CN114532901B - Drop handling method and device for cleaning robot - Google Patents
Drop handling method and device for cleaning robot Download PDFInfo
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- CN114532901B CN114532901B CN202210114954.XA CN202210114954A CN114532901B CN 114532901 B CN114532901 B CN 114532901B CN 202210114954 A CN202210114954 A CN 202210114954A CN 114532901 B CN114532901 B CN 114532901B
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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
- A47L11/28—Floor-scrubbing 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
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The embodiment of the application discloses a falling handling method of a cleaning robot, which comprises the following steps: continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the sensor and the surface of an object opposite to the sensor arranged at the bottom of the cleaning robot exceeds a preset distance; recording an operation angle, namely recording and updating the operation angle in real time when the cleaning robot does not generate a ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot; an abnormal angle recording step, wherein when the cleaning robot generates a ground detection signal and the cleaning robot cannot move, an abnormal angle of the cleaning robot is obtained, and the abnormal angle is the inclination angle of the cleaning robot; and an abnormity processing step, namely determining the state of the cleaning robot according to the difference value between the abnormal angle and the running angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated. The invention can accurately determine whether the cleaning robot is suspended.
Description
Technical Field
The invention belongs to the technical field of cleaning robot control, and particularly relates to a universal wheel drop detection method for a cleaning robot.
Background
In the prior art, cliff sensors are adopted for judging whether the movable wheels are suspended, and the cliff sensors are used for checking whether the movable wheels are suspended according to the ground clearance.
Whether the universal wheel can roll off under the normal condition, prior art under some circumstances, probably has to visit ground infrared signal response untimely, leads to the universal wheel roll off of machine, and the machine is direct to be retreated and can't be drawn back the universal wheel and finally the condition that the machine stops working to report to the police, and prior art can't confirm cleaning machines's specific behavior under the condition that produces the signal of visiting ground, consequently probably confuses the condition such as cleaning machines card is dead with the condition that cleaning machines universal wheel falls, causes the error of handling.
Disclosure of Invention
In order to solve the above technical problems, an embodiment of the present invention provides a method and an apparatus for handling a fall of a cleaning robot, where the following technical solutions are adopted:
a drop handling method for a cleaning robot, the method comprising:
continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the surface of an object opposite to a sensor arranged at the bottom of the cleaning robot and the sensor exceeds a preset distance;
recording an operation angle, namely recording and updating the operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
recording an abnormal angle, namely acquiring the abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and cannot move, wherein the abnormal angle is the inclination angle of the cleaning robot;
and an exception processing step, namely determining the state of the cleaning robot according to the difference value between the exception angle and the operation angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
Further, in the abnormality processing step, the method of determining the state of the cleaning robot specifically includes:
and when the difference value between the abnormal angle and the operation angle is larger than a preset value, determining that the cleaning robot is in a falling state.
Further, in the abnormal angle recording step, the method for judging that the cleaning robot cannot move specifically includes: and driving the wheels of the cleaning robot to rotate so as to try to drive the cleaning robot to retreat until the wheels reach a preset number of turns, wherein the ground detection signal of the cleaning robot is continuously generated.
Further, in the exception handling step, the method for driving the cleaning robot to travel specifically includes: and after the cleaning robot is determined to be in a falling state, controlling the cleaning robot to spin left or right, and driving the cleaning robot to retreat.
Further, the method for controlling the cleaning robot to spin left or right specifically includes: determining the number of rotations of the cleaning robot after the cleaning robot is in a falling state, and determining to spin left or spin right according to the number of rotations.
Further, the left spinning or the right spinning is determined according to the number of the rotations, if the number of the rotations of the cleaning robot after being in a falling state is 0, the angle of the rotation of the cleaning robot is 30 degrees, if the number of the rotations of the cleaning robot after being in a falling state is 1, the angle of the rotation of the cleaning robot is 60 degrees, and the direction of the rotation is opposite to that of the rotation of the cleaning robot at the previous time.
Further, after the cleaning robot is driven to walk, the method further comprises: determining the rotation times of the cleaning robot after the cleaning robot is in a falling state again, and driving the cleaning robot to walk when the rotation times are less than 2 until the ground detection signal stops being generated;
and when the number of the rotations is equal to 2, alarming.
Further, the method for detecting a ground penetrating signal specifically includes: the method comprises the steps of controlling the opening of the emission pair tubes and collecting the lamp opening value Vno of the reception pair tubes and controlling the closing of the emission pair tubes and collecting the lamp closing value Voff of the reception pair tubes in each period, detecting a ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is smaller than or equal to a ground detection trigger threshold Ts, and not generating the ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is larger than the ground detection trigger threshold Ts.
In order to solve the above technical problem, an embodiment of the present application further provides a fall handling device for a cleaning robot, which adopts the following technical solutions:
a fall handling device for a cleaning robot, the device comprising:
the detection module is used for continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the sensor and an object surface opposite to the sensor arranged at the bottom of the cleaning robot exceeds a preset distance;
the operation angle recording module is used for recording and updating an operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
the abnormal angle recording module is used for acquiring an abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and cannot move, and the abnormal angle is an inclination angle of the cleaning robot;
and the abnormity processing module is used for determining the state of the cleaning robot according to the difference value between the abnormal angle and the operating angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
In order to solve the above technical problem, an embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solutions:
a computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that: the processor when executing the computer program realizes the steps of the above-described fall handling method for a cleaning robot.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the invention can accurately determine whether the cleaning robot is suspended, and performs corresponding operation under the suspension condition, thereby preventing the cleaning robot from falling off when moving.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the description below are some embodiments of the present application, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flow diagram of one embodiment of a drop handling method for a cleaning robot according to the present application;
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof in the description and claims of this application and the description of the figures above, are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flow diagram of one embodiment of a drop handling method for a cleaning robot according to the present application is shown.
A fall handling method for a cleaning robot, the method comprising:
step S100: continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the surface of an object opposite to a sensor arranged at the bottom of the cleaning robot and the sensor exceeds a preset distance;
step S200: recording an operation angle, namely recording and updating the operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
step S300: recording an abnormal angle, namely acquiring the abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and cannot move, wherein the abnormal angle is the inclination angle of the cleaning robot;
specifically, when the cleaning robot generates the ground detection signal, the cleaning robot is controlled to continuously retreat until the ground detection signal disappears.
Step S400: and an abnormity processing step, namely determining the state of the cleaning robot according to the difference value between the abnormal angle and the running angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
When the cleaning robot continuously retreats and the retreating distance exceeds half of the machine body, determining the change condition of the pitch angle of the current cleaning robot, and determining whether the real-time posture of the cleaning robot falls off as a universal wheel according to the change condition of the pitch angle of the current cleaning robot. If the variable quantity of the pitch angle of the cleaning robot is larger than the preset quantity, the real-time posture of the cleaning robot is determined to fall for the universal wheel, and if the variable quantity of the pitch angle of the cleaning robot is smaller than the preset quantity, the real-time posture of the cleaning robot is determined not to fall, and the cleaning robot is trapped in a state that the cleaning robot cannot move at the moment.
According to the scheme, when the cleaning robot is detected to trigger a ground detection signal, whether the cleaning robot is trapped or not is judged firstly, if the cleaning robot can move, the cleaning robot can be directly moved to relieve the ground detection state of the cleaning robot, if the cleaning robot cannot move, whether the universal wheels of the cleaning robot fall or not is determined according to the variation of the pitching angle after the cleaning robot is trapped before being trapped, treatment is carried out according to the specific trapped type of the cleaning robot, follow-up treatment is carried out after the universal wheels of the cleaning robot fall, and the success rate of the ground detection state is higher.
Further, in the abnormality processing step, the method of determining the state of the cleaning robot specifically includes:
and when the difference value between the abnormal angle and the operation angle is larger than a preset value, determining that the cleaning robot is in an artificial falling state.
Further, in the abnormal angle recording step, the method for judging that the cleaning robot cannot move specifically includes: and driving the wheels of the cleaning robot to rotate so as to try to drive the cleaning robot to retreat until the wheels reach a preset number of turns, wherein the ground detection signal of the cleaning robot is continuously generated.
Specifically, when the cleaning robot continuously retreats and the retreating distance exceeds half of the body, the current pitch angle of the cleaning robot is detected, and whether the real-time posture of the cleaning robot falls off through universal wheels is determined according to the comparison relation between the variation of the pitch angle of the front cleaning robot and a preset value.
Determining whether the real-time posture of the cleaning robot falls for the universal wheel according to the comparison relation between the variable quantity of the pitch angle of the front cleaning robot and the preset value, and specifically: if the pitch angle variable quantity of the front cleaning robot is smaller than a preset value, the real-time posture of the cleaning robot is determined to be that the universal wheel falls, and if the pitch angle variable quantity of the front cleaning robot is larger than the preset value, the real-time posture of the cleaning robot is determined not to be that the universal wheel falls, and the cleaning robot is combined to be in a state that the cleaning robot cannot retreat, so that the cleaning robot is blocked and trapped.
The preset value in this embodiment is 3.5 °.
Further, in the step of processing the abnormality, the method of driving the cleaning robot to travel specifically includes: and after the cleaning robot is determined to be in a falling state, controlling the cleaning robot to spin left or right, and driving the cleaning robot to retreat.
The inclination can change after cleaning machines people levogyration or dextrorotation, and one side of cleaning machines people is lifted easily, and the last universal wheel of cleaning machines people also finds pivoted fulcrum easily, later retreats again and on pulling back cleaning machines people easily to the platform from the position that falls, so be favorable to falling the state to remove.
Further, the method for controlling the cleaning robot to spin left or right specifically includes: and determining the number of times of rotation of the cleaning robot after the cleaning robot is in a falling state, and determining to perform left spinning or right spinning according to the number of times of rotation.
Further, the left spinning or the right spinning is determined according to the number of the rotations, if the number of the rotations of the cleaning robot after being in a falling state is 0, the angle of the rotation of the cleaning robot is 30 degrees, if the number of the rotations of the cleaning robot after being in a falling state is 1, the angle of the rotation of the cleaning robot is 60 degrees, and the direction of the rotation is opposite to that of the rotation of the cleaning robot at the previous time.
The cleaning robot can rotate in the left and right directions and try to retreat, but to ensure that the cleaning robot does not fall below the cliff integrally due to transitional rotation in the rotating process, the rotating action needs to be limited, on one hand, the rotating direction is determined, specifically, the cleaning robot should not try to rotate for multiple times in the same direction, after the cleaning robot tries to rotate to the left and retreat, the cleaning robot should rotate and retreat to the right for the second time, specifically, the rotating direction of the second time is opposite to that of the first time, and the rotating angle should firstly counteract the rotating angle of the first time and then rotate for an additional angle.
Further, after the cleaning robot is driven to walk, the method further comprises: determining the rotation times of the cleaning robot after the cleaning robot is in a falling state again, and driving the cleaning robot to walk when the rotation times are less than 2 until the ground detection signal stops being generated;
and when the rotation times are equal to 2, alarming.
Further, the method for detecting the ground penetrating signal specifically comprises the following steps: the method comprises the steps of controlling the opening of the emission pair tubes and collecting the lamp opening value Vno of the reception pair tubes and controlling the closing of the emission pair tubes and collecting the lamp closing value Voff of the reception pair tubes in each period, detecting a ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is smaller than or equal to a ground detection trigger threshold Ts, and not generating the ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is larger than the ground detection trigger threshold Ts.
In this embodiment, the cleaning robot may be a robot walking on the ground for cleaning, such as a sweeper, a mopping machine or a floor washing machine, and taking the sweeper as an example, the cleaning robot is provided with a ground probing assembly in front of a universal wheel and in front of left and right traveling wheels of the cleaning robot.
In one embodiment, the robot detects the turn-on and turn-off values of the ground detection components while walking indoors, detects the turn-on and turn-off values 219 and 4095 of the first ground detection group, and obtains 3876 of the absolute value of the on-off light difference. The second ground detection component detects the ground to turn on 209, turn off 4095, and the absolute value of the on/off difference is 3886. The third ground detection component detects that the ground has a light-on value of 220, a light-off value of 4095 and an absolute value of the difference between the light-on and the light-off value is 3875.
When the light-off values of the first ground detecting component, the second ground detecting component and the third ground detecting component are all greater than or equal to 3500, the ambient light ratio is weaker, the cleaning robot is in a non-bright light environment, the ground detecting trigger threshold is set to be the light-off value-ground detecting trigger ratio, and in the embodiment, the ground detecting trigger ratio is set to be 0.048. That is, the ground penetrating trigger threshold is set to 4095 × 0.048=197, and when the absolute value of the difference between the light-off value and the light-on value of the first ground penetrating component, the second ground penetrating component, and the third ground penetrating component is lower than the ground penetrating trigger threshold 197, the cleaning robot triggers ground penetrating. The ground detection triggering proportion is set, when the cleaning robot detects the ground indoors and the distance between the ground detection sensor and the white ground is 9cm, the on-off light difference value is divided by the off light value to obtain the ground detection triggering proportion, and the ground detection triggering proportion can reflect the minimum difference between the on-off light value and the off light value of the cleaning robot under the normal condition.
However, when the cleaning robot is in a strong light environment, the difference between the light-on value and the light-off value of the cleaning robot is very small, and a ground detection trigger threshold setting method in a non-strong light environment is used, so that misjudgment can be caused, in one embodiment, the ground detection component has a height of 9cm from the ground, the ground detection light-on value 132, the light-off value 145 and the difference value 13, if the threshold value is still the light-off value 0.048, the threshold value is calculated to be 7, 13>, 7 is determined as a non-trigger ground, however, the acquisition of the light-off value may fluctuate due to errors and environmental complexity, the value has errors, and the difference between the light-off value and the light-on value is very small, so that the cleaning robot is likely to be in a ground detection state, but the robot continues to walk ahead according to the ground detection trigger threshold setting, and finally falls to the ground. Therefore, in a strong light environment, a fixed ground detection trigger threshold 200 is set according to experience, and the cleaning robot is ensured to be capable of detecting all the ground detection triggering conditions of the cleaning robot. Therefore, in the embodiment, when the light-off value of any one of the first ground probing component, the second ground probing component and the third ground probing component is less than 3500, the cleaning robot is in a strong light environment, and the ground probing trigger threshold is set to 200.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
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, and the order of execution is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
As an implementation of the above method, the present application provides an embodiment of a drop handling device for a cleaning robot, which corresponds to the method embodiment shown in fig. 1, and which is particularly applicable in various electronic apparatuses.
A fall handling device for a cleaning robot, the device comprising:
the detection module is used for continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the sensor and the surface of an object opposite to the sensor arranged at the bottom of the cleaning robot exceeds a preset distance;
the operation angle recording module is used for recording and updating an operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
the abnormal angle recording module is used for acquiring an abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and the cleaning robot cannot move, wherein the abnormal angle is the inclination angle of the cleaning robot;
and the abnormity processing module is used for determining the state of the cleaning robot according to the difference value between the abnormal angle and the operating angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
When the cleaning robot continuously retreats and the retreating distance exceeds half of the machine body, determining the change condition of the pitch angle of the current cleaning robot, and determining whether the real-time posture of the cleaning robot falls off as a universal wheel according to the change condition of the pitch angle of the current cleaning robot. If the variable quantity of the pitch angle of the cleaning robot is larger than the preset quantity, the real-time posture of the cleaning robot is determined to fall for the universal wheel, and if the variable quantity of the pitch angle of the cleaning robot is smaller than the preset quantity, the real-time posture of the cleaning robot is determined not to fall, and the cleaning robot is trapped in a state that the cleaning robot cannot move at the moment.
According to the scheme, when the cleaning robot is detected to trigger a ground detection signal, whether the cleaning robot is trapped or not is judged firstly, if the cleaning robot can move, the cleaning robot can be directly moved to relieve the ground detection state of the cleaning robot, if the cleaning robot cannot move, whether the universal wheels of the cleaning robot fall or not is determined according to the variation of the pitching angle after the cleaning robot is trapped before being trapped, treatment is carried out according to the specific trapped type of the cleaning robot, follow-up treatment is carried out after the universal wheels of the cleaning robot fall, and the success rate of the ground detection state is higher.
In order to solve the technical problem, the embodiment of the application further provides computer equipment.
The computer device comprises a memory, a processor and a network interface which are mutually connected through a system bus in a communication way. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory includes at least one type of readable storage medium including flash memory, hard disks, multimedia cards, card-type memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disks, optical disks, etc. In some embodiments, the storage may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the computer device. Of course, the memory may also include both internal and external storage devices of the computer device. In this embodiment, the memory is generally used for storing an operating system installed in the computer device and various types of application software, such as program codes of a fall handling method for a cleaning robot, and the like. In addition, the memory may also be used to temporarily store various types of data that have been output or are to be output.
The processor may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor is typically used to control the overall operation of the computer device. In this embodiment, the processor is configured to execute the program code stored in the memory or to process data, for example, to execute the program code of the fall management method for a cleaning robot.
The network interface may include a wireless network interface or a wired network interface, which is typically used to establish a communication link between the computer device and other electronic devices.
The present application provides yet another embodiment, namely, a computer-readable storage medium having stored thereon a fall handling program for a cleaning robot, the fall handling program being executable by at least one processor to cause the at least one processor to perform the steps of the fall handling method for a cleaning robot as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It should be understood that the above-described embodiments are merely exemplary of some, and not all, embodiments of the present application, and that the drawings illustrate preferred embodiments of the present application without limiting the scope of the claims appended hereto. This application is capable of embodiments in many different forms and the embodiments are provided so that this disclosure will be thorough and complete. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A fall handling method for a cleaning robot, characterized in that the method comprises:
continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the surface of an object opposite to a sensor arranged at the bottom of the cleaning robot and the sensor exceeds a preset distance;
recording an operation angle, namely recording and updating the operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
recording an abnormal angle, namely acquiring the abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and cannot move, wherein the abnormal angle is the inclination angle of the cleaning robot;
and an exception processing step, namely determining the state of the cleaning robot according to the difference value between the exception angle and the operation angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
2. The fall handling method for a cleaning robot according to claim 1, wherein the method of determining the state of the cleaning robot in the abnormality processing step specifically includes:
and when the difference value between the abnormal angle and the operation angle is larger than a preset value, determining that the cleaning robot is in a falling state.
3. The method for handling a fall of a cleaning robot according to claim 2, wherein the method for judging that the cleaning robot cannot move in the abnormal angle recording step includes: and driving the wheels of the cleaning robot to rotate so as to try to drive the cleaning robot to retreat until the wheels reach the preset number of turns, and continuously generating a ground detection signal of the cleaning robot.
4. The method of claim 3, wherein the driving of the cleaning robot to travel in the exception handling step comprises: and after the cleaning robot is determined to be in a falling state, controlling the cleaning robot to spin left or right, and driving the cleaning robot to retreat.
5. The fall handling method for a cleaning robot according to claim 4, wherein controlling the manner in which the cleaning robot spins left or spins right specifically comprises: determining the number of rotations of the cleaning robot after being in a falling state, and determining to perform left spinning or right spinning according to the number of rotations.
6. The drop handling method for a cleaning robot according to claim 5, wherein it is determined to perform left spin or right spin according to the number of rotations, if the number of rotations after the cleaning robot is in a drop state is 0, the angle of the cleaning robot at this time is 30 °, and if the number of rotations after the cleaning robot is in a drop state is 1, the angle of the cleaning robot at this time is 60 ° and the direction is opposite to the direction of the previous rotation.
7. The drop handling method for a cleaning robot according to claim 6, wherein after driving the cleaning robot to walk, the method further comprises: determining the rotation times of the cleaning robot after the cleaning robot is in a falling state again, and driving the cleaning robot to walk when the rotation times are less than 2 until the ground detection signal stops being generated;
and when the rotation times are equal to 2, alarming.
8. The fall handling method for a cleaning robot according to claim 6, wherein the detection method of the ground detection signal specifically includes: the method comprises the steps of controlling the opening of the emission pair tubes and collecting the lamp opening value Vno of the reception pair tubes and controlling the closing of the emission pair tubes and collecting the lamp closing value Voff of the reception pair tubes in each period, detecting a ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is smaller than or equal to a ground detection trigger threshold Ts, and not generating the ground detection signal if the absolute value Vd of the difference between the lamp opening value Vno and the lamp closing value Voff is larger than the ground detection trigger threshold Ts.
9. A fall handling device for a cleaning robot, the device comprising:
the detection module is used for continuously detecting a ground detection signal of the cleaning robot, wherein the ground detection signal is a signal generated when the distance between the sensor and an object surface opposite to the sensor arranged at the bottom of the cleaning robot exceeds a preset distance;
the operation angle recording module is used for recording and updating an operation angle in real time when the cleaning robot does not generate the ground detection signal, wherein the operation angle is the inclination angle of the cleaning robot;
the abnormal angle recording module is used for acquiring an abnormal angle of the cleaning robot when the cleaning robot generates the ground detection signal and the cleaning robot cannot move, wherein the abnormal angle is the inclination angle of the cleaning robot;
and the abnormity processing module is used for determining the state of the cleaning robot according to the difference value between the abnormal angle and the operating angle, and driving the cleaning robot to walk when the cleaning robot is in a falling state until the ground detection signal stops being generated.
10. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that: the processor, when executing the computer program, realizes the steps of a fall handling method for a cleaning robot as claimed in any one of claims 1 to 8.
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