CN107595217B - Sweeping robot and roller fault detection method thereof - Google Patents

Sweeping robot and roller fault detection method thereof Download PDF

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Publication number
CN107595217B
CN107595217B CN201710709013.XA CN201710709013A CN107595217B CN 107595217 B CN107595217 B CN 107595217B CN 201710709013 A CN201710709013 A CN 201710709013A CN 107595217 B CN107595217 B CN 107595217B
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sweeping robot
roller
reflected light
signal
light signal
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CN107595217A (en
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俞浩
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Dreame Technology Suzhou Co ltd
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Zhuichuang Technology Suzhou Co Ltd
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Priority to CN202110520105.XA priority Critical patent/CN113243860B/en
Priority to CN201710709013.XA priority patent/CN107595217B/en
Publication of CN107595217A publication Critical patent/CN107595217A/en
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/28—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/28—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication
    • G01D5/30—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication the beams of light being detected by photocells
    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a sweeping robot and a roller fault detection method thereof, wherein the method comprises the following steps: transmitting an optical signal to the roller; receiving a reflected light signal of the light signal after being reflected by the roller; taking the received starting signal or the received signal of turning completion of the sweeping robot as an initial point; judging the state of the roller according to the reflected light signal after the preset time from the starting point; when the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, so that when the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, namely, the alarm of the abnormal roller state is ignored, and the behavior of the sweeping robot is controlled only by using other built-in control modes of the sweeping robot, so that the working efficiency of the sweeping robot can be improved.

Description

Sweeping robot and roller fault detection method thereof
Technical Field
The invention relates to a sweeping robot, in particular to roller fault detection of the sweeping robot.
Background
In the prior art, driving wheels are usually disposed on two sides of the sweeping robot to move and work in a work area. The sweeping robot can be provided with a sensor to monitor the working state. In order to meet the design requirement of miniaturization of the sweeping robot, the sweeping robot can be provided with a driven roller at a proper position between two driving wheels. The sensor monitors the state of the roller to reflect the working state of the sweeping robot. For example, when the sweeping robot is prevented from moving by an obstacle, the sensor can monitor the static state of the roller, so that the sweeping robot gives a warning of abnormal work.
The above conventional techniques have the following technical problems:
when the roller of the sweeping robot is static due to the fact that foreign matters such as hair are wound on the roller, the sensor can monitor the static state of the roller, and therefore the sweeping robot gives a warning of working abnormity. Thus, the long time for warning the abnormal working of the sweeping robot can cause the interference to users. In addition, in the behavior model established in the sweeping robot, the roller is still, the sweeping robot meets an obstacle, steering is needed, and the robot continues to work after the steering is finished. Like this, when taking place the foreign matter winding gyro wheel, the robot of sweeping the floor judges all the time to meet the barrier, turns to ceaselessly for the robot work efficiency of sweeping the floor is low.
Disclosure of Invention
In view of the above, it is necessary to provide a technical solution for improving the working efficiency of the sweeping robot.
A roller fault detection method of a sweeping robot comprises the following steps:
transmitting an optical signal to the roller;
receiving a reflected light signal of the light signal after being reflected by the roller;
taking the received starting signal or the received signal of turning completion of the sweeping robot as an initial point;
judging the state of the roller according to the reflected light signal within a preset time period from the starting point;
when the roller wheel state is abnormal, the control of the sweeping robot according to the reflected light signal is limited.
When the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, namely, the alarm of the abnormal roller state is ignored, and the behavior of the sweeping robot is controlled only by using other built-in control modes of the sweeping robot, so that the working efficiency of the sweeping robot can be improved.
In one embodiment, the step of taking the received signal indicating that the sweeping robot turns to the end as a starting point specifically includes:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
The sweeping robot turns to finish the preset angle, and the turning completion of the sweeping robot can be indicated. Or the differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is a non-zero value, which can indicate that the sweeping robot turns completely. The turning completion of the sweeping robot is used as the starting point of the sampling period of the reflected light signal, and the judgment of the roller state is further carried out according to the reflected light signal obtained in time, so that the mode of controlling the sweeping robot can be adjusted in time, and the working efficiency of the sweeping robot is improved.
In one embodiment, the method specifically includes, based on a reflected light signal that has passed from a starting point for a preset time period:
the emitted light signal is a light pulse signal, the preset duration being determined by a preset number of cycles of the light pulse signal from a start point.
The sampling period of the reflected light signal is set, and the roller state is judged according to the reflected light signal obtained in the sampling period, so that the real-time sampling and the real-time judgment are not needed, and the energy consumption of the operation is reduced.
In one embodiment, the step of receiving the reflected light signal after the light signal is reflected by the roller specifically includes:
the reflected light signals of at least two different light reflecting areas of the roller are received.
The reflected light signals of at least two different light reflecting areas of the roller are received, and the reflected light signals are obviously changed in intensity through the different light reflecting areas, so that the static identification precision of the roller can be improved.
In one embodiment, the determining the roller status specifically includes:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
When the intensity of the reflected light signal does not change periodically, the fault state of the roller can be accurately judged, and the identification precision of the roller abnormity is improved.
The application still provides a robot of sweeping floor, includes:
the transmitting module is used for transmitting optical signals to the roller;
the receiving module is used for receiving the reflected light signal of the light signal after being reflected by the roller;
the starting module is used for taking a signal of starting up the floor sweeping robot or a signal of turning completion of the floor sweeping robot as an initial point;
the judging module is used for judging the state of the roller according to the reflected light signal within a preset time period from the starting point;
and the control module is used for limiting the control of the sweeping robot according to the reflected light signals when the roller is abnormal.
When the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, namely, the alarm of the abnormal roller state is ignored, and the behavior of the sweeping robot is controlled only by using other built-in control modes of the sweeping robot, so that the working efficiency of the sweeping robot can be improved.
In one embodiment, the starting module is specifically configured to:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
The sweeping robot turns to finish the preset angle, and the turning completion of the sweeping robot can be indicated. Or the differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is a non-zero value, which can indicate that the sweeping robot turns completely. The turning completion of the sweeping robot is used as the starting point of the sampling period of the reflected light signal, and the judgment of the roller state is further carried out according to the reflected light signal obtained in time, so that the mode of controlling the sweeping robot can be adjusted in time, and the working efficiency of the sweeping robot is improved.
In one embodiment, the determining module is specifically configured to:
a determination of the roller state is made based on a preset number of emitted light signals experienced from the beginning.
The sampling period of the reflected light signal is set, and the roller state is judged according to the reflected light signal obtained in the sampling period, so that the real-time sampling and the real-time judgment are not needed, and the energy consumption of the operation is reduced.
In one embodiment, the roller has at least two different reflective regions to reflect the optical signal.
The reflected light signals of at least two different light reflecting areas of the roller are received, and the reflected light signals are obviously changed in intensity through the different light reflecting areas, so that the static identification precision of the roller can be improved.
In one embodiment, the determining module is specifically configured to:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
When the intensity of the reflected light signal does not change periodically, the fault state of the roller can be accurately judged, and the identification precision of the roller abnormity is improved.
Drawings
Fig. 1 is a flowchart of a roller fault detection method of a sweeping robot provided in an embodiment of the present application.
Fig. 2 is a schematic structural view of a sweeping robot provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart of a roller fault detection method of a sweeping robot provided in an embodiment of the present application, which specifically includes the following steps:
s100: an optical signal is transmitted to the roller.
The sweeping robot can detect the running state of the moving part by means of the emitted light signal and the reflection of the light signal in the environment. For example, the sweeping robot may be provided with an optical signal transmitter and an optical signal receiver. The optical signal that the optical signal transmitter of robot sweeps the floor sends, meets when waiting to detect the part in the propagation, takes place the reflection. The optical signal receiver of the sweeping robot receives the reflected optical signal of the optical signal. The sweeping robot determines the running state of the belt detection moving part according to the intensity of the reflected light signal. The intensity of the reflected light signal may be represented by an electrical signal, such as a voltage value of the electrical signal. In the embodiment provided by the application, the sweeping robot determines the running state of the roller of the sweeping robot by means of the optical signal and the reflected light signal generated by reflecting the optical signal.
Generally, driving wheels are provided at both sides of the sweeping robot to move work within a work area. When the working state of the sweeping robot is monitored, the operation state of the driving wheel can be detected to realize the operation. The disadvantage of this monitoring method may result from the idle running of the driving wheels when the bottom of the sweeping robot is suspended. That is, the driving wheel operation state is normal, but the sweeping robot operates abnormally. On the other hand, when detecting the driving wheel, a detecting structure needs to be arranged near the driving wheel. And the driving wheel is usually arranged at the edge of the sweeping robot due to the design requirement of miniaturization. The detection mechanism arranged at the edge of the sweeping robot can increase the size of the sweeping robot. Therefore, when the working state of the sweeping robot is monitored, the operation state of the driven roller can be detected. The driven roller moves to indicate that the sweeping robot works movably, and otherwise, the driven roller is static to indicate that the sweeping robot is in place. The working state of the sweeping robot is represented by the running state of the driven roller.
S200: and receiving a reflected light signal of the light signal after being reflected by the roller.
The sweeping robot can be provided with an optical signal receiver so as to receive a reflected optical signal of the optical signal after being reflected by the environment. Specifically, a light signal receiver of the sweeping robot receives a reflected light signal when the light signal meets a roller in the propagation process. The reflected light signal may be an optical pulse signal. In the control program of the sweeping robot, the intensity value of the reflected light signal can be represented as the voltage value of the electric signal.
S300: and taking the received starting signal or the received signal of turning completion of the sweeping robot as a starting point.
S400: and judging the state of the roller according to the reflected light signal within a preset time period from the starting point.
The sweeping robot is started and can be used as the starting point of the sampling period of the reflected light signal. The preset time duration elapsed from the start point may be taken as a sampling period of the reflected light signal. And judging the state of the roller according to the reflected light signals in the sampling period. Therefore, the state of the roller can be obtained in time after the sweeping robot is started.
The sweeping robot is easy to malfunction near the obstacle during working. For example, the sweeping robot is blocked by an obstacle, or the sweeping robot collides with the obstacle to cause the failure of part of the parts. The sweeping robot usually performs obstacle avoidance steering near an obstacle according to a built-in control program. The turning completion of the sweeping robot can be used as the starting point of the sampling period of the reflected light signal. The preset time duration elapsed from the start point may be taken as a sampling period of the reflected light signal. And judging the state of the roller according to the reflected light signals in the sampling period. Therefore, the state of the roller can be obtained in time after the sweeping robot turns.
Further, in another embodiment provided by the present application, the step of taking the received signal indicating that the sweeping robot turns completely as a starting point specifically includes:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
The sweeping robot turns to finish the preset angle, and the turning completion of the sweeping robot can be indicated. For example, the sweeping robot may be provided with a gyroscope to characterize the turning angle of the sweeping robot. The angle is preset in an internal control program of the sweeping robot. The sweeping robot turns by a preset angle to indicate that the turning is finished.
The sweeping robot starts to walk linearly, and the turning completion of the sweeping robot can be indicated. In the turning process of the sweeping robot, a differential value is formed between the driving wheels at two sides of the position row. When the differential value between the driving wheels on the two sides reaches a zero value and the speed value is not a zero value, the sweeping robot starts to walk linearly, and the sweeping robot turns to finish.
The turning completion of the sweeping robot is used as the starting point of the sampling period of the reflected light signal, and the preset duration from the starting point can be used as the sampling period of the reflected light signal. And further, the state of the roller is judged according to the reflected light signals acquired in time, so that the mode of controlling the sweeping robot can be adjusted in time, and the working efficiency of the sweeping robot is improved.
Further, in another embodiment provided by the present application, the based on the reflected light signal within a preset time period from the starting point specifically includes:
the emitted light signal is a light pulse signal, the preset duration being determined by a preset number of cycles of the light pulse signal from a start point.
The emitted light signal may be a pulsed light signal. The preset duration of the sweeping robot experience can be characterized by the preset number of cycles of the emitted light signal experience. Assuming that one cycle is 0.02s and the preset duration is 2s, the corresponding preset cycle number is 100 cycles. The sampling period of the reflected light signal is set, and the roller state is judged according to the reflected light signal obtained in the sampling period, so that the real-time sampling and the real-time judgment are not needed, and the energy consumption of the operation is reduced.
Further, in another embodiment provided by the present application, the determining the roller status specifically includes:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
When the sweeping robot operates normally, a light signal receiver of the sweeping robot receives a reflected light signal when the light signal meets a roller in the propagation process. The roller rotates for one circle, and the reflected light signal changes for one period. When the intensity of the reflected light signal does not change periodically, the state of the roller is abnormal. For example, the roller stops rotating due to the winding of foreign matter. When the intensity of the reflected light signal does not change periodically, the fault state of the roller can be accurately judged, and the identification precision of the roller abnormity is improved.
S500: when the roller wheel state is abnormal, the control of the sweeping robot according to the reflected light signal is limited.
The reflected light signal can be used as one of the factors for controlling the sweeping robot. For example, the light pulse signal is reflected on the roller, and the moving distance of the sweeping robot can be obtained by counting the pulses of the reflected light signal. Assuming that 100 light pulse signals are experienced, the sweeping robot can be reflected to move for 5 m. The sweeping robot turns every 5 m. When the sweeping robot encounters an obstacle, the intensity of a reflected light signal of the roller is unchanged, and the sweeping robot turns according to the characteristics of the reflected light signal. When the roller is out of order, for example, foreign matter such as hair is entangled in the roller, and the rotation is stopped. If the control of the reflected light signal is not limited, the sweeping robot can continuously steer, and the working efficiency of the sweeping robot is low. In the present application, when the roller state is found to be abnormal, the reflected light signal is limited. The specific limiting means may be to ignore the reflected light signal or to mask the reflected light signal. Therefore, the sweeping robot does not perform behavior control on the sweeping robot according to the reflected light signals in the period. And if the roller state is judged to be normal in the next sampling period of the reflected light signal, the reflected light signal is continuously used for carrying out behavior control on the sweeping robot.
In the embodiment provided by the application, when the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, that is, the alarm of the roller state abnormality is ignored, and only other built-in control modes of the sweeping robot are used for controlling the behavior of the sweeping robot, so that the working efficiency of the sweeping robot can be improved.
Further, in another embodiment provided by the present application, the step of receiving the reflected light signal after the light signal is reflected by the roller specifically includes:
the reflected light signals of at least two different light reflecting areas of the roller are received.
The roller may be provided with at least two distinct light-reflecting regions. For example, the rollers may be provided with grooves or ridges spaced about the circumferential surface. Alternatively, the circumferential surface of the roller may be provided with stripes of alternating light and dark. Even if the roller rotates by a small angle, different light reflecting areas can still bring about remarkable change of the intensity of the second reflected light signal, so that the rotation of the roller is detected, and the identification precision of the roller fault is improved.
The method provided by the embodiment of the present application is based on the same idea, and please refer to fig. 2, which is a sweeping robot provided by the embodiment of the present application.
The robot of sweeping the floor includes:
the transmitting module 11 is used for transmitting optical signals to the roller;
a receiving module 12, configured to receive a reflected light signal of the optical signal after being reflected by the roller;
the starting module 13 is used for taking a signal of starting up the floor sweeping robot or a signal of turning completion of the floor sweeping robot as an initial point;
the judging module 14 is used for judging the state of the roller according to the reflected light signal within a preset time period from the starting point;
and the control module 15 is used for limiting the control of the sweeping robot according to the reflected light signals when the roller is abnormal.
When the roller state is abnormal, the control of the reflected light signal on the sweeping robot is limited, namely, the alarm of the abnormal roller state is ignored, and the behavior of the sweeping robot is controlled only by using other built-in control modes of the sweeping robot, so that the working efficiency of the sweeping robot can be improved.
Further, in another embodiment provided in the present application, in one embodiment, the starting module 13 is specifically configured to:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
The sweeping robot turns to finish the preset angle, and the turning completion of the sweeping robot can be indicated. Or the differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is a non-zero value, which can indicate that the sweeping robot turns completely. The turning completion of the sweeping robot is used as the starting point of the sampling period of the reflected light signal, and the judgment of the roller state is further carried out according to the reflected light signal obtained in time, so that the mode of controlling the sweeping robot can be adjusted in time, and the working efficiency of the sweeping robot is improved.
Further, in another embodiment provided in the present application, the determining module 14 is specifically configured to:
a determination of the roller state is made based on a preset number of emitted light signals experienced from the beginning.
The sampling period of the reflected light signal is set, and the roller state is judged according to the reflected light signal obtained in the sampling period, so that the real-time sampling and the real-time judgment are not needed, and the energy consumption of the operation is reduced.
Further, in another embodiment provided herein, in one embodiment, the roller has at least two different reflective areas to reflect the optical signal.
The reflected light signals of at least two different light reflecting areas of the roller are received, and the reflected light signals are obviously changed in intensity through the different light reflecting areas, so that the static identification precision of the roller can be improved.
Further, in another embodiment provided in the present application, in one embodiment, the determining module 14 is specifically configured to:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
When the intensity of the reflected light signal does not change periodically, the fault state of the roller can be accurately judged, and the identification precision of the roller abnormity is improved.
The embodiment of the application further provides a robot of sweeping floor, include:
a substrate;
a driving wheel driven by a motor and arranged on the base body;
a driven roller mounted on the base;
a signal emitter mounted on the base and emitting a pulse signal toward the roller;
a signal receiver which is arranged on the base body and receives the reflected signal of the pulse signal from the roller;
the controller, with the motor, signal transmitter, signal receiver, drive wheel electric connection for:
determining the running state of the roller according to the reflected signal received by the signal receiver;
when the running state of the roller is abnormal, the control of the reflected signal to the driving wheel is limited.
The following describes a specific application scenario of the present application:
the sweeping robot may be provided with a light signal emitter for emitting a pulsed light signal. The sweeping robot can be provided with an optical signal receiver so as to receive a reflected optical signal of the optical signal after being reflected by the roller. The sweeping robot is started and can be used as the starting point of the sampling period of the reflected light signal. The preset time duration elapsed from the start point may be taken as a sampling period of the reflected light signal. And judging the state of the roller according to the reflected light signals in the sampling period. Therefore, the state of the roller can be obtained in time after the sweeping robot is started. The turning completion of the sweeping robot can be used as the starting point of the sampling period of the reflected light signal. The sweeping robot turns to finish the preset angle, and the turning completion of the sweeping robot can be indicated. Certainly, when the differential value between the driving wheels at the two sides of the sweeping robot reaches a zero value and the speed value is not a zero value, the sweeping robot starts to walk linearly, and the sweeping robot turns to the completion. The preset time duration elapsed from the start point may be taken as a sampling period of the reflected light signal. And judging the state of the roller according to the reflected light signals in the sampling period. Therefore, the state of the roller can be obtained in time after the sweeping robot turns. When the roller is out of order, for example, foreign matter such as hair is entangled in the roller, and the rotation is stopped. The sweeping robot turns, and after the turning is finished, due to the fact that the reflected light signals are unchanged, the abnormity of the roller can be judged according to the reflected light signals in the sampling period. And limiting the behavior control of the reflected light signal on the sweeping robot. The sweeping robot continues to work linearly, so that the working efficiency of the sweeping robot can be improved.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. The roller fault detection method of the sweeping robot is characterized in that the control mode of the walking behavior of the rollers comprises the following steps: the walking behavior control method of the sweeping robot comprises the following steps of carrying out walking behavior control on the sweeping robot according to a reflected light signal and carrying out walking behavior control on the sweeping robot according to a built-in control mode of the sweeping robot, wherein the roller fault detection method of the sweeping robot comprises the following steps:
transmitting an optical signal to the roller;
receiving a reflected light signal of the light signal after being reflected by the roller;
taking the received starting signal or the received signal of turning completion of the sweeping robot as an initial point;
judging the state of the roller according to the reflected light signal within a preset time period from the starting point;
when the gyro wheel state is normal, walk the behavior control according to the reflected light signal to sweeping the floor robot, it includes to sweep the floor the robot and walk the behavior control according to the reflected light signal: the optical pulse signals are reflected on the roller, the moving distance of the sweeping robot is obtained by counting the pulses of the reflected optical signals, and the sweeping robot is controlled to steer according to the moving distance of the sweeping robot;
when foreign matters are wound in the roller wheels to cause the abnormal state of the roller wheels, the control of the sweeping robot according to the reflected light signals is limited, and the walking behavior of the sweeping robot is controlled according to a built-in control mode of the sweeping robot.
2. The method according to claim 1, wherein the step of receiving the signal that the sweeping robot turns completely as a starting point specifically comprises:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
3. The method according to claim 1, wherein the step of determining the reflected light signal from the start point within a predetermined time period comprises:
the emitted light signal is a light pulse signal, the preset duration being determined by a preset number of cycles of the light pulse signal from a start point.
4. The method according to claim 1, wherein the step of receiving the reflected light signal after the light signal is reflected by the wheel specifically comprises:
the reflected light signals of at least two different light reflecting areas of the roller are received.
5. The method according to claim 1, wherein the determining the roller status comprises:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
6. A sweeping robot is characterized by comprising:
the transmitting module is used for transmitting optical signals to the roller;
the receiving module is used for receiving the reflected light signal of the light signal after being reflected by the roller;
the starting module is used for taking a signal of starting up the floor sweeping robot or a signal of turning completion of the floor sweeping robot as an initial point;
the judging module is used for judging the state of the roller according to the reflected light signal within a preset time period from the starting point;
the control module is used for limiting the control of the sweeping robot according to the reflected light signals when the roller is abnormal;
the control mode of the walking behavior of the roller comprises the following steps: the walking behavior of the sweeping robot is controlled according to the reflected light signals and the walking behavior of the sweeping robot is controlled according to the built-in control mode of the sweeping robot,
when the gyro wheel state is normal, control module carries out walking behavior control to the robot of sweeping the floor according to reflected light signal, carry out walking behavior control to the robot of sweeping the floor according to reflected light signal includes: the optical pulse signals are reflected on the roller, the moving distance of the sweeping robot is obtained by counting the pulses of the reflected optical signals, and the sweeping robot is controlled to steer according to the moving distance of the sweeping robot;
when foreign matters are wound in the roller wheels to cause the abnormal state of the roller wheels, the control module limits the control of the sweeping robot according to the reflected light signals and controls the walking behavior of the sweeping robot according to the built-in control mode of the sweeping robot.
7. The sweeping robot of claim 6, wherein the starting module is specifically configured to:
taking the time point when the signal of the sweeping robot turning to the preset angle is received as an initial point; or
And taking the point when the received differential speed value of the two driving wheels of the sweeping robot changes from a non-zero value to a zero value and the speed value is the non-zero value as an initial point.
8. The sweeping robot of claim 6, wherein the judging module specifically comprises:
when the emitted light signal is a light pulse signal, the preset duration is determined by a preset number of cycles of the light pulse signal from a start point.
9. The sweeping robot of claim 6, wherein said rollers have at least two distinct reflective areas to reflect light signals.
10. The sweeping robot of claim 6, wherein the determining module is specifically configured to:
and when the intensity of the reflected light signal does not change periodically, judging that the roller state is abnormal.
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