CN106264357A - The carpet decision method of sweeping robot and system - Google Patents
The carpet decision method of sweeping robot and system Download PDFInfo
- Publication number
- CN106264357A CN106264357A CN201610765425.0A CN201610765425A CN106264357A CN 106264357 A CN106264357 A CN 106264357A CN 201610765425 A CN201610765425 A CN 201610765425A CN 106264357 A CN106264357 A CN 106264357A
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- sweeping robot
- state parameter
- carpet
- environment state
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- 238000010408 sweeping Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses carpet decision method and the system of a kind of sweeping robot, relate to robotics, described method includes: at sweeping robot when mopping floor, and obtains working environment state parameter；Judge whether described working environment state parameter belongs to preset state, if described working environment state parameter belongs to preset state, then judge that described sweeping robot is positioned on carpet.By working environment state parameter, the present invention judges whether described sweeping robot is positioned on carpet, make sweeping robot when mopping floor, carpet can be avoided, effectively evaded and wet dragged the infringement to carpet, and due to carpet and rag frictional force excessive and cause shelve problem.
Description
Technical field
The present invention relates to robotics, particularly to carpet decision method and the system of a kind of sweeping robot.
Background technology
Sweeping robot, also known as automatically sweeping machine, intelligence dust suction, robot cleaner etc., is the one of controlling intelligent household appliances
Kind, automatically can complete floor cleaning work in room by certain artificial intelligence.Along with growth in the living standard, for
General family is more and more universal.
Sweeping robot is gradually with the function that mops floor at present, and the function that mops floor is commonly divided into dry dragging and drags with wet, if swept the floor
Carpet is climbed up by robot, the wettest when dragging, and carpet can be caused damage.
Summary of the invention
In view of the above problems, it is proposed that the present invention in case provide one overcome the problems referred to above or at least in part solve on
State carpet decision method and the system of a kind of sweeping robot of problem.
According to the first aspect of the invention, it is provided that the carpet decision method of a kind of sweeping robot, described method bag
Include:
At sweeping robot when mopping floor, obtain working environment state parameter；
Judge whether described working environment state parameter belongs to preset state, if described working environment state parameter belongs to pre-
If state, then judge that described sweeping robot is positioned on carpet.
Alternatively, described working environment state parameter includes: the ground surface reflectance of infrared signal, the operating current of round brush and
Water tank detects at least two in signal in place.
Alternatively, when described working environment state parameter includes the ground surface reflectance of infrared signal, described preset state
Including: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
When described working environment state parameter includes the operating current of round brush, described preset state includes: described round brush
Operating current be not more than predetermined current threshold；
When described working environment state parameter includes that water tank detects signal in place, described preset state includes: described water
It is to reflect the signal that water tank is in place that case detects signal in place.
Alternatively, after the described sweeping robot of described judgement is positioned on carpet, described method also includes:
Control described sweeping robot and carry out setback.
Alternatively, if described working environment state parameter is not belonging to preset state, then the non-position of described sweeping robot is judged
On carpet, and perform the step of described acquisition working environment state parameter.
According to the second aspect of the invention, it is provided that the carpet decision-making system of a kind of sweeping robot, described system bag
Include:
Parameter acquiring unit, is used for, at sweeping robot when mopping floor, obtaining working environment state parameter；
State determination unit, is used for judging whether described working environment state parameter belongs to preset state, in described work
When ambient condition parameter belongs to preset state, it is determined that described sweeping robot is positioned on carpet.
Alternatively, described working environment state parameter includes: the ground surface reflectance of infrared signal, the operating current of round brush and
Water tank detects at least two in signal in place.
Alternatively, when described working environment state parameter includes the ground surface reflectance of infrared signal, described preset state
Including: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
When described working environment state parameter includes the operating current of round brush, described preset state includes: described round brush
Operating current be not more than predetermined current threshold；
When described working environment state parameter includes that water tank detects signal in place, described preset state includes: described water
It is to reflect the signal that water tank is in place that case detects signal in place.
Alternatively, described state determination unit, it is additionally operable to, after judging that described sweeping robot is positioned on carpet, control
Described sweeping robot carries out setback.
Alternatively, described state determination unit, it is additionally operable to when described working environment state parameter is not belonging to preset state,
Judge that described sweeping robot is not located on carpet, and call described parameter acquiring unit.
By working environment state parameter, the present invention judges whether described sweeping robot is positioned on carpet so that sweep the floor
Robot is when mopping floor, it is possible to avoid carpet, has effectively evaded and wet has dragged the infringement to carpet, and owing to carpet and rag rub
Wiping power is excessive and cause shelve problem.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 is the flow chart of the carpet decision method of the sweeping robot of one embodiment of the present invention；
Fig. 2 is the upward view of a kind of sweeping robot；
Fig. 3 is the driving control circuit figure of a kind of round brush；
Fig. 4 is the flow chart of the carpet decision method of the sweeping robot of another embodiment of the present invention；
Fig. 5 is the structured flowchart of the carpet decision-making system of the sweeping robot of one embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
Fig. 1 is the flow chart of the carpet decision method of the sweeping robot of one embodiment of the present invention；With reference to Fig. 1, institute
The method of stating includes:
S101: at sweeping robot when mopping floor, obtains working environment state parameter；
It should be noted that the executive agent of the method for present embodiment is processor, sweeping robot can be carried out by it
Controlling, certainly, described processor can be arranged at inside described sweeping robot, it is also possible to is arranged at outside described sweeping robot
Portion, this is not any limitation as by present embodiment.
It will be appreciated that described working environment state parameter, for characterizing the working environment residing for described sweeping robot.
It should be understood that owing to described sweeping robot is typically when mopping floor, just easily carpet caused damage,
For avoiding obtaining working environment state parameter always, but do not utilize, thus cause waste of energy, therefore, only in institute
State sweeping robot when mopping floor, just obtain described working environment state parameter.
S102: judge whether described working environment state parameter belongs to preset state, if described working environment state parameter
Belong to preset state, then judge that described sweeping robot is positioned on carpet.
By working environment state parameter, present embodiment judges whether described sweeping robot is positioned on carpet so that
Sweeping robot is when mopping floor, it is possible to avoid carpet, has effectively evaded and wet has dragged the infringement to carpet, and due to carpet with smear
Cloth frictional force is excessive and cause shelve problem.
In implementing, described working environment state parameter includes: the ground surface reflectance of infrared signal, the work of round brush
Electric current and water tank detect at least two in signal in place, it will be understood that, described working environment state parameter include above
During two kinds of three kinds of parameters, all can determine whether that described sweeping robot is positioned on carpet, but due to the polygons of environment, and test
The error of data, may result in misjudgement, erroneous judgement, and for avoiding the problems referred to above, in present embodiment, described working environment state is joined
Number can include three of the above parameter.
For the ground surface reflectance of described infrared signal, can be obtained by infrared distance sensor, say, that
Arranging an infrared distance sensor arranged down on described sweeping robot, in the ordinary course of things, described infrared distance measurement passes
Sensor is fixing with the distance on ground, but owing to the ground surface reflectance of infrared signal is different, such as according to the material on ground: hard
The reflectance of quality plate or floor tile can be more much larger than carpet, so, can by infrared distance sensor judge described in sweep the floor machine
Whether people climbs up carpet.
It should be noted that when sweeping robot crosses carpet from hard floor or floor tile, infrared distance measurement senses
The AD value of device collection can substantially reduce, compared to the AD signal on hard floor, fall generally more than 50%, therefore
And, default reflectance threshold value can be set according to this fall, include infrared signal at described working environment state parameter
During ground surface reflectance, described preset state includes: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
For cost-effective, with reference to Fig. 2, for the sweeping robot falling lamp 3 has been installed, lead to owing to falling lamp 3
Frequently with infrared distance sensor and arrange down, so, can to obtain the ground of described infrared signal anti-by falling lamp 3
Penetrate rate.
In the present embodiment, rag is arranged at the lower surface of described dirt box 1.
For the operating current of the round brush 2 in Fig. 2, with reference to the sampling unit device that Fig. 3, R53 are this round brush operating current
Part, when sweeping robot crosses carpet from hard floor or floor tile, this round brush rubs due to adhesive tape or hairbrush and ground
Wipe transformation of coefficient, the operating current of this round brush that R53 gets can significant change, ascensional range generally reaches more than 30%, therefore
And, predetermined current threshold can be set according to this fall, include the work electricity of round brush at described working environment state parameter
During stream, described preset state includes: the operating current of described round brush is not more than predetermined current threshold.
For described water tank detects signal in place, general sweeping robot can join two dirt boxes, a band water tank, and one
Individual without water tank, and above the dirt box of band water tank, have Magnet, when the dirt box of this band water tank is injected sweeping robot, sweep the floor
Robot can in level detection sensor (the usually sensor such as Hall element, infrared sensor or microswitch sensor)
To sense that this is the dirt box of a band water tank, thus differentiating sweeping robot is dry dragging when mopping floor, or wet drags, described
Working environment state parameter includes when water tank detects signal in place, and described preset state includes: described water tank detects signal in place
For the signal that reflection water tank is in place.
Fig. 4 is the flow chart of the carpet decision method of the sweeping robot of another embodiment of the present invention；With reference to Fig. 4,
Described method includes:
S401: at sweeping robot when mopping floor, obtains working environment state parameter；
Step S401 is identical with step S101 of the embodiment shown in Fig. 1, does not repeats them here.
S402: judge whether described working environment state parameter belongs to preset state, if described working environment state parameter
Belong to preset state, then judge that described sweeping robot is positioned on carpet, control described sweeping robot and carry out setback；If
Described working environment state parameter is not belonging to preset state, then judge that described sweeping robot is not located on carpet, and perform institute
State the step obtaining working environment state parameter, i.e. return step S401.
It will be appreciated that for preventing described sweeping robot after leaving carpet, the most persistently retreat, can be at each building ring
Border state parameter stops retreating after being not admitted to preset state.
For method embodiment, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but ability
Field technique personnel should know, embodiment of the present invention is not limited by described sequence of movement, because according to the present invention
Embodiment, some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should know,
Embodiment described in this description belongs to preferred implementation, involved action embodiment party the most of the present invention
Necessary to formula.
Fig. 5 is the structured flowchart of the carpet decision-making system of the sweeping robot of one embodiment of the present invention；With reference to Fig. 5,
Described system includes:
Parameter acquiring unit 501, is used for, at sweeping robot when mopping floor, obtaining working environment state parameter；
State determination unit 502, is used for judging whether described working environment state parameter belongs to preset state, in described work
Make ambient condition parameter when belonging to preset state, it is determined that described sweeping robot is positioned on carpet.
In a kind of optional embodiment of the present invention, described working environment state parameter includes: the ground of infrared signal is anti-
Penetrate rate, the operating current of round brush and water tank and detect at least two in signal in place.
In a kind of optional embodiment of the present invention, include that the ground of infrared signal is anti-at described working environment state parameter
When penetrating rate, described preset state includes: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
When described working environment state parameter includes the operating current of round brush, described preset state includes: described round brush
Operating current be not more than predetermined current threshold；
When described working environment state parameter includes that water tank detects signal in place, described preset state includes: described water
It is to reflect the signal that water tank is in place that case detects signal in place.
In a kind of optional embodiment of the present invention, described state determination unit, it is additionally operable at machine of sweeping the floor described in judgement
After people is positioned on carpet, controls described sweeping robot and carry out setback.
In a kind of optional embodiment of the present invention, described state determination unit, it is additionally operable in described working environment state
When parameter is not belonging to preset state, it is determined that described sweeping robot is not located on carpet, and call described parameter acquiring unit.
For system embodiment, due to itself and method embodiment basic simlarity, so describe is fairly simple,
Relevant part sees the part of method embodiment and illustrates.
It should be noted that, in all parts of the system of the present invention, the function to be realized according to it and to therein
Parts have carried out logical partitioning, but, the present invention is not only restricted to this, can as required all parts be repartitioned or
Person combines.
The all parts embodiment of the present invention can realize with hardware, or to transport on one or more processor
The software module of row realizes, or realizes with combinations thereof.In native system, PC is by realizing the Internet to equipment or device
Remotely control, control equipment or the step of each operation of device accurately.The present invention is also implemented as performing here
Part or all equipment of described method or device program (such as, computer program and computer program product
Product).It is achieved in that the program of the present invention can store on a computer-readable medium, and the file or document tool that program produces
Have and statistically can produce data report etc..It should be noted above-mentioned embodiment the present invention will be described rather than to this
Invention limits, and those skilled in the art can design replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference marks that should not will be located between bracket is configured to limitations on claims.
Word " comprises " and does not excludes the presence of the element or step not arranged in the claims.It is positioned at the word " " or " before element
Individual " do not exclude the presence of multiple such element.The present invention can by means of include some different elements hardware and by
Realize in properly programmed computer.If in the unit claim listing dry systems, several in these systems
Can be specifically to be embodied by same hardware branch.Word first, second and third use do not indicate that any suitable
Sequence.Can be title by these word explanations.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, common about technical field
Technical staff, without departing from the spirit and scope of the present invention, it is also possible to make a variety of changes and modification, therefore own
The technical scheme of equivalent falls within scope of the invention, and the scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. the carpet decision method of a sweeping robot, it is characterised in that described method includes:
At sweeping robot when mopping floor, obtain working environment state parameter；
Judge whether described working environment state parameter belongs to preset state, if described working environment state parameter belongs to default shape
State, then judge that described sweeping robot is positioned on carpet.
2. the method for claim 1, it is characterised in that described working environment state parameter includes: the ground of infrared signal
Face reflectance, the operating current of round brush and water tank detect at least two in signal in place.
3. method as claimed in claim 2, it is characterised in that include the ground of infrared signal at described working environment state parameter
During the reflectance of face, described preset state includes: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
When described working environment state parameter includes the operating current of round brush, described preset state includes: the work of described round brush
It is not more than predetermined current threshold as electric current；
When described working environment state parameter includes that water tank detects signal in place, described preset state includes: described water tank exists
Position detection signal is the signal that reflection water tank is in place.
4. the method as according to any one of claims 1 to 3, it is characterised in that the described sweeping robot of described judgement is positioned at
After on carpet, described method also includes:
Control described sweeping robot and carry out setback.
5. the method as according to any one of claims 1 to 3, it is characterised in that if described working environment state parameter does not belongs to
In preset state, then judge that described sweeping robot is not located on carpet, and perform described acquisition working environment state parameter
Step.
6. the carpet decision-making system of a sweeping robot, it is characterised in that described system includes:
Parameter acquiring unit, is used for, at sweeping robot when mopping floor, obtaining working environment state parameter；
State determination unit, is used for judging whether described working environment state parameter belongs to preset state, at described working environment
When state parameter belongs to preset state, it is determined that described sweeping robot is positioned on carpet.
7. system as claimed in claim 6, it is characterised in that described working environment state parameter includes: the ground of infrared signal
Face reflectance, the operating current of round brush and water tank detect at least two in signal in place.
8. system as claimed in claim 7, it is characterised in that include the ground of infrared signal at described working environment state parameter
During the reflectance of face, described preset state includes: the ground surface reflectance of described infrared signal is not less than presetting reflectance threshold value；
When described working environment state parameter includes the operating current of round brush, described preset state includes: the work of described round brush
It is not more than predetermined current threshold as electric current；
When described working environment state parameter includes that water tank detects signal in place, described preset state includes: described water tank exists
Position detection signal is the signal that reflection water tank is in place.
9. the system as according to any one of claim 6～8, it is characterised in that described state determination unit, is additionally operable to sentencing
After fixed described sweeping robot is positioned on carpet, controls described sweeping robot and carry out setback.
10. the system as according to any one of claim 6～8, it is characterised in that described state determination unit, is additionally operable to
When described working environment state parameter is not belonging to preset state, it is determined that described sweeping robot is not located on carpet, and call institute
State parameter acquiring unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610765425.0A CN106264357B (en) | 2016-08-30 | 2016-08-30 | The carpet determination method and system of sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610765425.0A CN106264357B (en) | 2016-08-30 | 2016-08-30 | The carpet determination method and system of sweeping robot |
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| CN106264357B CN106264357B (en) | 2019-10-18 |
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Denomination of invention: Carpet determination method and system for robotic vacuum cleaners Granted publication date: 20191018 Pledgee: Ningbo Zhenhai Rural Commercial Bank Co.,Ltd. Pledgor: NINGBO CAINIAO INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2024980031539 |