CN108113596A - The dropproof method and device of Floor-sweeping device - Google Patents
The dropproof method and device of Floor-sweeping device Download PDFInfo
- Publication number
- CN108113596A CN108113596A CN201711338303.4A CN201711338303A CN108113596A CN 108113596 A CN108113596 A CN 108113596A CN 201711338303 A CN201711338303 A CN 201711338303A CN 108113596 A CN108113596 A CN 108113596A
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- Prior art keywords
- floor
- sweeping device
- sensor
- controlled
- angle
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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
- A47L11/40—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
-
- 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
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
Abstract
An embodiment of the present invention provides a kind of dropproof method of Floor-sweeping device, the bottom of the Floor-sweeping device is provided with the sensor of predetermined number, and the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, including：During Floor-sweeping device works, when definite first sensor detects drop signal, determine the corresponding Floor-sweeping device rotating manner of first sensor, then according to Floor-sweeping device rotating manner Floor-sweeping device is controlled to rotate, until two wheels of Floor-sweeping device are parallel with groundplane edge, then Floor-sweeping device is controlled to work along the direction parallel with groundplane edge.An embodiment of the present invention provides a kind of dropproof method and device of Floor-sweeping device, suitable for preventing Floor-sweeping device from falling from groundplane edge.
Description
Technical field
The present invention relates to field of computer technology, and specifically, the present invention relates to a kind of dropproof methods of Floor-sweeping device
And device.
Background technology
With the development of society and the progress of science and technology, intellectual technology develops therewith, and intelligent floor-sweeping device comes into being, and uses
Family begins to use intelligent floor-sweeping device sanitation and hygiene to replace artificial sanitation and hygiene, and wherein intelligent floor-sweeping device by moving on the ground
It is dynamic, with sanitation and hygiene.
However existing intelligent floor-sweeping device may fall during sweeping the floor from eminence, and the intelligent floor-sweeping is caused to fill
The damage put, and in the intelligent floor-sweeping device after eminence is fallen, it may be necessary to user weighs intelligent floor-sweeping device manually
New playback, the intelligent floor-sweeping device can just work on, so as to cause the less efficient of intelligent floor-sweeping device work, and then
The experience for causing user is poor.
The content of the invention
To overcome above-mentioned technical problem or solving above-mentioned technical problem at least partly, spy proposes following technical scheme：
The embodiment of the present invention provides a kind of dropproof method of Floor-sweeping device, Floor-sweeping device according to the first aspect
Bottom be provided with the sensor of predetermined number, the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, including：
During Floor-sweeping device works, when definite first sensor detects drop signal, the first sensing is determined
The corresponding Floor-sweeping device rotating manner of device；
According to Floor-sweeping device rotating manner Floor-sweeping device is controlled to rotate, until two of Floor-sweeping device wheels are and groundplane edge
It is parallel；
Floor-sweeping device is controlled to work along the direction parallel with groundplane edge.
Specifically, according to Floor-sweeping device rotating manner Floor-sweeping device is controlled to rotate, until two of Floor-sweeping device wheels with
The parallel step of groundplane edge, including：
Floor-sweeping device is controlled to rotate, until second sensor detects drop signal, first sensor and second sensor
Position is adjacent；
Floor-sweeping device is determined using the midpoint of the wheel adjacent with second sensor position to pinpoint first angle to be rotated, and
According to first angle Floor-sweeping device is controlled to rotate, so that the line and groundplane edge in the center of circle of second sensor and Floor-sweeping device
Vertically；
Control Floor-sweeping device according to default second angle two are taken turns using its center of circle as Fixed-point Motion of A, so that two wheels
It is parallel with groundplane edge.
Specifically, it is determined that the mode of first angle includes：
It determines third angle, and according to the angle between third angle and first sensor and second sensor, determines
First angle；
For third angle to detect ground just using first sensor as starting point, second sensor detects just falls letter
Number angle rotated between terminal.
Specifically, Floor-sweeping device is controlled to rotate, until the step of second sensor detects drop signal, including：
Floor-sweeping device is controlled using its center of circle as Fixed-point Motion of A, until detecting drop signal with second sensor.
Specifically, Floor-sweeping device is controlled using its center of circle as Fixed-point Motion of A, until detecting drop signal with second sensor
The step of, including：
Floor-sweeping device is controlled to be rotated using its center of circle as fixed point along preset direction, falls letter until being detected with second sensor
Number；
Wherein, the step of according to first angle Floor-sweeping device being controlled to rotate, including：
According to first angle Floor-sweeping device is controlled to be rotated along preset direction.
Specifically, it is determined that sensor detects the mode of drop signal, including：
When any sensor detects that the height on any sensor and ground is more than predetermined threshold value, determine to detect and fall
Signal.
Optionally, before the step of Floor-sweeping device being controlled to rotate, further include：
Floor-sweeping device is controlled to carry out stabilization processing.
The embodiment of the present invention additionally provides a kind of dropproof device of Floor-sweeping device, dress of sweeping the floor according to the second aspect
The bottom put is provided with the sensor of predetermined number, and the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, including：
Determining module, during Floor-sweeping device works, for when definite first sensor detects drop signal,
Determine the corresponding Floor-sweeping device rotating manner of first sensor；
Control module, for according to Floor-sweeping device rotating manner Floor-sweeping device being controlled to rotate, until two of Floor-sweeping device
Wheel is parallel with groundplane edge；
Floor-sweeping device is controlled to work along the direction parallel with groundplane edge.
Specifically, control module is rotated specifically for control Floor-sweeping device, until second sensor detects and falls letter
Number, first sensor is adjacent with second sensor position；
Determining module, specifically for determining that Floor-sweeping device is treated by fixed point of the midpoint of the wheel adjacent with second sensor position
The first angle of rotation, and according to first angle Floor-sweeping device is controlled to rotate, so that the circle of second sensor and Floor-sweeping device
The line of the heart is vertical with groundplane edge；
Control module, specifically for controlling two of Floor-sweeping device to take turns using its center of circle as fixed point according to default second angle
It rotates, so that two wheels are parallel with groundplane edge.
Specifically, it is determined that module, specifically for determining third angle, and according to third angle and first sensor and the
Angle between two sensors, determines first angle；
For third angle to detect ground just using first sensor as starting point, second sensor detects just falls letter
Number angle rotated between terminal.
Specifically, control module, specifically for controlling Floor-sweeping device using its center of circle as Fixed-point Motion of A, until being sensed with second
Device detects drop signal.
Specifically, control module, specifically for Floor-sweeping device is controlled to be rotated using its center of circle as fixed point along preset direction, until
Drop signal is detected with second sensor；
Control module is specifically additionally operable to according to first angle Floor-sweeping device be controlled to rotate along preset direction.
Specifically, it is determined that module, is specifically additionally operable to detect the height on any sensor and ground when any sensor
More than predetermined threshold value, determine to detect drop signal.
Further, control module is additionally operable to control Floor-sweeping device and carries out stabilization processing.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, computer can according to the 3rd aspect
It reads to be stored with computer program on storage medium, which realizes the Floor-sweeping device of above-mentioned the first aspect when being executed by processor
Dropproof method.
In terms of the embodiment of the present invention is according to the 4th, a kind of computing device is additionally provided, including：Processor, memory,
Communication interface and communication bus, processor, memory and communication interface complete mutual communication by communication bus；
For memory for storing an at least executable instruction, executable instruction makes processor perform as described in the first aspect
The dropproof corresponding operation of method of Floor-sweeping device.
The present invention provides a kind of dropproof method and devices of Floor-sweeping device, compared with prior art, the Floor-sweeping device
Bottom be provided with the sensor of predetermined number, the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, in Floor-sweeping device work
During work, when definite first sensor detects drop signal, determine that the corresponding Floor-sweeping device of first sensor rotates
Then mode controls Floor-sweeping device to rotate according to Floor-sweeping device rotating manner, until two of Floor-sweeping device wheels with ground side
Edge is parallel, then Floor-sweeping device is controlled to work along the direction parallel with groundplane edge, i.e., the present invention works as any biography of Floor-sweeping device
After sensor detects drop signal, according to default rotating manner, the Floor-sweeping device is controlled to be rotated, until the two of Floor-sweeping device
After a wheel is parallel with groundplane edge, work on, therefore the Floor-sweeping device can automatically detect drop signal, and can keep away
Exempt from the Floor-sweeping device at groundplane edge to fall, so as to improve the efficiency of intelligent floor-sweeping device work, and then can carry
Rise the experience of user.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the Floor-sweeping device bottom overlooking the structure diagram of the embodiment of the present invention；
Fig. 2 is the dropproof method flow diagram of the Floor-sweeping device of the embodiment of the present invention；
Fig. 3 is the wheel of the Floor-sweeping device of the embodiment of the present invention schematic top plan view parallel with groundplane edge；
Fig. 4 is that the Floor-sweeping device center of circle of the embodiment of the present invention vertical view vertical with groundplane edge with right sensor line is shown
It is intended to；
Fig. 5 is that the Floor-sweeping device center of circle of the embodiment of the present invention vertical view vertical with groundplane edge with left sensor line is shown
It is intended to；
Fig. 6 is the dropproof apparatus structure schematic diagram of the Floor-sweeping device of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
Diction " comprising " refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrange
Take leave whole or any cell and all combination of the "and/or" including one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology), there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions as here, idealization or the meaning of overly formal otherwise will not be used
To explain.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " both include wireless communication
The equipment of number receiver, only possesses the equipment of the wireless signal receiver of non-emissive ability, and including receiving and transmitting hardware
Equipment, have on bidirectional communication link, can carry out two-way communication reception and emit hardware equipment.This equipment
It can include：Honeycomb or other communication equipments, show with single line display or multi-line display or without multi-line
The honeycomb of device or other communication equipments；PCS (Personal Communications Service, PCS Personal Communications System), can
With combine voice, data processing, fax and/or its communication ability；PDA (Personal Digital Assistant, it is personal
Digital assistants), radio frequency receiver, pager, the Internet/intranet access, web browser, notepad, day can be included
It goes through and/or GPS (Global Positioning System, global positioning system) receiver；Conventional laptop and/or palm
Type computer or other equipment, have and/or the conventional laptop including radio frequency receiver and/or palmtop computer or its
His equipment." terminal " used herein above, " terminal device " they can be portable, can transport, mounted on the vehicles (aviation,
Sea-freight and/or land) in or be suitable for and/or be configured to, in local runtime and/or with distribution form, operate in the earth
And/or any other position operation in space." terminal " used herein above, " terminal device " can also be communication terminal, on
Network termination, music/video playback terminal, such as can be PDA, MID (Mobile Internet Device, mobile Internet
Equipment) and/or with music/video playing function mobile phone or the equipment such as smart television, set-top box.
Fig. 1 is the overlooking structure figure of Floor-sweeping device, and the Floor-sweeping device in the embodiment of the present invention is circular apparatus, the dress of sweeping the floor
The bottom put is provided with the sensor of predetermined number, such as can be 3 sensors, with Floor-sweeping device in the embodiment of the present invention
Bottom is provided with 3 sensor introductions, which is respectively first sensor (being located at intermediate sensor) 11, second
Sensor and 3rd sensor, wherein the angle between each sensor is predetermined angle (for example, the predetermined angle is
60 °), symmetrical two wheels in bottom both ends of the Floor-sweeping device, are respectively revolver and right wheel.
Embodiment one
An embodiment of the present invention provides a kind of dropproof method of Floor-sweeping device, the bottom of Floor-sweeping device is provided with default
Several sensors, the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, as shown in Fig. 2, including：
Step 201, during Floor-sweeping device works, it is definite when definite first sensor detects drop signal
The corresponding Floor-sweeping device rotating manner of first sensor.
For the embodiment of the present invention, the corresponding Floor-sweeping device rotating manner of different sensors differs, wherein, the present invention
First sensor in embodiment refers in particular to the sensor positioned at centre, and specific location is as shown in Figure 1.
Specifically, it is determined that sensor detects the mode of drop signal, including：When any sensor detects any biography
The height on sensor and ground is more than predetermined threshold value, determines to detect drop signal.
Sensor in the embodiment of the present invention can include：Ultrasonic distance-measuring sensor, laser range sensor, infrared ray
Distance measuring sensor and 24GHZ radar sensors.It does not limit in embodiments of the present invention.
For the embodiment of the present invention, predetermined threshold value can also be set by user setting by Floor-sweeping device.In the present invention
It is not limited in embodiment.
For example, predetermined threshold value can be 30 centimetres (cm), when sensor detect the sensor distance ground be more than 30cm,
Then determine that the sensor detects drop signal.
Step 202 controls Floor-sweeping device to rotate according to Floor-sweeping device rotating manner, until two of Floor-sweeping device wheels with
Groundplane edge is parallel.
For the embodiment of the present invention, since the Floor-sweeping device is circular apparatus, by control the Floor-sweeping device using the center of circle as
It pinpoints or using the center of wheel as fixed point, is rotated, until two wheels of Floor-sweeping device are parallel with groundplane edge, such as Fig. 3
It is shown.
Step 203, control Floor-sweeping device work along the direction parallel with groundplane edge.
An embodiment of the present invention provides a kind of dropproof methods of Floor-sweeping device, and compared with prior art, the present invention is implemented
The bottom of the Floor-sweeping device is provided with the sensor of predetermined number in example, there are two the bottom both ends of Floor-sweeping device are symmetrical arranged
Wheel during Floor-sweeping device works, when definite first sensor detects drop signal, determines that first sensor corresponds to
Floor-sweeping device rotating manner, then according to Floor-sweeping device rotating manner control Floor-sweeping device rotate, until Floor-sweeping device two
A wheel is parallel with groundplane edge, then Floor-sweeping device is controlled to work along the direction parallel with groundplane edge, i.e., the present invention works as and sweeps
After any sensor of ground device detects drop signal, according to default rotating manner, the Floor-sweeping device is controlled to be rotated, directly
To two of Floor-sweeping device wheels it is parallel with groundplane edge after, work on, therefore the Floor-sweeping device can be automatically detected and fallen
Falling signal, and the Floor-sweeping device can be avoided to fall at groundplane edge, so as to improve intelligent floor-sweeping device work
Efficiency, and then the experience of user can be promoted.
Embodiment two
The alternatively possible realization method of the embodiment of the present invention on the basis of shown in embodiment one, further includes implementation
Operation shown in example two, wherein,
Step 202 includes step 2021 (being not marked in figure), step 2022 (being not marked in figure) and step 2023 (in figure
Do not mark), wherein,
Step 2021, control Floor-sweeping device rotate, until second sensor detects drop signal.
Wherein, first sensor is adjacent with second sensor position.
Step 2021 includes：Floor-sweeping device is controlled using its center of circle as Fixed-point Motion of A, is fallen until being detected with second sensor
Falling signal.
Specifically, Floor-sweeping device is controlled using its center of circle as Fixed-point Motion of A, until detecting drop signal with second sensor
The step of, including：Floor-sweeping device is controlled to be rotated using its center of circle as fixed point along preset direction, is fallen until being detected with second sensor
Falling signal.
For the embodiment of the present invention, the Floor-sweeping device is controlled using its center of circle as fixed point, and in the counterclockwise direction, until second
Sensor (being located at the sensor on the left of first sensor device) detects drop signal；Alternatively, the Floor-sweeping device is controlled to justify with it
The heart is fixed point, and is rotated in the clockwise direction, until second sensor (being located at the sensor on the left of first sensor device) detection
To drop signal.
Step 2022 determines Floor-sweeping device using the midpoint of the wheel adjacent with second sensor position to pinpoint to be rotated
One angle, and according to first angle Floor-sweeping device is controlled to rotate, so that the line in the center of circle of second sensor and Floor-sweeping device
It is vertical with groundplane edge.
Wherein, the step of according to first angle Floor-sweeping device being controlled to rotate, including：Floor-sweeping device is controlled according to first angle
It is rotated along preset direction.
For the embodiment of the present invention, after the sensor on the left of first sensor device detects drop signal, with
The center of revolver for fixed point rotate first angle in the counterclockwise direction so that the sensor on the left of first sensor device with
The line in the center of circle of Floor-sweeping device is vertical with groundplane edge, as shown in Figure 4.
For the embodiment of the present invention, after the sensor on the right side of first sensor device detects drop signal, with
The center of right wheel for fixed point be rotated in the clockwise direction first angle so that the sensor on the right side of first sensor device with
Groundplane edge is vertical, as shown in Figure 5.
Specifically, it is determined that the mode of first angle includes：It determines third angle, and is sensed according to third angle and first
Angle between device and second sensor, determines first angle.
Wherein, to detect ground just using first sensor as starting point, second sensor detects third angle just
The angle that drop signal rotates between terminal.
Wherein, if third angle is θ, first angle δ, the angle between first sensor and second sensor is γ,
Then
For example, in embodiments of the present invention, the angle between first sensor and second sensor can be 60 °, i.e. γ
=60 °, then
For the embodiment of the present invention, if the Floor-sweeping device rotates counterclockwise, third angle is lucky with first sensor
Ground is detected as starting point, the sensor on the left of first sensor detects drop signal between terminal just for the first time
The angle of rotation；If the Floor-sweeping device rotates clockwise, third angle for detected just using first sensor ground for
Point, the sensor on the right side of first sensor detect the angle that drop signal rotates between terminal just for the first time.
For the embodiment of the present invention, first sensor detects that ground is that the first sensor falls letter by detecting just
Number rotation is to detecting ground.
Step 2023 controls two of Floor-sweeping device to take turns using its center of circle as Fixed-point Motion of A according to default second angle, with
So that two wheels are parallel with groundplane edge.
For the embodiment of the present invention, if the angle between each sensor is 60 °, default second angle is 30 °.
In the embodiment of the present invention, if second sensor is the sensor on the left of first sensor, two of Floor-sweeping device are controlled
Wheel rotates in the counterclockwise direction using its center of circle as fixed point；If second sensor is the sensor on the right side of first sensor,
It then controls two of Floor-sweeping device to take turns using its center of circle as fixed point, and is rotated in the clockwise direction.
Embodiment three
The alternatively possible realization method of the embodiment of the present invention, on the basis shown in embodiment one or embodiment three
On, the operation shown in embodiment three is further included, wherein,
Before the step of Floor-sweeping device is controlled to rotate, further include：Floor-sweeping device is controlled to carry out stabilization processing.
For the embodiment of the present invention, after second sensor detects drop signal, control Floor-sweeping device carries out stabilization
Processing and after stabilization processing is carried out, controls Floor-sweeping device rotation, as second sensor detect drop signal it
Afterwards, the Floor-sweeping device is controlled to continue to move to, and during mobile first pre-determined distance, which detects always falls
Signal, and the second pre-determined distance is moved toward with the opposite direction of above-mentioned moving direction, and after this, the Floor-sweeping device is controlled to turn
It is dynamic.
For the embodiment of the present invention, the first pre-determined distance is more than or equal to the second pre-determined distance, the first pre-determined distance and the
Two pre-determined distances can also be set by user setting by Floor-sweeping device.It does not limit in embodiments of the present invention.
For the embodiment of the present invention, by the way that Floor-sweeping device is controlled to carry out stabilization processing, the second biography can be further determined
Whether sensor detects drop signal, and second sensor is avoided to judge by accident, so as to promote the dropproof accuracy of Floor-sweeping device.
An embodiment of the present invention provides a kind of dropproof device of Floor-sweeping device, the bottom of Floor-sweeping device is provided with default
Several sensors, the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, as shown in fig. 6, including：Determining module 61, control
Module 62, wherein,
Determining module 61, during Floor-sweeping device works, for detecting drop signal when definite first sensor
When, determine the corresponding Floor-sweeping device rotating manner of first sensor.
Control module 62, for according to Floor-sweeping device rotating manner Floor-sweeping device being controlled to rotate, until the two of Floor-sweeping device
A wheel is parallel with groundplane edge.
Control module 62 is additionally operable to control Floor-sweeping device and works along the direction parallel with groundplane edge.
Specifically, control module 62 are rotated specifically for control Floor-sweeping device, until second sensor detects and falls letter
Number, first sensor is adjacent with second sensor position.
Determining module 62, specifically for determining Floor-sweeping device using the midpoint of the wheel adjacent with second sensor position as fixed point
First angle to be rotated, and according to first angle Floor-sweeping device is controlled to rotate, so that second sensor and Floor-sweeping device
The line in the center of circle is vertical with groundplane edge.
Control module 62 is fixed specifically for controlling two of Floor-sweeping device to take turns using its center of circle according to default second angle
Point rotates, so that two wheels are parallel with groundplane edge.
Specifically, it is determined that module 61, specifically for determining third angle, and according to third angle and first sensor with
Angle between second sensor, determines first angle.
Wherein, to detect ground just using first sensor as starting point, second sensor detects third angle just
The angle that drop signal rotates between terminal.
Specifically, control module 62, specifically for controlling Floor-sweeping device using its center of circle as Fixed-point Motion of A, until being passed with second
Sensor detects drop signal.
Specifically, control module 62, specifically for Floor-sweeping device is controlled to be rotated using its center of circle as fixed point along preset direction, directly
Extremely drop signal is detected with second sensor.
Control module 62 is specifically additionally operable to according to first angle Floor-sweeping device be controlled to rotate along preset direction.
Specifically, it is determined that module 61, is specifically additionally operable to detect any sensor and the height on ground when any sensor
Degree is more than predetermined threshold value, determines to detect drop signal.
Control module 62 is additionally operable to control Floor-sweeping device and carries out stabilization processing.
An embodiment of the present invention provides a kind of dropproof devices of Floor-sweeping device, and compared with prior art, the present invention is implemented
The bottom of the Floor-sweeping device is provided with the sensor of predetermined number in example, there are two the bottom both ends of Floor-sweeping device are symmetrical arranged
Wheel during Floor-sweeping device works, when definite first sensor detects drop signal, determines that first sensor corresponds to
Floor-sweeping device rotating manner, then according to Floor-sweeping device rotating manner control Floor-sweeping device rotate, until Floor-sweeping device two
A wheel is parallel with groundplane edge, then Floor-sweeping device is controlled to work along the direction parallel with groundplane edge, i.e., the present invention works as and sweeps
After any sensor of ground device detects drop signal, according to default rotating manner, the Floor-sweeping device is controlled to be rotated, directly
To two of Floor-sweeping device wheels it is parallel with groundplane edge after, work on, therefore the Floor-sweeping device can be automatically detected and fallen
Falling signal, and the Floor-sweeping device can be avoided to fall at groundplane edge, so as to improve intelligent floor-sweeping device work
Efficiency, and then the experience of user can be promoted.
The dropproof device of Floor-sweeping device provided in an embodiment of the present invention is suitable for above method embodiment, no longer superfluous herein
It states.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, is stored on computer readable storage medium
Computer program realizes Floor-sweeping device dropproof method when the program is executed by processor.
An embodiment of the present invention provides a kind of computer readable storage mediums, compared with prior art, the embodiment of the present invention
In the bottom of the Floor-sweeping device be provided with the sensor of predetermined number, the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel,
During Floor-sweeping device works, when definite first sensor detects drop signal, determine that first sensor is corresponding
Then Floor-sweeping device rotating manner controls Floor-sweeping device to rotate according to Floor-sweeping device rotating manner, until two of Floor-sweeping device
Wheel is parallel with groundplane edge, then Floor-sweeping device is controlled to work along the direction parallel with groundplane edge, i.e., the present invention works as and sweeps the floor
After any sensor of device detects drop signal, according to default rotating manner, the Floor-sweeping device is controlled to be rotated, until
After two of Floor-sweeping device wheels are parallel with groundplane edge, work on, therefore the Floor-sweeping device can be automatically detected and fallen
Signal, and the Floor-sweeping device can be avoided to fall at groundplane edge, so as to improve the effect of intelligent floor-sweeping device work
Rate, and then the experience of user can be promoted.
Computer readable storage medium provided in an embodiment of the present invention is suitable for above method embodiment, no longer superfluous herein
It states.
The embodiment of the present invention additionally provides a kind of computing device, including：Processor, memory, communication interface and communication are total
Line, processor, memory and communication interface complete mutual communication by communication bus；
For memory for storing an at least executable instruction, it is dropproof that executable instruction makes processor perform Floor-sweeping device
The corresponding operation of method.
An embodiment of the present invention provides a kind of computing device, compared with prior art, this in the embodiment of the present invention is swept the floor dress
The bottom put is provided with the sensor of predetermined number, and the bottom both ends of Floor-sweeping device are symmetrical arranged there are two wheel, in Floor-sweeping device
During work, when definite first sensor detects drop signal, determine that the corresponding Floor-sweeping device of first sensor turns
Then flowing mode controls Floor-sweeping device to rotate according to Floor-sweeping device rotating manner, until two of Floor-sweeping device wheels are and ground
Then sides aligned parallel controls Floor-sweeping device to work along the direction parallel with groundplane edge, i.e., the present invention works as any of Floor-sweeping device
After sensor detects drop signal, according to default rotating manner, the Floor-sweeping device is controlled to be rotated, until Floor-sweeping device
After two wheels are parallel with groundplane edge, work on, therefore the Floor-sweeping device can automatically detect drop signal, and can
The Floor-sweeping device is avoided to fall at groundplane edge, so as to improve the efficiency of intelligent floor-sweeping device work, and then can be with
Promote the experience of user.
Computing device provided in an embodiment of the present invention is suitable for above method embodiment, and details are not described herein.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to perform in operation described herein
One or more equipment.These equipment can specially be designed and manufactured or can also include general for required purpose
Known device in computer.These equipment have the computer program being stored in it, these computer programs are selectively
Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in
It e-command and is coupled to respectively in any kind of medium of bus suitable for storage, the computer-readable medium is included but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card
Piece.It is, readable medium includes by equipment (for example, computer) so as to any Jie for the form storage or transmission information read
Matter.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is led
Field technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, so as to pass through the processing of computer or other programmable data processing methods
Device performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations crossed by discussion in the present invention, method, flow
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, it is each with having been crossed by discussion in the present invention
Other steps, measures, and schemes in kind operation, method, flow may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, it is of the prior art have with disclosed in the present invention various operations, method, the step in flow, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of dropproof method of Floor-sweeping device, which is characterized in that the bottom of the Floor-sweeping device is provided with predetermined number
Sensor, the bottom both ends of the Floor-sweeping device are symmetrical arranged there are two wheel, including：
During Floor-sweeping device works, when definite first sensor detects drop signal, first sensing is determined
The corresponding Floor-sweeping device rotating manner of device；
According to the Floor-sweeping device rotating manner Floor-sweeping device is controlled to rotate, until two wheels of the Floor-sweeping device with
The groundplane edge is parallel；
The Floor-sweeping device is controlled to work along the direction parallel with the groundplane edge.
2. it according to the method described in claim 1, it is characterized in that, sweeps the floor according to Floor-sweeping device rotating manner control
Device rotates, until the step that two wheels of the Floor-sweeping device are parallel with the groundplane edge, including：
The Floor-sweeping device is controlled to rotate, until second sensor detects drop signal, the first sensor and described the
Two sensing stations are adjacent；
Determine the Floor-sweeping device using the midpoint of the wheel adjacent with the second sensor position to pinpoint to be rotated first jiao
Degree, and according to the first angle Floor-sweeping device is controlled to rotate, so that the second sensor and the Floor-sweeping device
The center of circle line it is vertical with groundplane edge；
Control the Floor-sweeping device according to default second angle two are taken turns using its center of circle as Fixed-point Motion of A, so that described two
A wheel is parallel with the groundplane edge.
3. method according to claim 1 or 2, which is characterized in that determining the mode of the first angle includes：
It determines third angle, and according to the angle between third angle and first sensor and the second sensor, determines
The first angle；
The third angle is to detect ground just as starting point using the first sensor, and the second sensor detects just
The angle rotated to drop signal between terminal.
4. according to the method in claim 2 or 3, which is characterized in that the Floor-sweeping device is controlled to rotate, until the second sensing
Device detects the step of drop signal, including：
The Floor-sweeping device is controlled using its center of circle as Fixed-point Motion of A, until detecting drop signal with second sensor.
5. according to the method described in claim 4, it is characterized in that, control the Floor-sweeping device using its center of circle as Fixed-point Motion of A,
Until the step of detecting drop signal with second sensor, including：
The Floor-sweeping device is controlled to be rotated using its center of circle as fixed point along preset direction, falls letter until being detected with second sensor
Number；
Wherein, the step of according to the first angle Floor-sweeping device being controlled to rotate, including：
According to the first angle Floor-sweeping device is controlled to be rotated along the preset direction.
6. according to claim 1-5 any one of them methods, which is characterized in that determine that sensor detects the side of drop signal
Formula, including：
When any sensor detects that the height on any sensor and ground is more than the predetermined threshold value, determine to detect and fall
Signal.
7. according to claim 1-6 any one of them methods, which is characterized in that the step that the control Floor-sweeping device rotates
Before rapid, further include：
The Floor-sweeping device is controlled to carry out stabilization processing.
8. the dropproof device of a kind of Floor-sweeping device, which is characterized in that the bottom of the Floor-sweeping device is provided with predetermined number
Sensor, the bottom both ends of the Floor-sweeping device are symmetrical arranged there are two wheel, including：
Determining module, during Floor-sweeping device works, for when definite first sensor detects drop signal, determining
The corresponding Floor-sweeping device rotating manner of the first sensor；
Control module, for according to the Floor-sweeping device rotating manner Floor-sweeping device being controlled to rotate, until the dress of sweeping the floor
Two wheels put are parallel with the groundplane edge；
The control module is additionally operable to that the Floor-sweeping device is controlled to work along the direction parallel with the groundplane edge.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes claim 1-7 any one of them methods when the program is executed by processor.
10. a kind of computing device, including：Processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
For the memory for storing an at least executable instruction, the executable instruction makes the processor perform right such as will
The corresponding operation of method for asking the Floor-sweeping device any one of 1-7 dropproof.
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| CN201711338303.4A CN108113596B (en) | 2017-12-14 | 2017-12-14 | Anti-falling method and device for sweeping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338303.4A CN108113596B (en) | 2017-12-14 | 2017-12-14 | Anti-falling method and device for sweeping device |
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| CN108113596B CN108113596B (en) | 2021-06-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568309A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Anti-falling method and device, sweeping equipment and computer readable storage medium |
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| KR20160097051A (en) * | 2015-02-06 | 2016-08-17 | 삼성전자주식회사 | Apparatus for returning of robot and returning method thereof |
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| CN108113596B (en) | 2021-06-18 |
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