falling signal by taking the circle center of the sweeping device as a fixed point, and then the sweeping device is controlled to rotate clockwise to the sensor on the right side to detect the falling signal again by taking the circle center of the sweeping device as a fixed point.
Step 2035, determining a third angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the first sensor as a fixed point, and controlling the sweeping device to rotate according to the third angle, so that a connection line of the first sensor and the circle center of the sweeping device is perpendicular to the edge of the ground.
Specifically, according to the step of third angle control device pivoted, include: and controlling the sweeping device to rotate along the second direction according to the third angle.
Specifically, a fifth angle is determined, and a third angle is determined according to the fifth angle and the second included angle.
The second included angle is an included angle between the first sensor and the second sensor; the fifth angle is the angle which rotates between the starting point when the second sensor just detects the ground and the end point when the first sensor just detects the falling signal.
Wherein, if the fifth angle is theta, the third angle is delta, and the included angle between the second sensor and the first sensor is gamma, then
For example, in the embodiment of the present invention, the angle between the first sensor and the second sensor may be 60 °, that is, γ is 60 °, then
For the embodiment of the invention, if the first sensor is the sensor located on the left side of the second sensor, after the left sensor detects the falling signal again, the sweeping device is controlled to rotate by delta counterclockwise by taking the midpoint of the left wheel as a fixed point until the connecting line of the left sensor and the circle center of the sweeping device is vertical to the edge of the ground, as shown in fig. 4; if the first sensor is the sensor located on the right side of the second sensor, after the right sensor detects the falling signal again, the sweeping device is controlled to rotate clockwise by delta with the midpoint of the right wheel as a fixed point until a connecting line of the right sensor and the center of the circle of the sweeping device is vertical to the edge of the ground, as shown in fig. 3.
For the embodiment of the present invention, the first angle and the third angle may be the same or different. The present invention is not limited to the embodiments. Further, whether the first angle and the third angle are the same depends on whether the included angle between the first sensor and the second sensor is the same and whether the included angle between the second sensor and the third sensor is the same.
Step 2036, controlling the two wheels of the floor sweeping device to rotate with the circle centers as fixed points according to a preset sixth angle, so that the two wheels are parallel to the edge of the ground.
For the embodiment of the invention, the sixth angle is determined according to the included angle between two adjacent sensors, and the two wheels of the sweeping device are controlled to rotate at fixed points by taking the circle centers of the two wheels as fixed points according to the sixth angle, so that the two wheels are both parallel to the edge of the ground, as shown in fig. 5 and 6.
For the embodiment of the present invention, if the included angle between each sensor is 60 °, the preset sixth angle is 30 °. In the embodiment of the invention, if the first sensor is a sensor on the left side, the sweeping device is controlled to rotate 30 degrees anticlockwise until the two wheels are parallel to the edge of the ground; if the first sensor is the sensor positioned on the right side, the sweeping device is controlled to rotate clockwise by 30 degrees until the two wheels are parallel to the edge of the ground.
For the embodiment of the present invention, the second angle and the sixth angle may be the same or different. The present invention is not limited to the embodiments. Further, whether the second angle is the same as the sixth angle depends on whether the included angle between the first sensor and the second sensor is the same as well as whether the included angle between the second sensor and the third sensor is the same.
Example four
Another possible implementation manner of the embodiment of the present invention is, on the basis of the embodiment shown in any one of the first to third embodiments, the operation shown in the fourth embodiment, wherein,
a manner of determining that a sensor detects a fall signal, comprising: and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
The sensor in the embodiment of the invention may include: ultrasonic ranging sensors, laser ranging sensors, infrared ranging sensors, and 24GHZ radar sensors. The present invention is not limited to the embodiments.
For the embodiment of the invention, the preset threshold value can be set by a user or a sweeping device. The present invention is not limited to the embodiments.
For example, the preset threshold may be 30 centimeters (cm), and when the sensor detects that the sensor is more than 30cm from the ground, it is determined that the sensor detects a fall signal.
EXAMPLE five
Another possible implementation manner of the embodiment of the present invention further includes the operation shown in the fifth embodiment on the basis of any one of the first to fourth embodiments, wherein,
the step of controlling the sweeping device to rotate until the second sensor detects the falling signal further comprises the following steps: and controlling the sweeping device to perform anti-shake treatment.
For the embodiment of the invention, after the first sensor detects the falling signal, the sweeping device is controlled to perform anti-shake treatment, and after the anti-shake treatment is performed, the sweeping device is controlled to rotate, that is, after the first sensor detects the falling signal, the sweeping device is controlled to continue to move, in the process of moving for the first preset distance, the sensor always detects the falling signal, and moves for the second preset distance in the direction opposite to the moving direction, and after that, the sweeping device is controlled to rotate.
For the embodiment of the invention, the first preset distance is greater than or equal to the second preset distance, and the first preset distance and the second preset distance can be set by a user or a sweeping device. The present invention is not limited to the embodiments.
For the embodiment of the invention, the anti-shaking treatment is carried out by controlling the sweeping device, so that whether the first sensor detects the falling signal can be further determined, the misjudgment of the first sensor is avoided, and the accuracy of the falling prevention of the sweeping device can be improved.
The embodiment of the invention provides a device for preventing a floor sweeping device from falling, wherein the bottom of the floor sweeping device is provided with a preset number of sensors, and two ends of the bottom of the floor sweeping device are symmetrically provided with two wheels, as shown in fig. 7, the device comprises: a control module 71, a determination module 752, wherein,
the control module 71 is configured to, in the working process of the sweeping device, control the sweeping device to rotate when it is determined that the first sensor detects the falling signal until the second sensor detects the falling signal.
And the determining module 72 is configured to determine a rotation mode of the sweeping device corresponding to the second sensor.
The control module 71 is further configured to control the rotation of the sweeping device according to the rotation mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground.
The control module 71 is further configured to control the sweeping device to work in a direction parallel to the edge of the floor.
Specifically, the control module 71 is specifically configured to control the sweeping device to rotate until the third sensor detects a drop signal.
Wherein the third sensor is located adjacent to the second sensor.
The control module 71 is further specifically configured to determine a first angle to be rotated by the sweeping device with a midpoint of a wheel adjacent to the third sensor as a fixed point, and control the sweeping device to rotate according to the first angle, so that a connection line between the third sensor and a circle center of the sweeping device is perpendicular to the edge of the ground.
The control module 71 is further configured to control the two wheels of the sweeping device to rotate around the circle center as a fixed point according to a preset second angle, so that the two wheels are parallel to the edge of the ground.
Specifically, the control module 71 is specifically configured to control the sweeping device to rotate until the first sensor detects the falling signal again.
The control module 71 is specifically configured to determine a third angle at which the sweeping device is to rotate with a midpoint of a wheel adjacent to the first sensor as a fixed point, and control the sweeping device to rotate according to the third angle, so that a connection line between the first sensor and a circle center of the sweeping device is perpendicular to the edge of the ground.
The control module 71 is specifically configured to control the two wheels of the sweeping device to rotate around the center of the circle as a fixed point according to a preset sixth angle, so that the two wheels are parallel to the edge of the ground.
Specifically, the determining module 71 is specifically configured to determine the fourth angle, and determine the first angle according to the fourth angle and the first included angle.
The determining module 71 is further specifically configured to determine a fifth angle, and determine a third angle according to the fifth angle and the second included angle.
The first included angle is an included angle between the third sensor and the second sensor, and the second included angle is an included angle between the first sensor and the second sensor; the fourth angle is an angle which takes the second sensor to just detect the ground as a starting point, the third sensor to just detect the falling signal as a rotating angle between end points, and the fifth angle is an angle which takes the second sensor to just detect the ground as a starting point and the first sensor to just detect the falling signal as a rotating angle between the end points.
Specifically, the control module 71 is further configured to control the sweeping device to rotate in the first direction with the circle center as a fixed point until the second sensor detects a falling signal.
Specifically, the control module 71 is further configured to control the sweeping device to rotate along the first direction with the circle center as a fixed point until the falling signal is detected by the third sensor.
The control module 71 is further configured to control the sweeping device to rotate in the first direction according to the first angle.
Specifically, the control module 71 is further configured to control the sweeping device to rotate in the second direction with the circle center as a fixed point until the first sensor detects the falling signal again.
Wherein the second direction is opposite to the first direction.
The control module 71 is further specifically configured to control the sweeping device to rotate in the second direction according to the third angle.
Specifically, the determining module 71 is further configured to determine that a drop signal is detected when any sensor detects that the height of the any sensor from the ground is greater than a preset threshold.
Specifically, the control module 71 is further configured to control the sweeping device to perform anti-shake processing.
The embodiment of the invention provides a device for preventing a sweeping device from falling, and compared with the prior art, the sweeping device provided by the embodiment of the invention is provided with a preset number of sensors at the bottom, two wheels are symmetrically arranged at two ends of the bottom, in the working process of the sweeping device, when a first sensor detects a falling signal, the sweeping device is controlled to rotate until a second sensor detects the falling signal, then the rotation mode of the sweeping device corresponding to the second sensor is determined, then the sweeping device is controlled to rotate according to the rotation mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The in-process of sweeping the floor the device work promptly, the first sensor in the device of sweeping the floor can detect the signal of falling to after detecting the signal of falling, the control device of sweeping the floor rotates, until should sweep the floor two wheels of device and the edge of ground is parallel, and sweep the floor the device and the edge of ground after being parallel, just continue to work, thereby can avoid the intelligence to sweep the floor the device and fall from the eminence, and then can promote the efficiency that the device work was swept to this intelligence, promote user experience.
The embodiment of the invention provides a device for preventing a floor sweeping device from falling, which is suitable for the method embodiment and is not described herein again.
The embodiment of the invention provides a computer-readable storage medium, which is characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program realizes a method for preventing a floor sweeping device from falling.
The embodiment of the invention provides a computer readable storage medium, and compared with the prior art, the floor sweeping device in the embodiment of the invention is provided with a preset number of sensors at the bottom, two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, in the working process of the floor sweeping device, when a first sensor detects a falling signal, the floor sweeping device is controlled to rotate until a second sensor detects the falling signal, then the rotation mode of the floor sweeping device corresponding to the second sensor is determined, then the floor sweeping device is controlled to rotate according to the rotation mode of the floor sweeping device until the two wheels of the floor sweeping device are parallel to the edge of the ground, and then the floor sweeping device is controlled to work in the direction parallel to the edge of the ground. The in-process of sweeping the floor the device work promptly, the first sensor in the device of sweeping the floor can detect the signal of falling to after detecting the signal of falling, the control device of sweeping the floor rotates, until should sweep the floor two wheels of device and the edge of ground is parallel, and sweep the floor the device and the edge of ground after being parallel, just continue to work, thereby can avoid the intelligence to sweep the floor the device and fall from the eminence, and then can promote the efficiency that the device work was swept to this intelligence, promote user experience.
The embodiment of the present invention provides a computer-readable storage medium, which is suitable for the above method embodiment and is not described herein again.
An embodiment of the present invention provides a computing device, including: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the method for preventing the sweeping device from falling.
The embodiment of the invention provides a computing device, and compared with the prior art, the bottom of a sweeping device in the embodiment of the invention is provided with a preset number of sensors, two ends of the bottom of the sweeping device are symmetrically provided with two wheels, in the working process of the sweeping device, when a first sensor detects a falling signal, the sweeping device is controlled to rotate until a second sensor detects the falling signal, then the rotation mode of the sweeping device corresponding to the second sensor is determined, then the sweeping device is controlled to rotate according to the rotation mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The in-process of sweeping the floor the device work promptly, the first sensor in the device of sweeping the floor can detect the signal of falling to after detecting the signal of falling, the control device of sweeping the floor rotates, until should sweep the floor two wheels of device and the edge of ground is parallel, and sweep the floor the device and the edge of ground after being parallel, just continue to work, thereby can avoid the intelligence to sweep the floor the device and fall from the eminence, and then can promote the efficiency that the device work was swept to this intelligence, promote user experience.
The embodiment of the present invention provides a computing device, which is applicable to the above method embodiment and will not be described herein again.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. The utility model provides a method that device dropproof of sweeping floor, its characterized in that, the bottom of the device of sweeping floor is provided with the sensor of predetermineeing the number, the bottom both ends symmetry of the device of sweeping floor is provided with two wheels, include:
in the working process of the sweeping device, when the first sensor detects a falling signal, the sweeping device is controlled to rotate until the second sensor detects the falling signal;
determining a rotation mode of the sweeping device corresponding to the second sensor;
controlling the sweeping device to rotate according to the rotation mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
controlling the sweeping device to work along the direction parallel to the edge of the ground;
wherein, control the device of sweeping the floor rotates, detects falling signal until the second sensor, includes:
controlling the sweeping device to rotate along a first direction by taking the circle center of the sweeping device as a fixed point until the second sensor detects a falling signal;
wherein, according to the device rotation mode of sweeping the floor control the device of sweeping the floor rotates, until two wheels of the device of sweeping the floor all with the parallel step in ground edge, include:
controlling the sweeping device to rotate until a third sensor detects a falling signal, wherein the third sensor is adjacent to the second sensor; the sweeping device is controlled to rotate along the first direction by taking the circle center as a fixed point until the third sensor detects a falling signal;
determining a first angle to be rotated by the sweeping device with the midpoint of a wheel adjacent to the third sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connecting line of the third sensor and the circle center of the sweeping device is vertical to the edge of the ground;
controlling two wheels of the sweeping device to rotate by taking the circle centers of the two wheels as fixed points according to a preset second angle, so that the two wheels are parallel to the edge of the ground; or
Controlling the sweeping device to rotate until the first sensor detects the falling signal again; the sweeping device is controlled to rotate along a second direction by taking the circle center as a fixed point until the first sensor detects a falling signal again, wherein the second direction is opposite to the first direction;
determining a third angle to be rotated by the sweeping device by taking the midpoint of a wheel adjacent to the first sensor as a fixed point, and controlling the sweeping device to rotate according to the third angle, so that a connecting line of the first sensor and the circle center of the sweeping device is vertical to the edge of the ground;
controlling two wheels of the sweeping device to rotate by taking the circle centers of the two wheels as fixed points according to a preset sixth degree, so that the two wheels are parallel to the edge of the ground;
the sensors are all arranged on the same circumference with the center of the sweeping device as the circle center, and the second sensor is arranged right in front of the bottom of the sweeping device; the first sensor and the third sensor are respectively arranged on two sides of the second sensor;
wherein the manner of determining the first angle comprises:
determining a fourth angle, and determining the first angle according to the fourth angle and a first included angle;
the first included angle is an included angle between the third sensor and the second sensor;
the fourth angle is a rotation angle between the starting point when the second sensor just detects the ground and the end point when the third sensor just detects the falling signal;
a manner of determining the third angle includes:
determining a fifth angle, and determining a third angle according to the fifth angle and a second included angle;
the second included angle is an included angle between the first sensor and the second sensor;
the fifth angle is a rotation angle between the starting point when the second sensor just detects the ground and the end point when the first sensor just detects the falling signal.
2. The method of claim 1, wherein the step of controlling the rotation of the sweeping device according to the first angle comprises:
and controlling the sweeping device to rotate along the first direction according to the first angle.
3. The method of claim 1, wherein the step of controlling the rotation of the sweeping device according to the third angle comprises:
and controlling the sweeping device to rotate along the second direction according to the third angle.
4. The method of any one of claims 1-3, wherein determining the manner in which the sensor detects the fall signal comprises:
and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
5. The method of any one of claims 1-3, wherein controlling the sweeping device to rotate until the step of the second sensor detecting the fall signal further comprises:
and controlling the sweeping device to perform anti-shaking treatment.
6. The utility model provides a device that device dropproof of sweeping floor, its characterized in that, the bottom of the device of sweeping floor is provided with the sensor of predetermineeing the number, the bottom both ends symmetry of the device of sweeping floor is provided with two wheels, include:
the control module is used for controlling the sweeping device to rotate when the first sensor detects a falling signal in the working process of the sweeping device until the second sensor detects the falling signal;
the determining module is used for determining the rotation mode of the sweeping device corresponding to the second sensor;
the control module is further used for controlling the sweeping device to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground;
the control module is also used for controlling the sweeping device to work along the direction parallel to the edge of the ground;
the control module is used for controlling the sweeping device to rotate until the second sensor detects a falling signal, and specifically is used for controlling the sweeping device to rotate in a first direction by taking the circle center of the sweeping device as a fixed point until the second sensor detects the falling signal;
wherein, control module is according to the device rotation mode of sweeping the floor control the device of sweeping the floor rotates, when two wheels of the device of sweeping the floor all are parallel with the ground edge, specifically are used for:
controlling the sweeping device to rotate until a third sensor detects a falling signal, wherein the third sensor is adjacent to the second sensor; the sweeping device is controlled to rotate along the first direction by taking the circle center as a fixed point until a falling signal is detected by the third sensor;
determining a first angle to be rotated by the sweeping device with the midpoint of a wheel adjacent to the third sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connecting line of the third sensor and the circle center of the sweeping device is vertical to the edge of the ground;
controlling two wheels of the sweeping device to rotate by taking the circle centers of the two wheels as fixed points according to a preset second angle, so that the two wheels are parallel to the edge of the ground; or in particular for:
controlling the sweeping device to rotate until the first sensor detects the falling signal again; the sweeping device is controlled to rotate along a second direction by taking the circle center as a fixed point until the first sensor detects a falling signal again, wherein the second direction is opposite to the first direction;
determining a third angle to be rotated by the sweeping device by taking the midpoint of a wheel adjacent to the first sensor as a fixed point, and controlling the sweeping device to rotate according to the third angle, so that a connecting line of the first sensor and the circle center of the sweeping device is vertical to the edge of the ground;
controlling two wheels of the sweeping device to rotate by taking the circle centers of the two wheels as fixed points according to a preset sixth degree, so that the two wheels are parallel to the edge of the ground;
the sensors are all arranged on the same circumference with the center of the sweeping device as the circle center, and the second sensor is arranged right in front of the bottom of the sweeping device; the first sensor and the third sensor are respectively arranged on two sides of the second sensor;
the determining module is specifically configured to determine a fourth angle, and determine the first angle according to the fourth angle and a first included angle;
the first included angle is an included angle between the third sensor and the second sensor;
the fourth angle is a rotation angle between the starting point when the second sensor just detects the ground and the end point when the third sensor just detects the falling signal;
the determining module is specifically configured to determine a fifth angle, and determine the third angle according to the fifth angle and the second included angle;
the second included angle is an included angle between the first sensor and the second sensor;
the fifth angle is a rotation angle between the starting point when the second sensor just detects the ground and the end point when the first sensor just detects the falling signal.
7. The apparatus of claim 6,
the control module is specifically further configured to control the sweeping device to rotate in the first direction according to the first angle.
8. The apparatus of claim 6,
the control module is specifically further configured to control the sweeping device to rotate in the second direction according to the third angle.
9. The apparatus according to any one of claims 6 to 8,
the determining module is specifically further configured to determine that a falling signal is detected when any sensor detects that the height between the any sensor and the ground is greater than a preset threshold.
10. The apparatus according to any one of claims 6 to 8,
the control module is also used for controlling the sweeping device to perform anti-shaking treatment.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method of any one of claims 1 to 5.
12. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the method for preventing the sweeping device from falling, as claimed in any one of claims 1-5.
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| US6956348B2 (en) * | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US8972052B2 (en) * | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
| CN103197677A (en) * | 2013-03-14 | 2013-07-10 | 慈溪迈思特电子科技有限公司 | Algorithm of walking along edge of dust collection robot |
| CN206700114U (en) * | 2016-10-25 | 2017-12-05 | 福玛特（北京）机器人科技股份有限公司 | A kind of intellective dust collector |
| CN107045352A (en) * | 2017-05-31 | 2017-08-15 | 珠海市微半导体有限公司 | Based on how infrared robot obstacle-avoiding device, its control method and Robot side control method |
| CN107092259A (en) * | 2017-06-08 | 2017-08-25 | 纳恩博（北京）科技有限公司 | The anti-fall method and device of robot |
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