CN111466832A - Method and device for getting rid of difficulties of sweeping robot, electronic equipment and readable storage medium - Google Patents
Method and device for getting rid of difficulties of sweeping robot, electronic equipment and readable storage medium Download PDFInfo
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- CN111466832A CN111466832A CN201910065115.1A CN201910065115A CN111466832A CN 111466832 A CN111466832 A CN 111466832A CN 201910065115 A CN201910065115 A CN 201910065115A CN 111466832 A CN111466832 A CN 111466832A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 200
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000004804 winding Methods 0.000 claims description 56
- 230000002441 reversible effect Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 description 10
- 230000001680 brushing effect Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 235000019800 disodium phosphate Nutrition 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4069—Driving or transmission means for the cleaning tools
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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
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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 application provides a method and a device for getting rid of difficulties of a sweeping robot, electronic equipment and a readable storage medium. The method comprises the following steps: detecting whether a brush of the sweeping robot is wound or not in the sweeping process of the sweeping robot; and if the brush of the sweeping robot is detected to be wound, controlling the wound brush to reversely rotate. According to the scheme, whether the brush of the sweeping robot is wound or not can be detected in the sweeping process of the sweeping robot, and when the brush of the sweeping robot is wound, the wound brush is controlled to rotate reversely, so that the wound object is separated from the brush, automatic trap removal when the brush of the sweeping robot is wound is achieved, normal operation of the sweeping robot can be guaranteed, and user experience of the sweeping robot is improved.
Description
Technical Field
The application relates to the technical field of sweeping robots, in particular to a method and a device for getting rid of poverty of a sweeping robot, electronic equipment and a readable storage medium.
Background
With the rapid development of science and technology, more and more intelligent living electrical appliances enter thousands of households, and the living comfort and convenience of people are greatly improved. The floor sweeping robot is used as an electric appliance capable of automatically sweeping, can replace people to sweep the ground, reduces the housework burden of people, and is more and more accepted by people.
The floor sweeping robot cleans the ground through the brush, the brush can be entangled by winding objects such as wires on the ground or edge ears of curtains during cleaning, the cleaning cannot be continued, and the floor sweeping robot can be damaged seriously, so that the floor sweeping robot is easy to get rid of when the brush of the floor sweeping robot is wound, and the technical problem to be solved urgently is solved.
Disclosure of Invention
The present application aims to solve at least one of the above technical drawbacks. The technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a method for getting rid of difficulties of a sweeping robot, comprising:
detecting whether a brush of the sweeping robot is wound or not in the sweeping process of the sweeping robot;
and if the brush of the sweeping robot is detected to be wound, controlling the wound brush to reversely rotate.
Optionally, detecting whether the brush of the sweeping robot is entangled comprises:
and determining whether the brush of the sweeping robot is wound or not according to the change of the current of the driving motor of the brush of the sweeping robot.
Optionally, detecting whether the brush of the sweeping robot is entangled comprises:
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the output shaft of the driving motor, wherein the driving motor is the driving motor of the brush of the sweeping robot.
Optionally, determining whether the brush of the sweeping robot is entangled according to the rotation state of the output shaft of the driving motor includes:
detecting a rotation state of a rotating member connected to an output shaft of the driving motor by a rotation state detecting sensor;
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the rotating component.
Optionally, controlling the reverse rotation of the wound brush comprises:
the reverse rotation of the wound brush is controlled according to a first rotation speed.
Optionally, the first rotational speed is not greater than a second rotational speed, wherein the second rotational speed is a rotational speed at which the wound brush is not wound.
Optionally, controlling the reverse rotation of the wound brush comprises:
controlling the wound brush to reversely rotate within a preset time length.
Optionally, the method further includes:
determining a new direction of movement of the sweeping robot based on the position of the wrapped brush;
and controlling the sweeping robot to move according to the new motion direction.
Optionally, determining a new direction of movement of the sweeping robot based on the position of the entangled brushes comprises:
detecting obstacles in a preset range of the sweeping robot;
based on the detected position of the obstacle and the position of the entangled brushes, a new direction of movement of the sweeping robot is determined.
Optionally, determining a new direction of movement of the sweeping robot based on the position of the entangled brushes comprises:
based on the position of the wrapped brush and the current direction of motion of the sweeping robot, a new direction of motion of the sweeping robot is determined.
Optionally, the brush of the sweeping robot comprises at least one of:
brushing edges;
and (7) rolling and brushing.
In a second aspect, the present application provides a device for getting rid of difficulty of a floor sweeping robot, the device comprising:
the winding detection module is used for detecting whether a brush of the sweeping robot is wound or not in the sweeping process of the sweeping robot;
and the winding and escaping module is used for controlling the wound brush to reversely rotate when the brush of the sweeping robot is detected to be wound.
Optionally, the winding detection module is specifically configured to, when detecting whether the brush of the sweeping robot is wound:
and determining whether the brush of the sweeping robot is wound or not according to the change of the current of the driving motor of the brush of the sweeping robot.
Optionally, the winding detection module is specifically configured to, when detecting whether the brush of the sweeping robot is wound:
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the output shaft of the driving motor, wherein the driving motor is the driving motor of the brush of the sweeping robot.
Optionally, the winding detection module is specifically configured to, when determining whether the brush of the sweeping robot is wound according to the rotation state of the output shaft of the driving motor:
detecting a rotation state of a rotating member connected to an output shaft of the driving motor by a rotation state detecting sensor;
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the rotating component.
Optionally, the winding and escaping module is specifically configured to, when controlling the wound brush to reverse:
the reverse rotation of the wound brush is controlled according to a first rotation speed.
Optionally, the first rotational speed is not greater than a second rotational speed, wherein the second rotational speed is a rotational speed at which the wound brush is not wound.
Optionally, the winding and escaping module is specifically configured to, when controlling the wound brush to reverse:
controlling the wound brush to reversely rotate within a preset time length.
Optionally, the apparatus further comprises:
the movement direction determining module is used for determining a new movement direction of the sweeping robot based on the position of the wound brush;
and the movement control module is used for controlling the sweeping robot to move according to the new movement direction.
Optionally, the movement direction determining module is specifically configured to:
detecting obstacles in a preset range of the sweeping robot;
based on the detected position of the obstacle and the position of the entangled brushes, a new direction of movement of the sweeping robot is determined.
Optionally, the movement direction determining module is specifically configured to:
based on the position of the wrapped brush and the current direction of motion of the sweeping robot, a new direction of motion of the sweeping robot is determined.
Optionally, the brush of the sweeping robot comprises at least one of:
brushing edges;
and (7) rolling and brushing.
In a third aspect, the present application provides an electronic device comprising: a processor and a memory;
a memory for storing operating instructions;
the processor is used for executing the trap removal method of the sweeping robot shown in any one embodiment of the first aspect of the application by calling the operation instruction.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for getting rid of the difficulties of a sweeping robot as shown in any one of the embodiments of the first aspect of the present application.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
according to the scheme, whether the brush of the sweeping robot is wound or not can be detected in the sweeping process of the sweeping robot, and when the brush of the sweeping robot is wound, the wound brush is controlled to rotate reversely, so that the wound object is separated from the brush, automatic trap removal when the brush of the sweeping robot is wound is achieved, normal operation of the sweeping robot can be guaranteed, and user experience of the sweeping robot is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flow chart of a method for relieving a floor sweeping robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a trap-escaping device of a sweeping robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present 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.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 shows a schematic flow chart of a method for relieving a floor sweeping robot according to an embodiment of the present application, and as shown in fig. 1, the method mainly includes:
step S110: in the process of cleaning by the sweeping robot, whether a brush of the sweeping robot is wound or not is detected.
Step S120: and if the brush of the sweeping robot is detected to be wound, controlling the wound brush to reversely rotate.
In the cleaning process of the sweeping robot, when the robot moves to the position of winding objects such as wires on the ground or fringes of curtains and the like, the rotating brush may be wound by the winding objects, and the winding objects are probably twisted on the brush along with the rotation of the brush and are tightly twisted, so that the sweeping robot cannot work normally. According to the scheme provided by the embodiment of the application, after the brush of the sweeping robot is detected to be wound, the wound brush can be controlled to rotate reversely, the winding object tightly twisted with the brush is loosened, and the winding object is separated from the brush, so that the cleaning robot can be taken off.
The application provides a robot of sweeping floor's method of getting rid of poverty can be at the robot of sweeping floor's the in-process that cleans, detects the brush of the robot of sweeping floor and is twined to when the brush of the robot of sweeping floor is twined, through the reversal of control by winding brush, make the winding break away from the brush, realized the automation when the brush of the robot of sweeping floor is twined getting rid of poverty, can guarantee the normal operating of the robot of sweeping floor, promote the user of the robot of sweeping floor and use experience.
In a possible implementation manner of the embodiment of the application, the detecting whether the brush of the sweeping robot is wound may include:
and determining whether the brush of the sweeping robot is wound or not according to the change of the current of the driving motor of the brush of the sweeping robot.
In the embodiment of the application, after the brush is wound by the winding object, the winding object can generate resistance to the brush, so that the rotating speed of the brush is reduced and even stops. The resistance generated by the winding object can cause the current of the driving motor of the brush to change, so that whether the brush of the sweeping robot is wound or not can be determined by detecting the change of the current.
The detection of the current change of the driving motor is prior art and will not be described herein.
In a possible implementation manner of the embodiment of the present application, the detecting whether the brush of the sweeping robot is wound may also include:
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the output shaft of the driving motor, wherein the driving motor is the driving motor of the brush of the sweeping robot.
In the embodiment of the application, the brush is wound by the winding object, which may cause a change in the rotation state of the output shaft of the driving motor, specifically, the output shaft of the driving motor may have a condition that the speed is slowed or even stops rotating, and therefore, whether the brush of the sweeping robot is wound or not may be determined by detecting the speed change of the output shaft.
In a possible implementation manner of the embodiment of the application, the determining whether the brush of the sweeping robot is entangled according to the rotation state of the output shaft of the driving motor includes:
detecting a rotation state of a rotating member connected to an output shaft of the driving motor by a rotation state detecting sensor;
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the rotating component.
In the embodiment of the application, the rotating part can be connected to the rear end of the output shaft of the driving motor, the rotating part can rotate along with the output shaft of the driving motor, the rotation condition of the output shaft of the driving motor can be detected by detecting the rotation condition of the rotating part, and the rotation condition of the rotating part can be detected by the rotation state detection sensor.
In practical use, the detecting of the rotation condition of the rotating member may include detecting a rotation speed of the rotating member, and after the brush is wound by the winding object, resistance of the winding object to the brush may cause the rotation speed of the brush to be significantly slow, that is, the rotation speed of the rotating member may be significantly slow, so that when the rotation speed of the rotating member detected by the rotation state detecting sensor is significantly slow, it may be determined that the brush is wound by the winding object, for example, when a difference between the detected current rotation speed and a preset speed is greater than a set value, it may be determined that the corresponding brush is wound. The detection of the rotation of the rotating member may also include detection of whether the rotating member is rotating, and the entanglement may cause the brush not to continue to rotate after the brush is entangled with the entanglement, and thus, it may be determined that the brush is entangled with the entanglement when the rotation state detection sensor detects that the brush is not continuing to rotate during the cleaning of the rotating member.
It can be understood that, when determining whether the brush of the sweeping robot is wound according to the rotation state of the rotating component, the condition for specifically determining whether the brush is wound may be configured according to actual requirements, and may be that the difference between the detected rotation speed and the preset speed is greater than a set value, or may be that when detecting that the rotating component does not rotate, the corresponding brush is determined to be wound.
Here, the specific type of the rotation state detection sensor may be configured as required, and for example, may include, but is not limited to, a photo sensor, a hall sensor, and the like. Taking the photoelectric sensor as an example, specifically, the transmitter and the receiver of the photoelectric sensor may be respectively disposed on two sides of the rotating component, the rotating component may periodically block the optical path of the photoelectric sensor when rotating, and the photoelectric sensor may periodically generate the corresponding detection signal, and if the rotating component stops rotating, the photoelectric sensor may not periodically block the optical path of the photoelectric sensor, and the photoelectric sensor may not generate the detection signal. Therefore, it is possible to determine whether the rotating member is rotated according to whether the photoelectric sensor generates the detection signal, and thus it is possible to determine the rotation state of the output shaft of the drive motor.
In a possible implementation manner of the embodiment of the present application, the controlling the reverse rotation of the wound brush may include:
the reverse rotation of the wound brush is controlled according to a first rotation speed.
In the embodiment of the application, the first rotating speed can be set according to actual needs, and when the wound brush is controlled to rotate reversely, the rotating speed of the reverse rotation of the brush is controlled, so that the problem that the back-off is slow due to the slow reverse rotating speed or the reverse winding is caused due to the fast reverse rotating speed can be avoided.
In a possible implementation manner of the embodiment of the present application, the first rotation speed is not greater than a second rotation speed, wherein the second rotation speed is a rotation speed when the wound brush is not wound.
When the sweeping robot cleans, the rotating speed of the brush is relatively high, so that when the brush meets the winding object, the brush can be twisted by the winding object in a short time, if the reverse rotating speed of the brush is set to be too high, the brush is likely to be incapable of disengaging from the winding object, and the winding object is likely to be twisted again by the brush rotating reversely to form reverse winding. Therefore, the first rotating speed of the brush during reverse rotation can be controlled not to be larger than the second rotating speed of the brush during cleaning, reverse winding caused by too high reverse rotating speed is avoided, and the probability that the brush is separated from wound objects is improved.
In a possible implementation manner of the embodiment of the present application, the controlling the reverse rotation of the wound brush may include:
controlling the wound brush to reversely rotate within a preset time length.
In the embodiment of the application, the preset time can be set according to actual needs, and after the floor sweeping robot controls the wound brush to reversely rotate for the preset time, the winding object can be considered to be not wound on the brush any more, namely the stranded removal of the wound brush is completed. In practical application, the preset time duration may be set according to an empirical value and/or an experimental value.
In a possible implementation manner of the embodiment of the present application, the method may further include:
determining a new direction of movement of the sweeping robot based on the position of the wrapped brush;
and controlling the sweeping robot to move according to the new motion direction.
In the embodiment of the application, the general position of the winding object can be deduced based on the position of the wound brush, so that a new movement direction of the sweeping robot can be determined according to the position of the wound brush, and the sweeping robot can be away from the winding object when moving along the new movement direction. When the twisted brushes are reversely rotated to enable the twisted object brushes to be separated from each other, the sweeping robot is controlled to move away from the twisted objects, and the twisted objects can be separated from the sweeping robot.
In a possible implementation manner of the embodiment of the application, the determining a new moving direction of the sweeping robot based on the position of the wound brush includes:
detecting obstacles in a preset range of the sweeping robot;
based on the detected position of the obstacle and the position of the entangled brushes, a new direction of movement of the sweeping robot is determined.
In actual use, the winding objects such as the wires and the edge fringes of the curtain are mostly arranged near the obstacles such as the wall, therefore, on the basis that the general position of the winding objects can be deduced from the position of the wound brush, the positions of the winding objects and the obstacles can be comprehensively considered when determining the new motion direction, so that the sweeping robot can be far away from the obstacles and the winding objects when moving along the new motion direction, and the probability of successful escaping is further improved.
For example, when a wire is arranged beside a wall, the sweeping robot sweeps the wire, if the side brush is detected to be wound and a wall is detected to be arranged nearby, the general position of a wound object, namely the wire, can be deduced based on the position of the wound side brush, the position of the wire and the position of the wall are comprehensively considered, and a new motion direction of the sweeping robot is determined, so that the sweeping robot can be far away from the wall and the wire when moving along the new motion direction.
In the embodiment of the application, the preset range can be set according to actual needs, and obstacles outside the preset range can be considered not to influence the movement of the sweeping robot at the current position and the getting-off.
In the embodiment of the application, the detection of the obstacle can be realized by a laser radar of the sweeping robot, an ultrasonic sensor or other sensors with corresponding detection functions.
In a possible implementation manner of the embodiment of the application, the determining a new moving direction of the sweeping robot based on the position of the wound brush may include:
based on the position of the wrapped brush and the current direction of motion of the sweeping robot, a new direction of motion of the sweeping robot is determined.
In the embodiment of the application, the new movement direction is a direction in which the sweeping robot can get rid of trouble, that is, a direction away from the winding object. The current movement direction of the sweeping robot and the determined new movement direction may be the same or different. Specifically, the general position of the winding object can be deduced based on the position of the wound brush, and if the sweeping robot can move away from the winding object while continuing to move in the current direction, the determined new moving direction may be the same as the current moving direction, that is, the moving direction of the sweeping robot is not adjusted. If the sweeping robot moves continuously along the current direction and approaches the winding object, a new moving direction needs to be determined so that the sweeping robot can move continuously to be far away from the winding object, and the new moving direction is different from the current moving direction.
In a possible implementation manner of the embodiment of the present application, the brush of the sweeping robot includes at least one of the following items:
brushing edges;
and (7) rolling and brushing.
In this application embodiment, the robot of sweeping the floor can be including two limit brushes that are located both sides respectively, and two limit brush cooperations will be subaerial rubbish sweep to the robot inboard of sweeping the floor, and the round brush is located the robot middle part of sweeping the floor, will be swept the rubbish of gathering by the limit and sweep to the suction inlet of sweeping the robot of sweeping the floor to inhale the dirt box with rubbish via the suction inlet, realize cleaning to rubbish.
Based on the same principle as the method shown in fig. 1, fig. 2 shows a schematic structural diagram of an escaping device of a sweeping robot provided in an embodiment of the present application, and as shown in fig. 2, the escaping device 20 of the sweeping robot may include:
the winding detection module 210 is configured to detect whether a brush of the sweeping robot is wound in a sweeping process of the sweeping robot;
and a winding and escaping module 220 for controlling the wound brush to reversely rotate when the brush of the sweeping robot is detected to be wound.
The application provides a device of getting rid of poverty of robot of sweeping floor can be at the in-process that cleans of the robot of sweeping floor, detects whether the brush of the robot of sweeping floor is twined to when the brush of the robot of sweeping floor is twined, through control by winding brush reversal, make the winding break away from the brush, realized getting rid of poverty in the automation of the brush of the robot of sweeping floor when twining, can guarantee the normal operating of the robot of sweeping floor, promote the user of the robot of sweeping floor and use experience.
Optionally, the winding detection module is specifically configured to, when detecting whether the brush of the sweeping robot is wound:
and determining whether the brush of the sweeping robot is wound or not according to the change of the current of the driving motor of the brush of the sweeping robot.
Optionally, the winding detection module is specifically configured to, when detecting whether the brush of the sweeping robot is wound:
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the output shaft of the driving motor, wherein the driving motor is the driving motor of the brush of the sweeping robot.
Optionally, the winding detection module is specifically configured to, when determining whether the brush of the sweeping robot is wound according to the rotation state of the output shaft of the driving motor:
detecting a rotation state of a rotating member connected to an output shaft of the driving motor by a rotation state detecting sensor;
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the rotating component.
Optionally, the winding and escaping module is specifically configured to, when controlling the wound brush to reverse:
the reverse rotation of the wound brush is controlled according to a first rotation speed.
Optionally, the first rotational speed is not greater than a second rotational speed, wherein the second rotational speed is a rotational speed at which the wound brush is not wound.
Optionally, the winding and escaping module is specifically configured to, when controlling the wound brush to reverse:
controlling the wound brush to reversely rotate within a preset time length.
Optionally, the apparatus further comprises:
the movement direction determining module is used for determining a new movement direction of the sweeping robot based on the position of the wound brush;
and the movement control module is used for controlling the sweeping robot to move according to the new movement direction.
Optionally, the movement direction determining module is specifically configured to:
detecting obstacles in a preset range of the sweeping robot;
based on the detected position of the obstacle and the position of the entangled brushes, a new direction of movement of the sweeping robot is determined.
Optionally, the movement direction determining module is specifically configured to:
based on the position of the wrapped brush and the current direction of motion of the sweeping robot, a new direction of motion of the sweeping robot is determined.
Optionally, the brush of the sweeping robot comprises at least one of:
brushing edges;
and (7) rolling and brushing.
It can be understood that the modules of the escaping device of the sweeping robot in the embodiment have functions of implementing the corresponding steps of the escaping method of the sweeping robot in the embodiment shown in fig. 1. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above. The modules can be software and/or hardware, and each module can be implemented independently or by integrating a plurality of modules. For the functional description of each module of the above-mentioned escaping device of the sweeping robot, reference may be specifically made to the corresponding description of the escaping method of the sweeping robot in the embodiment shown in fig. 1, and details are not described here again.
The embodiment of the application provides an electronic device, which comprises a processor and a memory;
a memory for storing operating instructions;
the processor is used for executing the trap-escaping method of the sweeping robot provided by any embodiment of the application by calling the operation instruction.
As an example, fig. 3 shows a schematic structural diagram of an electronic device to which an embodiment of the present application is applicable, and as shown in fig. 3, the electronic device 2000 includes: a processor 2001 and a memory 2003. Wherein the processor 2001 is coupled to a memory 2003, such as via a bus 2002. Optionally, the electronic device 2000 may also include a transceiver 2004. It should be noted that the transceiver 2004 is not limited to one in practical applications, and the structure of the electronic device 2000 is not limited to the embodiment of the present application.
The processor 2001 is applied to the embodiment of the present application to implement the method shown in the above method embodiment. The transceiver 2004 may include a receiver and a transmitter, and the transceiver 2004 is applied to the embodiments of the present application to implement the functions of the electronic device of the embodiments of the present application to communicate with other devices when executed.
The processor 2001 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 2001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.
The memory 2003 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Optionally, the memory 2003 is used for storing application program code for performing the disclosed aspects, and is controlled in execution by the processor 2001. The processor 2001 is configured to execute the application program code stored in the memory 2003 to implement the method for relieving the floor sweeping robot according to the above-described method embodiment.
The electronic device provided by the embodiment of the application is applicable to any embodiment of the method, and is not described herein again.
The embodiment of the application provides an electronic equipment, compare with prior art, can detect whether the brush of robot of sweeping the floor is twined at the in-process that cleans of robot of sweeping the floor to when the brush of robot of sweeping the floor is twined, be reversed by winding brush through control, make the winding break away from the brush, realized getting rid of poverty in the automation of robot's brush when twining of sweeping the floor, can guarantee the normal operating of robot of sweeping the floor, promote the user of robot of sweeping the floor and use experience.
An embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer-readable storage medium implements the method for getting rid of the trouble of the cleaning robot provided in any one of the embodiments of the present application.
The computer-readable storage medium provided in the embodiments of the present application is applicable to any of the embodiments of the foregoing method, and is not described herein again.
The embodiment of the application provides a computer readable storage medium, compare with prior art, can be at the cleaning in-process of robot of sweeping the floor, detect whether the brush of robot of sweeping the floor is twined to when the brush of robot of sweeping the floor is twined, through control by winding brush reversal, make the winding break away from the brush, realized getting rid of poverty in the automation of robot's brush when being twined of sweeping the floor, can guarantee the normal operating of robot of sweeping the floor, promote the user of robot of sweeping the floor and use experience.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
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 (10)
1. A method for getting rid of poverty of a sweeping robot is characterized by comprising the following steps:
detecting whether a brush of a sweeping robot is wound or not in the sweeping process of the sweeping robot;
and if the brush of the sweeping robot is detected to be wound, controlling the wound brush to reversely rotate.
2. The method for relieving from poverty of the sweeping robot according to claim 1, wherein the detecting whether the brush of the sweeping robot is entangled comprises:
and determining whether the brush of the sweeping robot is wound or not according to the change of the current of the driving motor of the brush of the sweeping robot.
3. The method for relieving from poverty of the sweeping robot according to claim 1, wherein the detecting whether the brush of the sweeping robot is entangled comprises:
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the output shaft of the driving motor, wherein the driving motor is the driving motor of the brush of the sweeping robot.
4. The escaping method of the sweeping robot according to claim 3, wherein the determining whether the brush of the sweeping robot is entangled according to the rotation state of the output shaft of the driving motor comprises:
detecting a rotation state of a rotation member connected to an output shaft of the driving motor by a rotation state detection sensor;
and determining whether the brush of the sweeping robot is wound or not according to the rotating state of the rotating component.
5. The method of claim 1, wherein the controlling the reversal of the twisted brushes comprises:
the reverse rotation of the wound brush is controlled according to a first rotation speed.
6. The method of claim 5, wherein the first speed is not greater than a second speed, wherein the second speed is a speed at which the wound brushes are not wound.
7. The method of claim 1, wherein the controlling the reversal of the twisted brushes comprises:
controlling the wound brush to reversely rotate within a preset time length.
8. The utility model provides a floor sweeping robot's device of getting rid of poverty which characterized in that includes:
the winding detection module is used for detecting whether a brush of the sweeping robot is wound or not in the sweeping process of the sweeping robot;
and the winding and escaping module is used for controlling the wound brush to reversely rotate when the brush of the sweeping robot is detected to be wound.
9. An electronic device comprising a processor and a memory;
the memory is used for storing operation instructions;
the processor is used for executing the getting-out-of-the-floor robot getting-out-of-the-floor method of any one of the claims 1 to 7 by calling the operation instruction.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the method for relieving a floor sweeping robot according to any one of the preceding claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910065115.1A CN111466832A (en) | 2019-01-23 | 2019-01-23 | Method and device for getting rid of difficulties of sweeping robot, electronic equipment and readable storage medium |
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| CN201910065115.1A CN111466832A (en) | 2019-01-23 | 2019-01-23 | Method and device for getting rid of difficulties of sweeping robot, electronic equipment and readable storage medium |
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| CN201910065115.1A Pending CN111466832A (en) | 2019-01-23 | 2019-01-23 | Method and device for getting rid of difficulties of sweeping robot, electronic equipment and readable storage medium |
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Application publication date: 20200731 |