CN106264357B - The carpet determination method and system of sweeping robot - Google Patents
The carpet determination method and system of sweeping robot Download PDFInfo
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- CN106264357B CN106264357B CN201610765425.0A CN201610765425A CN106264357B CN 106264357 B CN106264357 B CN 106264357B CN 201610765425 A CN201610765425 A CN 201610765425A CN 106264357 B CN106264357 B CN 106264357B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 238000002310 reflectometry Methods 0.000 claims description 8
- 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
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning 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
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002045 lasting effect Effects 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
- 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 the carpet determination methods and system of a kind of sweeping robot, are related to robotic technology field, which comprises in sweeping robot when being mopped floor, obtain working environment state parameter；Judge whether the working environment state parameter belongs to preset state, if the working environment state parameter belongs to preset state, determines that the sweeping robot is located on carpet.The present invention judges whether the sweeping robot is located on carpet by working environment state parameter, so that sweeping robot is when mopping floor, can avoid carpet, effectively evade the wet damage dragged to carpet, and as carpet and rag frictional force it is excessive and caused by shelve problem.
Description
Technical field
The present invention relates to robotic technology field, in particular to the carpet determination method and system of a kind of sweeping robot.
Background technique
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc. automatically, is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.With the improvement of living standards, for
General family is also more more and more universal.
Sweeping robot gradually has mopping function at present, and mopping function is commonly divided into dry drag and drags with wet, if swept the floor
Carpet is climbed up by robot, especially wet when dragging, and can damage to carpet.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the carpet determination method and system of a kind of sweeping robot of problem.
First aspect according to the present invention provides a kind of carpet determination method of sweeping robot, the method packet
It includes:
In sweeping robot when being mopped floor, working environment state parameter is obtained；
Judge whether the working environment state parameter belongs to preset state, if the working environment state parameter belong to it is pre-
If state, then determine that the sweeping robot is located on carpet.
Optionally, the working environment state parameter include: the ground surface reflectance of infrared signal, round brush operating current and
Water tank detects at least two in signal in place.
Optionally, when the working environment state parameter includes the ground surface reflectance of infrared signal, the preset state
It include: the ground surface reflectance of the infrared signal not less than default reflectivity threshold value；
When the working environment state parameter includes the operating current of round brush, the preset state includes: the round brush
Operating current be not more than predetermined current threshold；
When the working environment state parameter includes that water tank detects signal in place, the preset state includes: the water
It is the signal for reflecting that water tank is in place that case detects signal in place.
Optionally, after the judgement sweeping robot is located on carpet, the method also includes:
It controls the sweeping robot and carries out setback.
Optionally, if the working environment state parameter is not belonging to preset state, determine the non-position of the sweeping robot
In on carpet, and the step of executing the acquisition working environment state parameter.
The second aspect according to the present invention provides a kind of carpet decision-making system of sweeping robot, the system packet
It includes:
Parameter acquiring unit, for, when being mopped floor, obtaining working environment state parameter in sweeping robot；
State determination unit, for judging whether the working environment state parameter belongs to preset state, in the work
When ambient condition parameter belongs to preset state, determine that the sweeping robot is located on carpet.
Optionally, the working environment state parameter include: the ground surface reflectance of infrared signal, round brush operating current and
Water tank detects at least two in signal in place.
Optionally, when the working environment state parameter includes the ground surface reflectance of infrared signal, the preset state
It include: the ground surface reflectance of the infrared signal not less than default reflectivity threshold value；
When the working environment state parameter includes the operating current of round brush, the preset state includes: the round brush
Operating current be not more than predetermined current threshold；
When the working environment state parameter includes that water tank detects signal in place, the preset state includes: the water
It is the signal for reflecting that water tank is in place that case detects signal in place.
Optionally, the state determination unit is also used to after determining that the sweeping robot is located on carpet, control
The sweeping robot carries out setback.
Optionally, the state determination unit is also used to when the working environment state parameter is not belonging to preset state,
Determine that the sweeping robot is not located on carpet, and calls the parameter acquiring unit.
The present invention judges whether the sweeping robot is located on carpet by working environment state parameter, so that sweeping the floor
Robot can avoid carpet when mopping floor, and effectively evade the wet damage dragged to carpet, and since carpet and rag rub
Wipe power it is excessive and caused by shelve problem.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the flow chart of the carpet determination method of the sweeping robot of one embodiment of the present invention；
Fig. 2 is a kind of bottom view of sweeping robot；
Fig. 3 is a kind of drive control circuit figure of round brush；
Fig. 4 is the flow chart of the carpet determination method of the sweeping robot of another embodiment of the present invention；
Fig. 5 is the structural block diagram of the carpet decision-making system of the sweeping robot of one embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Fig. 1 is the flow chart of the carpet determination method of the sweeping robot of one embodiment of the present invention；Referring to Fig.1, institute
The method of stating includes:
S101: in sweeping robot when being mopped floor, working environment state parameter is obtained；
It should be noted that the executing subject of the method for present embodiment is processor, sweeping robot can be carried out
Control, certainly, the processor can be set inside the sweeping robot, also can be set in outside the sweeping robot
Portion, present embodiment are without restriction to this.
It will be appreciated that the working environment state parameter, for characterizing working environment locating for the sweeping robot.
It should be understood that since the sweeping robot is usually just to be easy to damage carpet when being mopped floor,
To avoid obtaining always working environment state parameter, but and without utilizing, so that waste of energy is caused, therefore, only in institute
Sweeping robot is stated when being mopped floor, just obtains the working environment state parameter.
S102: judging whether the working environment state parameter belongs to preset state, if the working environment state parameter
Belong to preset state, then determines that the sweeping robot is located on carpet.
Present embodiment judges whether the sweeping robot is located on carpet by working environment state parameter, so that
Sweeping robot can avoid carpet when mopping floor, and effectively evade the wet damage dragged to carpet, and due to carpet and smear
Cloth frictional force it is excessive and caused by shelve problem.
In the concrete realization, the working environment state parameter includes: the work of the ground surface reflectance of infrared signal, round brush
Electric current and water tank detect at least two in signal in place, it will be understood that, the working environment state parameter is more than including
At two kinds of three kinds of parameters, it can determine whether that the sweeping robot is located on carpet, but due to the polygons of environment, and test
The error of data may result in misjudgement, erroneous judgement, to avoid the above problem, in present embodiment, and the working environment state ginseng
Number may include three of the above parameter.
For the ground surface reflectance of the infrared signal, it can be obtained by infrared distance sensor, that is to say, that
One infrared distance sensor being arranged downward is set on the sweeping robot, and under normal circumstances, the infrared distance measurement passes
Sensor is fixed at a distance from ground, but since the ground surface reflectance of infrared signal is different according to the material on ground, such as: it is hard
The reflectivity of quality plate or floor tile can be more much larger than carpet, so, can be judged by infrared distance sensor described in sweep the floor machine
Whether people climbs up carpet.
It should be noted that when sweeping robot crosses on carpet from hard floor or floor tile, infrared distance measurement sensing
Device acquisition AD value can be substantially reduced, compared to the AD signal on hard floor, fall usually 50% or more, therefore
And default reflectivity threshold value can be set according to the fall, it include infrared signal in the working environment state parameter
When ground surface reflectance, the preset state includes: that the ground surface reflectance of the infrared signal is not less than default reflectivity threshold value；
It is logical due to falling lamp 3 for the sweeping robot for falling lamp 3 has been installed referring to Fig. 2 for save the cost
It is arranged frequently with infrared distance sensor and downward, so, it can be anti-come the ground for obtaining the infrared signal by falling lamp 3
Penetrate rate.
In the present embodiment, rag is set to the lower surface of the dirt box 1.
It is the sampling member device of the round brush operating current referring to Fig. 3, R53 for the operating current of the round brush 2 in Fig. 2
Part, when sweeping robot crosses on carpet from hard floor or floor tile, which is rubbed due to adhesive tape or hairbrush and ground
Wipe transformation of coefficient, the operating current of the round brush that R53 is got can significant change, ascensional range generally reaches 30% or more, therefore
And predetermined current threshold can be set according to the fall, it include the work electricity of round brush in the working environment state parameter
When stream, the preset state includes: the operating current of the round brush no more than predetermined current threshold.
For the water tank detects signal in place, general sweeping robot can match two dirt boxes, one band water tank, one
It is a and magnet to be had above the dirt box with water tank without water tank, when the dirt box with water tank is injected sweeping robot, sweep the floor
Robot level detection sensor (the usually sensors such as Hall sensor, infrared sensor or microswitch sensor) can
To sense that this is the dirt box with water tank, thus differentiate sweeping robot be when mopping floor it is dry drag or it is wet drag, described
When working environment state parameter includes that water tank detects signal in place, the preset state includes: that the water tank detects signal in place
For reflection water tank signal in place.
Fig. 4 is the flow chart of the carpet determination method of the sweeping robot of another embodiment of the present invention；Reference Fig. 4,
The described method includes:
S401: in sweeping robot when being mopped floor, working environment state parameter is obtained；
Step S401 is identical as the step S101 of embodiment shown in FIG. 1, and details are not described herein.
S402: judging whether the working environment state parameter belongs to preset state, if the working environment state parameter
Belong to preset state, then determine that the sweeping robot is located on carpet, controls the sweeping robot and carry out setback；If
The working environment state parameter is not belonging to preset state, then determines that the sweeping robot is not located on carpet, and execute institute
State the step of obtaining working environment state parameter, i.e. return step S401.
It will be appreciated that prevent the sweeping robot after leaving carpet, it is still lasting to retreat, it can be in each building ring
Border state parameter stops retreating after being not admitted to preset state.
For method implementation, for simple description, therefore, it is stated as a series of action combinations, but ability
Field technique personnel should be aware of, and embodiment of the present invention is not limited by the described action sequence, because according to the present invention
Embodiment, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that,
Embodiment described in this description belongs to preferred embodiment, related movement embodiment party not necessarily of the present invention
Necessary to formula.
Fig. 5 is the structural block diagram of the carpet decision-making system of the sweeping robot of one embodiment of the present invention；Reference Fig. 5,
The system comprises:
Parameter acquiring unit 501, for, when being mopped floor, obtaining working environment state parameter in sweeping robot；
State determination unit 502, for judging whether the working environment state parameter belongs to preset state, in the work
When making ambient condition parameter and belonging to preset state, determine that the sweeping robot is located on carpet.
In a kind of optional embodiment of the present invention, the working environment state parameter includes: that the ground of infrared signal is anti-
Penetrate rate, the operating current of round brush and water tank detect in place in signal at least two.
It is anti-on the ground that the working environment state parameter includes infrared signal in a kind of optional embodiment of the present invention
When penetrating rate, the preset state includes: that the ground surface reflectance of the infrared signal is not less than default reflectivity threshold value；
When the working environment state parameter includes the operating current of round brush, the preset state includes: the round brush
Operating current be not more than predetermined current threshold；
When the working environment state parameter includes that water tank detects signal in place, the preset state includes: the water
It is the signal for reflecting that water tank is in place that case detects signal in place.
In a kind of optional embodiment of the present invention, the state determination unit is also used to machine of sweeping the floor described in judgement
After people is located on carpet, controls the sweeping robot and carry out setback.
In a kind of optional embodiment of the present invention, the state determination unit is also used in the working environment state
When parameter is not belonging to preset state, determine that the sweeping robot is not located on carpet, and call the parameter acquiring unit.
For system embodiment, since it is substantially similar to method implementation, so be described relatively simple,
Related place illustrates referring to the part of method implementation.
It should be noted that in all parts of system of the invention, according to the function that it to be realized to therein
Component has carried out logical partitioning, and still, the present invention is not only restricted to this, can according to need all parts are repartitioned or
Person's combination.
All parts embodiment of the invention can be implemented in hardware, or to transport on one or more processors
Capable software module is realized, or is implemented in a combination thereof.In this system, PC is by realizing internet to equipment or device
Long-range control, the step of accurately controlling equipment or device each operation.The present invention is also implemented as executing here
Some or all device or device programs of described method are (for example, computer program and computer program produce
Product).Program of the invention, which is achieved, can store on a computer-readable medium, and the file or document tool that program generates
There is statistics available property, generates data report etc..It should be noted that above embodiment the present invention will be described rather than to this
Invention is limited, and those skilled in the art can be designed replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference symbol between parentheses should not be configured to limitations on claims.
Word "comprising" does not exclude the presence of element or step not listed in the claims.Word " one " located in front of the element or " one
It is a " do not exclude the presence of multiple such elements.The present invention can by means of include several different elements hardware and by
It is realized in properly programmed computer.If in the unit claim for listing dry systems, several in these systems
It can be and be embodied by the same item of hardware.The use of word first, second, and third does not indicate any suitable
Sequence.These words can be construed to title.
The above embodiments are only used to illustrate the present invention, and not limitation of the present invention, in relation to the common of technical field
Technical staff can also make a variety of changes and modification without departing from the spirit and scope of the present invention, therefore all
Equivalent technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (2)
1. a kind of carpet determination method of sweeping robot, which is characterized in that the described method includes:
In sweeping robot when being mopped floor, working environment state parameter is obtained；
The working environment state parameter includes: that the ground surface reflectance of infrared signal, the operating current of round brush and water tank are examined in place
Survey at least two in signal；
Judge whether the working environment state parameter belongs to preset state；
If the working environment state parameter belongs to preset state, determine that the sweeping robot is located on carpet, and control
The sweeping robot carries out setback；
The ambient condition parameter for belonging to preset state includes:
When the working environment state parameter includes the ground surface reflectance of infrared signal, the preset state includes: described red
The ground surface reflectance of external signal is not less than default reflectivity threshold value；
When the working environment state parameter includes the operating current of round brush, the preset state includes: the work of the round brush
Make electric current no more than predetermined current threshold；
When the working environment state parameter includes that water tank detects signal in place, the preset state includes: that the water tank exists
Position detection signal is the signal for reflecting that water tank is in place；
If the working environment state parameter is not belonging to preset state, determine that the sweeping robot is not located on carpet, and
The step of executing the acquisition working environment state parameter.
2. a kind of carpet decision-making system of sweeping robot, which is characterized in that the system comprises:
Parameter acquiring unit, for, when being mopped floor, obtaining working environment state parameter in sweeping robot；
The working environment state parameter includes: that the ground surface reflectance of infrared signal, the operating current of round brush and water tank are examined in place
Survey at least two in signal；
State determination unit, for judging whether the working environment state parameter belongs to preset state, in the working environment
When state parameter belongs to preset state, determine that the sweeping robot is located on carpet；The state determination unit, is also used to
After determining that the sweeping robot is located on carpet, controls the sweeping robot and carry out setback；The state determines
Unit is also used to determine that the sweeping robot is not located at ground when the working environment state parameter is not belonging to preset state
On blanket, and call the parameter acquiring unit；
The ambient condition parameter for belonging to preset state includes:
When the working environment state parameter includes the ground surface reflectance of infrared signal, the preset state includes: described red
The ground surface reflectance of external signal is not less than default reflectivity threshold value；
When the working environment state parameter includes the operating current of round brush, the preset state includes: the work of the round brush
Make electric current no more than predetermined current threshold；
When the working environment state parameter includes that water tank detects signal in place, the preset state includes: that the water tank exists
Position detection signal is the signal for reflecting that water tank is in place.
Priority Applications (1)
| 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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| 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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| CN106264357A CN106264357A (en) | 2017-01-04 |
| CN106264357B true CN106264357B (en) | 2019-10-18 |
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2016
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1308915A (en) * | 2000-02-16 | 2001-08-22 | 松下电器产业株式会社 | Electric suction cleaner |
| CN1891132A (en) * | 2005-07-04 | 2007-01-10 | 陈东明 | Controlling method for control system of smart cleaner |
| CN102334957A (en) * | 2010-06-23 | 2012-02-01 | 松下电器产业株式会社 | Electric vacuum cleaner |
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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 |