CN107744371A - Clean robot and the detection method based on clean robot - Google Patents
Clean robot and the detection method based on clean robot Download PDFInfo
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- CN107744371A CN107744371A CN201711057417.1A CN201711057417A CN107744371A CN 107744371 A CN107744371 A CN 107744371A CN 201711057417 A CN201711057417 A CN 201711057417A CN 107744371 A CN107744371 A CN 107744371A
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- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims abstract description 132
- 230000009471 action Effects 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims description 29
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- 244000007853 Sarothamnus scoparius Species 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 11
- 239000000428 dust Substances 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000010408 sweeping Methods 0.000 description 7
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clean robot and the detection method based on clean robot, it can be useful in the application scenarios whether monitoring cleaning robot has been removed, by the effective scanning data for obtaining distance measuring sensor, effective scanning data include the measurement distance of multiple scanning elements and scanning angle corresponding with the measurement distance, then it is corresponding with scanning angle under the same conditions in pre-stored angle, compare the size of prestore distance and measurement distance correspondingly, the distance that wherein prestores is less than or equal to the distance that pre-stored angle points to the outer peripheral edge of robot body, if the measurement distance of at least one scanning element is less than the distance that prestores, then control clean robot to perform and stop driving wheel, in sweep, the emergency action of the rotations such as side brush, avoid bringing potential danger.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a cleaning robot and a detection method based on the cleaning robot.
Background
With the development of intelligent science and technology, various types of intelligent household appliances enter the daily life of people, replace manual work for realizing household tasks such as massage, washing clothes, cooking and sweeping, greatly liberate the hands of people and save time. The intelligent cleaning robot can be more and more favored by young people, mainly because the intelligent cleaning robot can realize the functions of obstacle avoidance, cleaning path planning, positioning, map construction, automatic charging and the like through various types of sensors configured by the intelligent cleaning robot, and the intelligent degree is very high.
However, when the intelligent cleaning robot is lifted, since the rotating driving wheels, the middle sweeper, the side brush and other components are still working, potential danger is easily brought if the intelligent cleaning robot is not stopped in time. For example, when the robot is turned over and observed after being lifted up, the side brush and the middle brush can throw dust onto a human body or eyes; as another example, a human hand may be caught on a finger when inadvertently contacting the drive wheel, which is very dangerous for the user, especially for babies and children.
Disclosure of Invention
The invention aims to solve the technical problem that potential danger is easily brought by taking emergency measures of stopping rotation of a driving wheel, a middle broom, a side brush and the like if the intelligent cleaning robot is not in time when the intelligent cleaning robot is carried up, and provides a cleaning robot and a detection method based on the cleaning robot.
In order to solve the technical problem, the invention adopts the following technical scheme:
a cleaning robot-based detection method, the cleaning robot comprising a robot body and a ranging sensor protruding from a top of the robot body, the method comprising:
obtaining effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances;
comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is correspondingly the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance from the pre-stored angle to the outer periphery of the robot body;
and if the measured distance of at least one scanning point is smaller than the pre-stored distance, controlling the cleaning robot to execute emergency action.
Wherein, the cleaning robot further comprises a ground detection sensor arranged at the bottom of the robot body, and if the measured distance of at least one scanning point is smaller than the pre-stored distance, after the step of controlling the cleaning robot to execute emergency action, the method further comprises: and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is triggered, controlling the cleaning robot to execute a protection action.
Wherein, the cleaning robot further comprises a ground detection sensor arranged at the bottom of the robot body, and if the measured distance of at least one scanning point is smaller than the pre-stored distance, after the step of controlling the cleaning robot to execute emergency action, the method further comprises: and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
Wherein, ground examines the sensor and includes infrared emission pipe and infrared receiving tube.
Wherein the cleaning robot further comprises an acceleration sensor, and after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot to execute a protection action.
Wherein the cleaning robot further comprises an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot to remove the emergency action.
Wherein the controlling the cleaning robot to perform the emergency action comprises: and controlling a driving wheel of the cleaning robot to stop rotating.
Wherein the controlling the cleaning robot to perform a protective action comprises: and controlling the middle broom of the cleaning robot to stop rotating, and/or controlling the side brush of the cleaning robot to stop rotating.
Wherein the method further comprises: and sending prompt information representing that the cleaning robot is lifted to a handheld client so that a user can know that the cleaning robot is lifted from the handheld client, wherein the cleaning robot is in wireless communication connection with the handheld client.
In order to solve the technical problem, the invention also adopts the following technical scheme:
a cleaning robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform any of the methods described above.
The cleaning robot and the detection method based on the cleaning robot provided by the embodiment of the invention can be applied to an application scene for monitoring whether the cleaning robot is carried or not, and by acquiring effective scanning data of a distance measuring sensor, the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances, and then comparing the pre-stored distances with the measuring distances in a one-to-one correspondence manner under the condition that the pre-stored angles are corresponding to the same scanning angles, wherein the pre-stored distances are smaller than or equal to the distances from the pre-stored angles to the outer periphery of the robot body, and if the measuring distance of at least one scanning point is smaller than the pre-stored distances, the cleaning robot is controlled to execute emergency actions, so that potential dangers are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a cleaning robot;
FIG. 2 is a schematic diagram of the ranging sensor of FIG. 1;
FIG. 3 is a schematic diagram of the working principle of the distance measuring sensor;
FIG. 4 is a schematic diagram of establishing a polar coordinate system on the cleaning robot;
fig. 5 is a bottom structure view of the cleaning robot shown in fig. 1;
FIG. 6 is a flowchart illustrating steps of a cleaning robot based detection method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an application scenario in which a detection method is used to monitor whether the cleaning robot is lifted;
FIG. 8 is a diagram illustrating a pre-stored angle determined by the included angle of 6 degrees;
FIG. 9 is a schematic view of an application scenario in which a human hand is preparing to lift the cleaning robot;
FIG. 10 is a flowchart illustrating steps of a cleaning robot based inspection method according to another embodiment of the present invention;
FIG. 11 is a flowchart illustrating steps of a cleaning robot based inspection method according to another embodiment of the present invention;
fig. 12 is a schematic hardware configuration diagram of a cleaning robot for performing a cleaning robot-based detection method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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 invention.
An embodiment of the present invention provides a detection method based on a cleaning robot, as shown in fig. 1, fig. 1 is a schematic structural diagram of a cleaning robot 10. The cleaning robot 10 may be a sweeping robot, a mopping robot, or a robot integrating sweeping and mopping functions. The cleaning robot 10 includes a robot body 100 and a distance measuring sensor 200 protruding from a top 101 of the robot body 100. in the embodiment of the present invention, the distance measuring sensor 200 is a laser radar, also called a laser scanning distance meter, and for protection, the top 101 of the robot body 100 may be provided with a protective cover 102, and the protective cover 102 is connected to the top 101 of the robot body 100 through a plurality of support posts. In an alternative embodiment, the ranging sensor 200 may also include: the laser receiving tube assembly comprises a rotating part, a laser transmitting tube and a laser receiving tube assembly, wherein the laser transmitting tube and the laser receiving tube assembly are fixedly installed on the rotating part, a laser beam transmitted by the laser transmitting tube is received by the laser receiving tube after being reflected by an object, the measuring distance between the laser transmitting tube and the laser receiving tube assembly and the object can be calculated by utilizing a Time Of Flight (TOF) distance measuring method, and in addition, the scanning angle at the moment Of transmitting the laser beam is obtained according to the rotating angle Of the rotating part. The following description will be made by taking the distance measuring sensor 200 as a lidar.
As shown in fig. 2 and 3, fig. 2 is a schematic structural diagram of the distance measuring sensor 200 in fig. 1, and fig. 3 is a schematic functional diagram of the distance measuring sensor 200.
The distance measuring sensor 200 comprises a mounting base 211, a motor 212 fixed on the mounting base 211, and a rotating part 213 rotatably arranged on the mounting base 211, wherein the motor 212 drives the rotating part 213 to rotate through a transmission component such as an elastic belt 212a, a toothed belt, etc. in practical application, once the rotating part 213 is fixed, the positions of the point laser emitter 214 and the camera 215 are also fixed, so that the direction of the laser ray 214a emitted by the point laser emitter 214 forms a fixed included angle α with the optical axis 215a of the camera 215, in the embodiment of the present invention, the measured distance d between the point laser emitter 214 and the object to be measured is measured by using a triangulation method in the prior art, which is briefly described in the following, that the laser ray 214a emitted by the point laser emitter 214 is incident on the surface of the object to be measured OB, the camera 215 receives a scattered light ray 214b from a scanning point on the surface of the object OB, the scattered light ray 214b passes through a lens 2151 of the camera 215 and is imaged on a photosensitive element 2 of the detected object, and the effective distance of the image point on the image 2152 of the image of the point laser emitter 214b is calculated by using a triangulation method, wherein the following formula:
formula ① q ═ f × s/x;
formula ② d q/sin (β);
where β equals 90- α, s is the distance between the point laser transmitter 214 and the center point of the lens 2151, and f is the focal length of the camera 215.
When the rotating part 213 rotates at the adjustable frequency, the range-finding sensor 200 can perform 360 ° omni-directional scanning of the surrounding environment, and the effective scanning data of the range-finding sensor 200 can include the measured distance d of the scanning point OB1 projected on the object OB and the scanning angle corresponding to the measured distance d with respect to the polar coordinate system established on the cleaning robot 10 as shown in fig. 4, which has the range-finding sensor 200 as the pole in fig. 4, can define the right-side direction of the cleaning robot 10 as the 0 ° (360 °) polar axis, and has the counterclockwise direction as the positive angle. At a certain time, the cleaning robot 10 is in the posture (position and posture) as shown in fig. 4, and the range sensor 200 is at the scanning angleEmits a laser ray 214a and impinges on a scanning spot OB1 on the object OB, the measured distance d corresponding to a scanning angle ofIt should be noted that, since the scan data of the range sensor 200 may include invalid scan data that generates a scan point on the support due to the laser beam being projected thereon, the scan data of the range sensor 200 may be referred to as valid scan data of the range sensor 200 after the invalid scan data of the range sensor 200 is removed. If the ranging sensor 200 does not generate invalid scan data, the valid scan data of the ranging sensor 200 may be scan data of the ranging sensor 200.
Fig. 5 is a schematic bottom structure view of the cleaning robot 10 shown in fig. 1, and as shown in fig. 5, the robot body 100 may include a chassis 110 and an upper cover 120, the upper cover 120 being detachably mounted on the chassis 110 to protect various functional components inside the cleaning robot 10 from being damaged by violent impacts or unintentionally dropped liquid during use; the chassis 110 and/or the upper cover 120 are used to carry and support various functional components. In an alternative embodiment, the robot body 100 may also have other design configurations, for example, the robot body 100 is an integrally molded structure or a structure separately arranged from left to right, and the material, shape, structure, etc. of the robot body 100 are not limited in the embodiment of the present invention.
The robot body 100 includes a drive system connected to the chassis 110 and configured to drive the cleaning robot 10 to move over the floor, e.g., the cleaning robot 10 may be designed to autonomously plan a path over the floor or may be designed to move over the floor in response to remote control commands. In the embodiment of the present invention, the driving system includes two driving wheels 130, at least one universal wheel 140, and a motor for driving the driving wheels 130 to rotate, the driving wheels 130 and the universal wheel 140 at least partially protrude out of the bottom of the chassis 110, for example, the two driving wheels 130 can be partially hidden in the chassis 110 under the self-weight of the cleaning robot 10. In an alternative embodiment, the drive system may further include any one of a track triangle wheel, a Mecanum wheel, or the like.
The robot body 100 may further include a cleaning system, for example, the cleaning system includes one or both of a middle brush 150 and a middle brush (the middle brush 150 and/or the middle brush may be collectively referred to as a middle brush), the middle brush 150 and the middle brush are adapted to be disposed in a receiving groove formed at the bottom of the chassis 110, and a dust suction opening is formed in the receiving groove and is communicated with the dust collecting box 160 and a dust suction fan, so that when the middle brush 150 rotates, dust and garbage on the ground is stirred up, and the dust and garbage are sucked into the dust collecting box 160 from the dust suction opening by a suction force generated by the dust suction fan. Besides the middle sweeping brush 150 and/or the middle sweeping glue brush, the robot body 100 may further include an edge brush 170, and a sweeping coverage area of the edge brush 170 extends out of an outer contour range of the robot body 100, which is beneficial to effectively sweeping wall edges, corners and obstacle edges.
The robot body 100 may further include a floor mopping system, for example, the floor mopping system includes a water storage tank, a cleaning cloth, etc., and the water storage tank and the dust box 160 may be separately provided or may be integrally designed. In an alternative embodiment, the water in the water storage tank is sucked by the suction pump and evenly sprinkled on the cloth, and the wetted cloth wipes the floor as the cleaning robot 10 moves over the floor. In an optional embodiment, the water in the water storage tank is atomized by the atomizer to form water mist and sprayed to the ground, and then the cleaning cloth wipes the ground sprayed by the water mist.
Fig. 6 is a flowchart illustrating a detection method based on a cleaning robot according to an embodiment of the present invention, and as shown in fig. 6, the detection method includes steps S10, S20, and S30. Fig. 7 is a schematic view of an application scenario in which the detection method is applied to monitor whether the cleaning robot 10 is lifted. In the application scenario diagram shown in fig. 7, when the cleaning robot 10 is ready to be lifted, a human hand (e.g., a thumb) falls directly above the top 101 of the robot body 100 until the human hand contacts the top 101 of the robot body 100, and the distance measuring sensor 200 projects a laser ray 710 onto the human hand located directly above the top 101 of the robot body 100 by scanning, so as to form at least one scanning point 711 on the human hand.
Step S10 includes: and acquiring effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises the measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances.
In the embodiment of the present invention, the effective scanning data of the range sensor 200 includes the measured distances of the plurality of scanning points and the scanning angles corresponding to the measured distances, that is, at least two data of the measured distances and the scanning angles corresponding to the measured distances are associated with each scanning point.
The range sensor 200 can scan in small angular increments, for example, 360 ° omni-directional scanning of the surrounding environment in 1 ° angular increments, that is, 360 scanning points can be projected by one rotation of the range sensor 200; as another example, a 360 ° omni-directional scan of the surrounding environment is performed in 2 ° angular increments, that is, 180 scan points can be projected by one rotation of the range sensor 200. Of course, the range sensor 200 with different specifications and performances may be selected according to actual needs, for example, the maximum scan angle of the range sensor 200 may be 90 °, 180 °, 270 °, 360 °, etc., the angle increment of the range sensor 200 may be 0.5 °, 1 °, 2 °, 3 °, etc., and the sampling frequency of the range sensor 200 may be 1000samples/s, 2000samples/s, etc.
Step S20 includes: and comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance of the pre-stored angle pointing to the outer periphery of the robot body.
Step S30 includes: and if the measured distance of at least one scanning point is less than the pre-stored distance, controlling the cleaning robot to execute emergency action.
In the embodiment of the present invention, a radial range directly above the top 101 of the robot body 100, which is approximately defined by the outer periphery of the robot body 100, is determined, in order to determine whether a hand falls directly above the top 101 of the robot body 100, a plurality of pre-stored angles required according to practical applications are determined, and then a pre-stored distance corresponding to each pre-stored angle is obtained, where the pre-stored distance is equal to or slightly smaller than a distance in which the corresponding pre-stored angle points to the outer periphery of the robot body 100. For example, the pre-stored distance is less than 0-20 mm of the distance of the corresponding pre-stored angle pointing to the outer peripheral edge direction of the robot body 100. The pre-stored distance is equal to the distance from the corresponding pre-stored angle to the outer peripheral edge of the robot body 100.
How to obtain prestore the angle and the distance of prestoring that corresponds, can be along the outer periphery of robot 100 around the baffle for the scanning point that range sensor 200 throws falls on the surface of baffle, thereby can read the measuring distance of a plurality of scanning points of range sensor 200 and with the scanning angle that this measuring distance corresponds, confirm required angle and the distance of prestoring in from the scanning angle and the measuring distance of a plurality of scanning points of reading, store angle and the distance of prestoring.
It should be noted that the number of the obtained pre-stored angles and pre-stored distances is not limited to be the same as the number of scanning points that can be projected by the ranging sensor 200 rotating once, for example, 180 scanning points can be projected by using the ranging sensor 200 that can perform 360 ° omnidirectional scanning on the surrounding environment by 2 ° angular increments; however, according to the requirement of practical application, as shown in fig. 8, a plurality of required pre-stored angles may be determined at an included angle of 6 ° apart, so as to obtain a pre-stored distance corresponding to each pre-stored angle, based on which, less than or equal to 60 pre-stored angles and their corresponding pre-stored distances may be obtained.
Taking the pre-stored angle of 30 ° and the pre-stored distance of 10cm as an example, as shown in fig. 8, when a human hand (e.g., thumb) falls on the top 101 of the robot body 100 and blocks the laser beam with the scanning angle of 30 °, an application scenario ready to lift the cleaning robot 10 is formed as shown in fig. 9. Comparing the pre-stored distance with the measured distance d1 under the condition that the pre-stored angle and the scanning angle are both 30 degrees, obviously, the measured distance d1 is less than 10cm, so as to determine whether the cleaning robot 10 is ready to be lifted, and thus control the cleaning robot 10 to perform emergency actions, wherein the emergency actions comprise stopping rotation of the driving wheels and/or stopping rotation of the middle-scanning brush.
As can be seen from the common sense of life, when a hand (for example, a thumb) of a person falls directly above the top 101 of the robot body 100, the left hand or the right hand of the person can block laser rays at a plurality of adjacent scanning angles, and therefore, in order to avoid erroneous judgment caused by hair, debris, etc. falling on the top 101 of the robot body 100, and thus the cleaning robot 10 executes an emergency action, the measurement distances of a plurality of adjacent scanning points and the prestored distances can be compared in a one-to-one correspondence manner, and if the measurement distances of the plurality of scanning points are all smaller than the corresponding prestored distances, it is determined that the cleaning robot 10 is ready to be carried, and the cleaning robot 10 is controlled to execute the emergency action.
In an alternative embodiment, in order to determine whether the cleaning robot 10 has been carried up, a ground detection sensor disposed at the bottom of the robot body 100 may be used, specifically, fig. 10 is a flowchart of a detection method based on the cleaning robot according to another embodiment of the present invention, and the flowchart in fig. 10 is formed by adding step S40 after step S30 in fig. 6.
Step S40 includes: and judging whether the ground detection sensor is triggered within a first preset time length, and controlling the cleaning robot 10 to execute a protection action if the ground detection sensor is triggered. The first preset time period may be set to a very short time period, such as 0.1s, 0.2s, 2s, 3s, etc.; in the embodiment of the present invention, the ground detection sensor includes an infrared transmitting tube and an infrared receiving tube which are matched in pairs, and when the cleaning robot 10 has been lifted, the distance between the infrared transmitting tube and the infrared receiving tube and the ground becomes larger, so that the signal output by the infrared receiving tube changes, and this is used as the trigger condition. The protection actions include: the middle brush stops rotating and/or the side brush stops rotating.
In an alternative embodiment, in order to determine whether or not the cleaning robot 10 has been carried, an acceleration sensor provided in the robot main body 100 may be used, and based on this, step S40 may be replaced with: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot 10 to execute a protection action. The second preset time period may be set to a shorter time period, for example, 0.1s, 0.2s, 2s, 3s, etc.; in the embodiment of the present invention, when there is an acceleration process at the moment the cleaning robot 10 is lifted, a jump occurs in the Z-axis acceleration value of the acceleration sensor.
The cleaning robot 10 mentioned above having been carried up may include: a case where the driving wheels of the cleaning robot 10 are completely lifted off the ground, a case where the distance from the bottom of the robot body 100 to the ground is large but the driving wheels are not lifted off the ground, and the like.
In the embodiment of the present invention, when it is monitored that the cleaning robot 10 is ready to be lifted or has been lifted, a prompt message indicating that the cleaning robot 10 is lifted may be sent to a handheld client, where the handheld client includes but is not limited to a smart phone, a tablet computer, a notebook computer, a desktop computer, a remote controller, and the like, and corresponding application software may be installed on the handheld client, so that a user can know from the handheld client that the cleaning robot 10 is lifted, where the cleaning robot 10 is in wireless communication connection with the handheld client.
The detection method based on the cleaning robot provided by the embodiment of the invention can be applied to an application scene of monitoring whether the cleaning robot 10 is carried or not, by acquiring effective scanning data of the ranging sensor 200, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances, and then comparing the pre-stored distances with the measuring distances in a one-to-one correspondence manner under the condition that the pre-stored angles are corresponding to the same scanning angles, wherein the pre-stored distances are smaller than or equal to the distances of the pre-stored angles pointing to the outer periphery of the robot body 100, and if the measuring distance of at least one scanning point is smaller than the pre-stored distances, controlling the cleaning robot 10 to execute emergency actions to avoid potential dangers.
Fig. 11 is a flowchart illustrating a detection method based on a cleaning robot according to another embodiment of the present invention, and as shown in fig. 11, the detection method includes steps S610, S620, S630, and S640.
Step S610 includes: and acquiring effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises the measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances.
Step S620 includes: and comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance of the pre-stored angle pointing to the outer periphery of the robot body.
Step S630 includes: and if the measured distance of at least one scanning point is less than the pre-stored distance, controlling the cleaning robot to execute emergency action.
In the embodiment of the present invention, the explanation of step S610, step S620, and step S630 may refer to the explanation of step S10, step S20, and step S30, respectively, and are not repeated herein.
Step S640 includes: and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
The case where the ground detection sensor is not triggered may be the encounter of other practical application scenarios including, but not limited to: 1) the cleaning robot 10 drills under the floor curtain causing the floor curtain to fall on the top 101 of the robot body 100; 2) objects with a slightly larger volume, such as a cup, a toy and the like, are placed on the top 101 of the robot body 100. The emergency operation of controlling the cleaning robot 10 is to control the driving wheels of the cleaning robot 10 to rotate again.
In an alternative embodiment, in order to cooperate with determining whether the cleaning robot 10 encounters other application scenarios similar to those described above, an acceleration sensor provided in the robot body 100 may be used, and based on this, step S640 is replaced by: and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot 10 to remove the emergency action.
Fig. 12 is a schematic hardware structure diagram of a cleaning robot for performing the detection method in the above embodiment according to an embodiment of the present invention. As shown in fig. 12, the cleaning robot 10 includes:
at least one processor 810; and the number of the first and second groups,
a memory 820 communicatively coupled to the at least one processor; wherein,
the memory 820 stores instructions executable by the at least one processor 810 to enable the at least one processor 810 to perform any of the detection methods described above when executed by the at least one processor 810.
The processor 810 and the memory 820 may be connected by a bus or other means.
The memory 820 is a non-volatile computer-readable storage medium and can be used for storing a non-volatile software program, a non-volatile computer-executable program, and program instructions corresponding to the detection method in the embodiment of the present invention. The processor 810 executes various functional applications of the cleaning robot 10 and data processing, i.e., implements the detection method in the above-described method embodiments, by executing nonvolatile software programs, instructions, stored in the memory 820.
The memory 820 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. A detection method based on a cleaning robot, wherein the cleaning robot comprises a robot body and a distance measuring sensor protruding out of the top of the robot body, and the method comprises the following steps:
obtaining effective scanning data of the distance measuring sensor, wherein the effective scanning data comprises measuring distances of a plurality of scanning points and scanning angles corresponding to the measuring distances;
comparing the pre-stored distance with the measured distance in a one-to-one correspondence manner under the condition that the pre-stored angle is correspondingly the same as the scanning angle, wherein the pre-stored distance is smaller than or equal to the distance from the pre-stored angle to the outer periphery of the robot body;
and if the measured distance of at least one scanning point is smaller than the pre-stored distance, controlling the cleaning robot to execute emergency action.
2. The method of claim 1, wherein the cleaning robot further comprises a ground detection sensor disposed at a bottom of the robot body, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises:
and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is triggered, controlling the cleaning robot to execute a protection action.
3. The method of claim 1, wherein the cleaning robot further comprises a ground detection sensor disposed at a bottom of the robot body, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scanning point is less than the pre-stored distance, the method further comprises:
and judging whether the ground detection sensor is triggered within a first preset time length, and if the ground detection sensor is not triggered, controlling the cleaning robot to remove the emergency action.
4. The method of claim 2 or 3, wherein the ground detection sensor comprises an infrared emitting tube and an infrared receiving tube.
5. The method of claim 1, the cleaning robot further comprising an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scan point is less than the pre-stored distance, the method further comprises:
and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if so, controlling the cleaning robot to execute a protection action.
6. The method of claim 1, the cleaning robot further comprising an acceleration sensor, wherein after the step of controlling the cleaning robot to perform an emergency action if the measured distance of at least one scan point is less than the pre-stored distance, the method further comprises:
and judging whether the z-axis acceleration value of the acceleration sensor along the vertical horizontal direction jumps within a second preset time length, and if not, controlling the cleaning robot to remove the emergency action.
7. The method of any of claims 1-3, 5, 6, wherein the controlling the cleaning robot to perform an emergency action comprises: and controlling a driving wheel of the cleaning robot to stop rotating.
8. The method of claim 2 or 5, wherein the controlling the cleaning robot to perform a protective action comprises: and controlling the middle broom of the cleaning robot to stop rotating, and/or controlling the side brush of the cleaning robot to stop rotating.
9. The method according to claim 2 or 5, characterized in that the method further comprises:
and sending prompt information representing that the cleaning robot is lifted to a handheld client so that a user can know that the cleaning robot is lifted from the handheld client, wherein the cleaning robot is in wireless communication connection with the handheld client.
10. A cleaning robot, characterized by comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of any one of claims 1-9.
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