CN113894845B - Robot and method and device for measuring side scanning rotating speed thereof and storage medium - Google Patents
Robot and method and device for measuring side scanning rotating speed thereof and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 62
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 87
- 230000000737 periodic effect Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 17
- 238000009826 distribution Methods 0.000 claims description 8
- 238000009827 uniform distribution Methods 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000009828 non-uniform distribution Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 4
- 241001417527 Pempheridae Species 0.000 abstract 2
- 238000010408 sweeping Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
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- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The application is applicable to the technical field of motor sweeper, and particularly relates to a robot and a method, a device and a storage medium for measuring the rotating speed of the side sweeper. According to the method, the rotation speed of the side sweep can be determined through signals generated when the ground detection sensor on the robot is periodically shielded by the side sweep brush and the side sweep brush characteristics, namely, the measurement of the side sweep rotation speed can be realized by means of the ground detection sensor arranged on the robot, the side sweep rotation speed sensor is not required to be arranged, the manufacturing cost of the robot is reduced, the complexity of the robot assembly is reduced, and the later maintenance is convenient.
Description
Technical Field
The application belongs to the technical field of motor sweeping, and particularly relates to a robot, a method and a device for measuring the rotating speed of the side sweeping of the robot, and a storage medium.
Background
With the development of artificial intelligence, robots for cleaning have been moved into more and more households, playing an important role in floor cleaning, and when cleaning the floor, the robots clean dust at corners by sweeping the dust, and place the dust near the roller brush for dust collection. The existing robot measures the rotating speed of the side sweep through the rotating speed sensor, the rotating speed sensor is arranged in the robot, the manufacturing cost of the robot is increased, the corresponding position is required to be designed in the robot to install the rotating speed sensor, and the control part of the robot is connected with the rotating speed sensor, so that the robot is complex to install and inconvenient to maintain.
Disclosure of Invention
The application provides a robot, a method, a device and a storage medium for measuring the side scanning rotating speed of the robot, and can solve the problems that the manufacturing cost of the robot is high, the installation is complex and the maintenance is inconvenient due to the fact that a rotating speed sensor is required to be installed in the side scanning rotating speed measurement of the existing robot.
In a first aspect, an embodiment of the present application provides a method for measuring a side scan rotational speed of a robot, where the method includes:
acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a hairbrush of the side sweep when the side sweep rotates;
acquiring the brush characteristics of the side sweep, wherein the brush characteristics comprise the distribution characteristics of the brushes on the side sweep and the number of the brushes;
and determining the rotating speed of the side sweep according to the target signal and the brush characteristics.
In a second aspect, an embodiment of the present application provides a device for measuring a rotation speed of a side sweep of a robot, the device for measuring a rotation speed of a side sweep includes:
the signal acquisition module is used for acquiring a target signal of the ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a hairbrush of the side sweep when the side sweep rotates;
the feature acquisition module is used for acquiring the brush features of the side sweep, wherein the brush features comprise distribution features of the brushes on the side sweep and the number of the brushes;
and the rotating speed determining module is used for determining the rotating speed of the side sweep according to the target signal and the brush characteristics.
In a third aspect, an embodiment of the present application provides a robot, where the robot includes a ground detection sensor, a side sweep, a brush, a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the side sweep rotational speed measurement method according to the first aspect described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, which when executed by a processor implements the method for measuring a sweep rate of rotation according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product which, when run on a robot, causes the robot to perform a method of measuring a sweep rate of rotation as described in the first aspect above.
Compared with the prior art, the embodiment of the application has the beneficial effects that: according to the method, the rotation speed of the side sweep can be determined through the signals generated when the ground detection sensor on the robot is periodically shielded by the side sweep brush and the side sweep brush characteristics, namely, the measurement of the side sweep rotation speed can be realized through the ground detection sensor configured on the robot without aiming at the side sweep configuration rotation speed sensor, the manufacturing cost of the robot is reduced, the complexity of robot assembly is reduced, and later maintenance is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for measuring a sweep rotational speed of a robot according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a method for measuring a sweep rotation speed of a robot according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a device for measuring a sweep rotation speed of a robot according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot according to a fourth embodiment of the present application;
in the figure, 21 is a ground detection sensor, 22 is a side sweep, and 23 is a brush.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, 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 should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
The embodiment of the application provides a method for measuring the side-sweeping rotating speed of a robot, which can be applied to a robot with a ground cleaning function, and the embodiment of the application does not limit the specific type of the robot.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
In order to illustrate the technical solutions described in the present application, the following description is made by specific examples.
Referring to fig. 1, a flow of a method for measuring a side-scan rotational speed of a robot according to an embodiment of the present application may be applied to a robot having a floor cleaning function, and as shown in the drawings, the method for measuring a side-scan rotational speed may include the following steps:
step S101, a target signal of the ground detection sensor is acquired.
The ground detection sensor is a sensor configured on the robot, for example, a cliff sensor, a ground medium sensor, a ground obstacle detection sensor and the like, and is used for transmitting signals to the ground and receiving corresponding reflected signals (namely signals reflected by the ground), and the target signal is a signal generated when the ground detection sensor is shielded by a hairbrush of the side sweep during the side sweep rotation. Because the reflective signal can not be acquired by the ground detection sensor due to the shielding of the hairbrush, signal missing occurs in continuous reflective signals received by the ground detection sensor, and the reflective signal received between at least two adjacent missing signals is used as a target signal of the ground detection sensor.
As shown in fig. 2, the ground detection sensor 21 is mounted on the bottom surface of the robot, and the ground detection sensor 21 emits a signal, for example, electromagnetic waves, acoustic waves, or the like, in the ground direction and receives a reflected signal reflected by the ground; the side sweep 22 of the robot is provided with the brush 23, the brush 23 protrudes out of the bottom surface of the robot and can contact the ground, namely, the height of the brush 23 from the ground is lower than the height of the ground detection sensor 21 from the ground, and the brush 23 can shield the signal emitted by the ground detection sensor 21 or the received reflected signal when the side sweep 22 rotates due to the position between the ground detection sensor 21 and the brush 23 defined in fig. 2. The brushes 23 of the side sweep 22 are uniformly distributed on the central axis of the side sweep 22 (i.e. the included angles between the adjacent brushes 23 are the same), and when the side sweep 22 rotates at a uniform speed, the brushes 23 can periodically shield the ground detection sensor 21, so that the signals received by the ground detection sensor 21 are periodically missing, and if the ground detection sensor 21 is an infrared pair-tube sensor, the missing signals are characterized in that the amplitude of the signals is far smaller than that of the reflected signals received by the ground detection sensor 21.
The ground detection sensor 21 may be one or more Of an optical, acoustic wave, millimeter wave, and microwave sensor, optionally, the ground detection sensor 21 is an optical sensor, for example, an infrared pair tube sensor, a photo detector (Position Sensitive Detector, PSD) ranging sensor, a Time Of Flight (TOF) ranging sensor, an optical flow sensor, and the like, and optionally, the ground detection sensor 21 is an acoustic wave sensor, for example, an ultrasonic sensor.
Step S102, obtaining the brush characteristics of the side sweep.
Wherein the brush characteristics include the distribution characteristics of the brushes on the side sweep and the number of the brushes, for example, as shown in fig. 2, the brushes are uniformly distributed on the central axis of the side sweep, and the number of the brushes is 3; for the assembled robot, the distribution characteristics of the side sweeps and the number of the brushes are fixed, the number of the brushes can be written into a corresponding memory in advance, the robot sends a command for acquiring the number of the brushes to the memory, and the memory receives the command for acquiring the number of the brushes and feeds back data to the robot.
Step S103, determining the rotating speed of the side sweep according to the target signal and the brush characteristics.
Wherein the target signal contains the time between two adjacent brush-blocked ground-detection sensors, i.e., the time from one brush-blocked ground-detection sensor to the next brush-blocked ground-detection sensor; according to the characteristics of the brushes, whether the brushes are uniformly distributed or unevenly distributed on the central axis of the side sweep is determined, if the brushes are uniformly distributed on the central axis of the side sweep, the number of the brushes determines the angle between two adjacent brushes, the angular speed of the brushes can be determined according to the angle and the time, and the rotating speed of the side sweep can also be determined, because the formula of the angular speed and the rotating speed is omega=n×2pi, wherein omega is the angular speed, and n is the rotating speed.
According to the method and the device, the rotation speed of the edge sweep can be determined through the signals generated when the ground detection sensor of the robot is shielded by the edge sweep brush and the edge sweep brush characteristics, namely, the measurement of the rotation speed of the edge sweep can be realized through the ground detection sensor configured on the robot, the edge sweep configuration rotation speed sensor is not required, the manufacturing cost of the robot is reduced, the complexity of the robot assembly is reduced, and later maintenance is facilitated.
Referring to fig. 3, a flow of a method for measuring a side-scan rotational speed of a robot according to a second embodiment of the present application is provided, where the method for measuring a side-scan rotational speed may be applied to a robot having a floor cleaning function, and as shown in the drawing, the method for measuring a side-scan rotational speed may include the following steps:
step S301, a target signal of the ground detection sensor is acquired.
Step S302, obtaining the brush characteristics of the side sweep.
The content of step S301 and step S302 is the same as that of step S101 and step S102, and reference may be made to the descriptions of step S101 and step S102, which are not repeated here.
Step S303, the period of the target signal is acquired.
The period of the target signal is the time from one brush shielding ground detection sensor to the next brush shielding ground detection sensor, and the robot can determine the time duration between two adjacent missing signals, wherein the time duration is the time from one brush shielding ground detection sensor to the next brush shielding ground detection sensor.
Optionally, if the brush features that the brushes are uniformly distributed and the number of brushes is N, N is greater than 1, the period for acquiring the target signal includes:
acquiring the number of periodic signals in a preset time period in a target signal, wherein one periodic signal is a signal generated by a ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
The periodic signals are signals generated by the ground detection sensor in two adjacent shielding processes, namely, signals between one missing signal and adjacent missing signals, the number of the periodic signals in a preset time period can determine the occurrence period of the missing signals (namely, the period of a target signal), the preset time period can be adjusted according to requirements, the preset time can be set manually or the robot can be dynamically adjusted according to the external environment, for example, 3 periodic signals exist in 3 seconds, the interval between the two adjacent missing signals is 1s, namely, the occurrence period of the missing signals is 1s, namely, the period of the target signal is 1s, namely, the time from one brush shielding ground detection sensor to the next brush shielding ground detection sensor is 1s.
Optionally, if the brush features that the brushes are uniformly distributed and the number of brushes is N, N is greater than 1, the period for acquiring the target signal includes:
and acquiring the time length of a periodic signal, and determining the time length as the period of the target signal, wherein one periodic signal is a signal generated by the ground detection sensor in the adjacent two shielded processes.
The periodic signal refers to a signal generated by the ground detection sensor in the adjacent two shielded processes, that is, a signal between one missing signal and a signal adjacent to the missing signal, for example, a signal shielded by the first brush corresponds to a first missing signal, a signal shielded by the second brush corresponds to a second missing signal, a time period between the first missing signal and the second missing signal is 1s, that is, a time period from the first brush shielding ground detection sensor to the second brush shielding ground detection sensor is 1s, and a time period of the periodic signal is 1s, that is, a period of the target signal is 1s.
Optionally, if the brush features are non-uniformly distributed and the number of brushes is M, M is greater than or equal to 1, the period for obtaining the target signal includes:
and acquiring the duration of a periodic signal, wherein the duration is determined to be the period of the target signal, and the periodic signal is a signal in the process from the time when the ground detection sensor is shielded to the time when the ground detection sensor is shielded for the Mth time after the ground detection sensor is shielded for any time.
When the brushes are unevenly distributed on the side sweep, the period of the periodic signal is the time of one circle of rotation of the side sweep, namely the time of one circle of rotation of the brushes, the ground detection sensor starts from any time of being shielded (namely any brush shields the ground detection sensor) to the signal in the process of being shielded (namely any brush shields the ground detection sensor again) after any time of being shielded, the trigger signal timing is started from any brush shields the ground detection sensor, the timing is stopped when any brush shields the ground detection sensor again, and the timing time is the time length of one periodic signal. For example, when the number of brushes is 1, the duration of one periodic signal is the time between the two occlusion processes in which the brushes continuously occlude the ground detection sensor for two times, and when the number of brushes is 2, the brushes comprise a first brush and a second brush, the duration of one periodic signal is the time when the first brush or the second brush rotates for one turn, that is, the ground detection sensor is continuously occluded for three times, and the time between the first occlusion process and the third occlusion process is one period, that is, the time between the first brush occluding the ground detection sensor and the first brush occluding the ground detection sensor again.
Step S304, determining the rotating speed of the side sweep according to the period and the brush characteristics.
If the hairbrush features are uniformly distributed, the period is the time from one hairbrush shielding ground detection sensor to the next hairbrush shielding ground detection sensor, the quantity of the hairbrushes determines the angle from one hairbrush shielding ground detection sensor to the next hairbrush shielding ground detection sensor in a side sweeping manner, the angular velocity of the side sweeping can be determined according to the angle and the time, and the angular velocity and the rotating speed formula are as follows: ω=n×2pi, where ω is angular velocity, n is rotational speed, and the rotational speed of the sweep is determined.
Optionally, determining the rotation speed of the side sweep according to the period and the number of brushes includes:
and multiplying the number of the brushes in the brush characteristics by the period, and determining the reciprocal of the multiplied value as the rotating speed of the side sweep.
The side sweep rotating speed can be directly determined according to a rotating speed n calculation formula, and the formula is as follows:
n＝1/(a*t)
wherein n is the rotation speed, a is the number of brushes, and t is the period; for example, a brush with a sweep is characterized by 3 and a period of 1s, then the sweep is rotated at 1/3 of a revolution per second.
Optionally, if the brush characteristic is brush non-uniform distribution and the number of brushes is M, M is greater than or equal to 1, determining the rotation speed of the side sweep according to the period and the brush characteristic includes:
and determining the reciprocal of the period as the rotating speed of the side sweep.
When the hairbrush is unevenly distributed on the side sweep, the period of the periodic signal is the time of one circle of rotation of the side sweep, so that the rotating speed of the side sweep is the reciprocal of the period.
According to the method and the device, the edge scanning rotating speed is determined according to the period of the target signal and the characteristics of the hairbrush, so that the edge scanning rotating speed can be simply and rapidly determined, complex operation is avoided, and the complexity of the method is reduced.
Referring to fig. 4, a block diagram of a side scan rotation speed measuring device of a robot according to a third embodiment of the present application is provided, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.
The side sweep rotational speed measuring device includes:
the signal acquisition module 41 is configured to acquire a target signal of the ground detection sensor, where the target signal is a signal generated when the ground detection sensor is blocked by a brush of the side sweep during the side sweep rotation;
a feature acquisition module 42, configured to acquire brush features of the side sweep, where the brush features include a distribution feature of the brush on the side sweep and a number of brushes;
the rotation speed determining module 43 is configured to determine a rotation speed of the side sweep according to the target signal and the brush characteristic.
Optionally, the rotation speed determining module 43 includes:
a period acquisition unit configured to acquire a period of a target signal;
and the rotating speed determining unit is used for determining the rotating speed of the side sweep according to the period and the characteristics of the hairbrush.
Optionally, when the brushes are characterized by uniform distribution of brushes and the number of brushes is N, N is greater than 1, the period acquisition unit is specifically configured to:
acquiring the number of periodic signals in a preset time period in a target signal, wherein one periodic signal is a signal generated by a ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
Optionally, when the brushes are characterized by uniform distribution of the brushes and the number of the brushes is N, N is greater than 1, the cycle acquisition unit is specifically configured to:
and acquiring the time length of a periodic signal, and determining the time length as the period of the target signal, wherein one periodic signal is a signal generated by the ground detection sensor in the adjacent two shielded processes.
Optionally, the rotation speed determining unit is specifically configured to:
and multiplying the number of the brushes in the brush characteristics by the period, and determining the reciprocal of the multiplied value as the rotating speed of the side sweep.
Optionally, when the brushes are characterized by non-uniform distribution of brushes and the number of brushes is M, M is greater than or equal to 1, the cycle acquisition unit is specifically configured to:
and acquiring the time length of a periodic signal, wherein the time length is determined to be the period of the target signal, and the periodic signal is a signal generated by the ground detection sensor in the M+1 shielding process.
Optionally, the rotation speed determining unit is specifically configured to:
and determining the reciprocal of the period as the rotating speed of the side sweep.
It should be noted that, because the content of information interaction and execution process between the modules is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment two parts, and details are not repeated here.
Fig. 5 is a schematic structural diagram of a robot according to a fourth embodiment of the present application. As shown in fig. 5, the robot 5 of this embodiment includes: the steps of the method for measuring the rotational speed of the side sweep of the robot of the second embodiment described above are implemented by the processor 50 when the processor 50 executes the computer program 52, and the side sweep sensor, the side sweep and the brush are not specifically shown in fig. 5.
The robot 5 may be a cleaning robot such as a sweeping robot, a mopping robot, or a sweeping and mopping all-in-one machine. The robot may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the robot 5 and is not meant to be limiting of the robot 5, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, etc.
The processor 50 may be a central processing unit (Central Processing Unit, CPU), the processor 50 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may in some embodiments be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may in other embodiments also be an external storage device of the robot 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the robot 5. Further, the memory 51 may also include both an internal memory unit and an external memory device of the robot 5. The memory 51 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above device may refer to the corresponding process in the foregoing method embodiment, which is not described herein again. The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying the computer program code, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The implementation of all or part of the flow of the method in the foregoing embodiment may also be accomplished by a computer program product, which when executed on a robot, causes the robot to implement the steps in the first embodiment of the method, or when executed on the robot, causes the robot to implement the steps in the second embodiment of the method.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the apparatus/robot embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. The method for measuring the side scanning rotating speed of the robot is characterized by comprising the following steps of:
acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a hairbrush of the side sweep when the side sweep rotates; the ground detection sensor is a cliff sensor, or the ground detection sensor is a ground medium sensor, or the ground detection sensor is a ground obstacle detection sensor;
acquiring the brush characteristics of the side sweep, wherein the brush characteristics comprise the distribution characteristics of the brushes on the side sweep and the number of the brushes;
and determining the rotating speed of the side sweep according to the target signal and the brush characteristics.
2. The method of measuring a rotational speed of a side sweep of claim 1, wherein said determining the rotational speed of the side sweep based on the target signal and the brush characteristics comprises:
acquiring the period of the target signal;
and determining the rotating speed of the side sweep according to the period and the brush characteristics.
3. The method of measuring a rotational speed of a side sweep of claim 2, wherein if the brush is characterized by a uniform distribution of brushes and the number of brushes is N, N being greater than 1, the period of acquiring the target signal comprises:
acquiring the number of periodic signals in a preset time period in the target signal, wherein one periodic signal is a signal generated by the ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
4. The method of measuring a rotational speed of a side sweep of claim 2, wherein if the brush is characterized by a uniform distribution of brushes and the number of brushes is N, N being greater than 1, the period of acquiring the target signal comprises:
and acquiring the time length of a periodic signal, and determining the time length as the period of the target signal, wherein the periodic signal is a signal generated by the ground detection sensor in the adjacent two shielded processes.
5. The method of measuring a rotational speed of a side sweep of claim 3 or 4 wherein said determining a rotational speed of the side sweep based on said period and said brush characteristics comprises:
and multiplying the number of the hairbrushes in the hairbrush characteristics by the period, and determining the reciprocal of the multiplied value as the rotating speed of the side sweep.
6. The method of measuring a rotational speed of a side sweep of claim 2, wherein if the brush is characterized by a non-uniform distribution of brushes and the number of brushes is M, M being 1 or more, the period of acquiring the target signal comprises:
and acquiring the duration of a periodic signal, and determining the duration as the period of the target signal, wherein the periodic signal is a signal in the process from the beginning of any one time of shielding to the M-th time of shielding after any time of shielding of the ground detection sensor.
7. The method of measuring a rotational speed of a side sweep of claim 6 wherein said determining a rotational speed of the side sweep based on said period and said brush characteristics comprises:
and determining the reciprocal of the period as the rotating speed of the side sweep.
8. The utility model provides a rotation speed measuring device is swept to limit of robot, its characterized in that, rotation speed measuring device is swept to limit includes:
the signal acquisition module is used for acquiring a target signal of the ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a hairbrush of the side sweep when the side sweep rotates; the ground detection sensor is a cliff sensor, or the ground detection sensor is a ground medium sensor, or the ground detection sensor is a ground obstacle detection sensor;
the feature acquisition module is used for acquiring the brush features of the side sweep, wherein the brush features comprise distribution features of the brushes on the side sweep and the number of the brushes;
and the rotating speed determining module is used for determining the rotating speed of the side sweep according to the target signal and the brush characteristics.
9. A robot comprising a ground detection sensor, a sweep, a brush, a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the sweep speed measurement method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the side sweep rotational speed measurement method according to any one of claims 1 to 7.
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