CN108113596B - Anti-falling method and device for sweeping device - Google Patents
Anti-falling method and device for sweeping device Download PDFInfo
- Publication number
- CN108113596B CN108113596B CN201711338303.4A CN201711338303A CN108113596B CN 108113596 B CN108113596 B CN 108113596B CN 201711338303 A CN201711338303 A CN 201711338303A CN 108113596 B CN108113596 B CN 108113596B
- Authority
- CN
- China
- Prior art keywords
- sensor
- sweeping device
- sweeping
- angle
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—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
The embodiment of the invention provides a method for preventing a floor sweeping device from falling, wherein the bottom of the floor sweeping device is provided with a preset number of sensors, and two ends of the bottom of the floor sweeping device are symmetrically provided with two wheels, and the method comprises the following steps: in the working process of the sweeping device, when the first sensor is determined to detect the falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground. The embodiment of the invention provides a method and a device for preventing a sweeping device from falling off, which are suitable for preventing the sweeping device from falling off from the edge of the ground.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for preventing a floor sweeping device from falling.
Background
Along with the development of the society and the progress of science and technology, the intelligent technology develops thereupon, and the device of sweeping the floor of intelligence comes soon, and the user begins to use the device sanitation and hygiene of sweeping the floor of intelligence to replace artifical sanitation and hygiene, and wherein the device of sweeping the floor of intelligence is through moving on ground to sanitation and hygiene.
However, the existing intelligent sweeping device may fall from a high place in the sweeping process, so that the intelligent sweeping device is damaged, and after the intelligent sweeping device falls from the high place, the user may be required to manually reset the intelligent sweeping device again, so that the intelligent sweeping device can continue to work, the efficiency of the intelligent sweeping device is low, and the user experience is poor.
Disclosure of Invention
In order to overcome the above technical problems or at least partially solve the above technical problems, the following technical solutions are proposed:
according to a first aspect, an embodiment of the present invention provides a method for preventing a floor sweeping device from falling, where a preset number of sensors are arranged at a bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, including:
in the working process of the sweeping device, when the first sensor is determined to detect the falling signal, determining the rotation mode of the sweeping device corresponding to the first sensor;
controlling the sweeping device to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
the sweeping device is controlled to work along the direction parallel to the edge of the ground.
Specifically, according to the device rotation mode control of sweeping the floor and sweeping the rotation of device, two wheels until the device of sweeping the floor all with the parallel step in ground edge include:
controlling the sweeping device to rotate until the second sensor detects a falling signal, wherein the first sensor is adjacent to the second sensor in position;
determining a first angle to be rotated by the sweeping device by taking the midpoint of a wheel adjacent to the position of the second sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle so that a connecting line of the second sensor and the circle center of the sweeping device is vertical to the edge of the ground;
and controlling the two wheels of the sweeping device to rotate by taking the circle centers as fixed points according to a preset second angle so that the two wheels are parallel to the edge of the ground.
Specifically, the manner of determining the first angle includes:
determining a third angle, and determining a first angle according to the third angle and an included angle between the first sensor and the second sensor;
the third angle is the angle of rotation between the starting point when the first sensor just detects the ground and the end point when the second sensor just detects the falling signal.
Specifically, the step of controlling the rotation of the sweeping device until the second sensor detects a falling signal comprises:
and controlling the sweeping device to rotate by taking the circle center as a fixed point until the second sensor detects a falling signal.
Specifically, the step of controlling the sweeping device to rotate with the circle center as a fixed point until the second sensor detects a falling signal comprises the following steps:
the sweeping device is controlled to rotate along a preset direction by taking the circle center as a fixed point until a falling signal is detected by the second sensor;
wherein, according to the pivoted step of first angle control device of sweeping the floor, include:
and controlling the sweeping device to rotate along a preset direction according to the first angle.
Specifically, determining the manner in which the sensor detects the fall signal includes:
and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
Optionally, before the step of controlling the rotation of the sweeping device, the method further includes:
and controlling the sweeping device to perform anti-shake treatment.
According to the second aspect, an embodiment of the present invention further provides a device for preventing a floor sweeping device from falling, where a preset number of sensors are arranged at the bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, including:
the determining module is used for determining a rotation mode of the sweeping device corresponding to the first sensor when the first sensor is determined to detect the falling signal in the working process of the sweeping device;
the control module is used for controlling the sweeping device to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
the sweeping device is controlled to work along the direction parallel to the edge of the ground.
The control module is specifically used for controlling the sweeping device to rotate until the second sensor detects a falling signal, and the first sensor is adjacent to the second sensor;
the determining module is specifically used for determining a first angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the second sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connecting line of the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground;
and the control module is specifically used for controlling the two wheels of the sweeping device to rotate by taking the circle centers as fixed points according to a preset second angle so that the two wheels are parallel to the edge of the ground.
The determining module is specifically configured to determine a third angle, and determine a first angle according to the third angle and an included angle between the first sensor and the second sensor;
the third angle is the angle of rotation between the starting point when the first sensor just detects the ground and the end point when the second sensor just detects the falling signal.
Specifically, the control module is specifically used for controlling the sweeping device to rotate with the circle center as a fixed point until the second sensor detects a falling signal.
The control module is specifically used for controlling the sweeping device to rotate along a preset direction by taking the circle center as a fixed point until the second sensor detects a falling signal;
the control module is specifically used for controlling the sweeping device to rotate along a preset direction according to the first angle.
Specifically, the determining module is further configured to determine that a fall signal is detected when any sensor detects that the height of any sensor from the ground is greater than a preset threshold.
Further, the control module is also used for controlling the sweeping device to perform anti-shake treatment.
According to the third aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the fall prevention method of the sweeping device of the first aspect.
Embodiments of the present invention also provide, according to a fourth aspect, a computing device, comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the method for preventing the sweeping device from falling down as described in the first aspect.
The invention provides a method and a device for preventing a sweeping device from falling off, compared with the prior art, the bottom of the sweeping device is provided with a preset number of sensors, two ends of the bottom of the sweeping device are symmetrically provided with two wheels, in the working process of the sweeping device, when the first sensor is determined to detect a falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are both parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground, namely, after any sensor of the sweeping device detects the falling signal, the sweeping device is controlled to rotate according to the preset rotating mode until the two wheels of the sweeping device are both parallel to the edge of the ground, the sweeping device continues to work, so that the sweeping device can automatically detect the falling signal, and can avoid this device of sweeping the floor to fall from ground edge to can improve the efficiency of this intelligence device work of sweeping the floor, and then can promote user's experience.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic bottom plan view of a sweeping device according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for preventing the floor sweeping device from falling down according to the embodiment of the invention;
fig. 3 is a schematic top view of the sweeping device according to the embodiment of the present invention, wherein the wheels are parallel to the edge of the floor;
fig. 4 is a schematic top view of a connecting line between the circle center of the sweeping device and the right sensor of the embodiment of the invention, which is perpendicular to the edge of the ground;
fig. 5 is a schematic top view of a connecting line between the circle center of the sweeping device and the left sensor of the embodiment of the invention, which is perpendicular to the edge of the ground;
fig. 6 is a schematic structural view of a fall-prevention device of the sweeping device according to the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As will be appreciated by those skilled in the art, a "terminal" as used herein includes both devices having a wireless signal receiver, which are devices having only a wireless signal receiver without transmit capability, and devices having receive and transmit hardware, which have devices having receive and transmit hardware capable of two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service), which may combine voice, data processing, facsimile and/or data communication capabilities; a PDA (Personal Digital Assistant), which may include a radio frequency receiver, a pager, internet/intranet access, a web browser, a notepad, a calendar and/or a GPS (Global Positioning System) receiver; a conventional laptop and/or palmtop computer or other device having and/or including a radio frequency receiver. As used herein, a "terminal" or "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or situated and/or configured to operate locally and/or in a distributed fashion at any other location(s) on earth and/or in space. As used herein, a "terminal Device" may also be a communication terminal, a web terminal, a music/video playing terminal, such as a PDA, an MID (Mobile Internet Device) and/or a Mobile phone with music/video playing function, or a smart tv, a set-top box, etc.
Fig. 1 is a top view structural diagram of a sweeping device, the sweeping device in the embodiment of the present invention is a circular device, the bottom of the sweeping device is provided with a predetermined number of sensors, for example, 3 sensors, the bottom of the sweeping device in the embodiment of the present invention is described as 3 sensors, the three sensors are a first sensor (a sensor located in the middle) 11, a second sensor, and a third sensor, respectively, an included angle between each sensor is a predetermined angle (for example, the predetermined angle is 60 °), and two symmetrical wheels at two ends of the bottom of the sweeping device are a left wheel and a right wheel, respectively.
Example one
The embodiment of the invention provides a method for preventing a floor sweeping device from falling, wherein a preset number of sensors are arranged at the bottom of the floor sweeping device, and two wheels are symmetrically arranged at two ends of the bottom of the floor sweeping device, as shown in fig. 2, the method comprises the following steps:
For the embodiment of the invention, the rotation modes of the sweeping devices corresponding to different sensors are different, wherein the first sensor in the embodiment of the invention refers to a sensor positioned in the middle, and the specific position is as shown in fig. 1.
Specifically, determining the manner in which the sensor detects the fall signal includes: and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
The sensor in the embodiment of the invention may include: ultrasonic ranging sensors, laser ranging sensors, infrared ranging sensors, and 24GHZ radar sensors. The present invention is not limited to the embodiments.
For the embodiment of the invention, the preset threshold value can be set by a user or a sweeping device. The present invention is not limited to the embodiments.
For example, the preset threshold may be 30 centimeters (cm), and when the sensor detects that the sensor is more than 30cm from the ground, it is determined that the sensor detects a fall signal.
For the embodiment of the invention, the sweeping device is a circular device, and the sweeping device is controlled to rotate by taking the circle center as a fixed point or taking the center of the wheel as a fixed point until the two wheels of the sweeping device are both parallel to the edge of the ground, as shown in fig. 3.
And step 203, controlling the sweeping device to work along the direction parallel to the edge of the ground.
The embodiment of the invention provides a method for preventing a sweeping device from falling, compared with the prior art, the sweeping device provided by the embodiment of the invention is provided with a preset number of sensors at the bottom, two wheels are symmetrically arranged at two ends of the bottom of the sweeping device, in the working process of the sweeping device, when the first sensor is determined to detect a falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground, namely, after any sensor of the sweeping device detects the falling signal, the sweeping device is controlled to rotate according to the preset rotating mode until the two wheels of the sweeping device are parallel to the edge of the ground, the sweeping device continues to work, so that the sweeping device can automatically detect the falling signal, and can avoid this device of sweeping the floor to fall from ground edge to can improve the efficiency of this intelligence device work of sweeping the floor, and then can promote user's experience.
Example two
Another possible implementation manner of the embodiment of the present invention further includes, on the basis of the operation shown in the first embodiment, the operation shown in the second embodiment, wherein,
step 202 includes a step 2021 (not shown), a step 2022 (not shown), and a step 2023 (not shown), wherein,
step 2021, controlling the sweeping device to rotate until the second sensor detects a falling signal.
Wherein the first sensor is located adjacent to the second sensor.
Step 2021 includes: and controlling the sweeping device to rotate by taking the circle center as a fixed point until the second sensor detects a falling signal.
Specifically, the step of controlling the sweeping device to rotate with the circle center as a fixed point until the second sensor detects a falling signal comprises the following steps: and controlling the sweeping device to rotate along a preset direction by taking the circle center as a fixed point until the sweeping device and the second sensor detect a falling signal.
For the embodiment of the invention, the sweeping device is controlled to use the circle center as a fixed point and to move along the counterclockwise direction until the second sensor (the sensor positioned on the left side of the first sensor) detects a falling signal; or, the sweeping device is controlled to rotate clockwise with the circle center as a fixed point until the second sensor (the sensor positioned on the left side of the first sensor) detects a falling signal.
Step 2022, determining a first angle to be rotated by the sweeping device with the midpoint of the wheel adjacent to the second sensor as a fixed point, and controlling the sweeping device to rotate according to the first angle, so that a connection line between the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground.
Wherein, according to the pivoted step of first angle control device of sweeping the floor, include: and controlling the sweeping device to rotate along a preset direction according to the first angle.
For the embodiment of the invention, after the sensor positioned on the left side of the first sensor detects the falling signal, the sensor rotates by a first angle along the counterclockwise direction by taking the center of the left wheel as a fixed point, so that a connecting line between the sensor positioned on the left side of the first sensor and the circle center of the sweeping device is vertical to the edge of the ground, as shown in fig. 4.
For the embodiment of the present invention, after the sensor located at the right side of the first sensor detects the fall signal, the sensor is rotated clockwise by a first angle with the center of the right wheel as a fixed point, so that the sensor located at the right side of the first sensor is perpendicular to the edge of the ground, as shown in fig. 5.
Specifically, the manner of determining the first angle includes: and determining a third angle, and determining a first angle according to the third angle and an included angle between the first sensor and the second sensor.
The third angle is a rotation angle between the starting point when the first sensor detects the ground right and the end point when the second sensor detects the falling signal right.
Wherein, if the third angle is theta, the first angle is delta, and the included angle between the first sensor and the second sensor is gamma, then
For example, in an embodiment of the present invention, the angle between the first sensor and the second sensor may be 60 °, i.e. γ60 degrees, then
For the embodiment of the invention, if the sweeping device rotates anticlockwise, the third angle is a rotation angle between the starting point when the first sensor just detects the ground and the end point when the sensor located on the left side of the first sensor just detects the falling signal for the first time; if the sweeping device rotates clockwise, the third angle is a rotating angle between the starting point when the first sensor just detects the ground and the end point when the sensor on the right side of the first sensor just detects the falling signal for the first time.
For the embodiment of the invention, the first sensor detects the ground right time, namely, the first sensor rotates from the falling detection signal to the ground detection.
Step 2023, controlling the two wheels of the sweeping device to rotate with the circle centers as fixed points according to a preset second angle, so that the two wheels are both parallel to the edge of the ground.
For the embodiment of the present invention, if the included angle between each sensor is 60 °, the preset second angle is 30 °. In the embodiment of the invention, if the second sensor is a sensor positioned on the left side of the first sensor, the two wheels of the sweeping device are controlled to rotate along the anticlockwise direction by taking the circle center as a fixed point; if the second sensor is a sensor positioned on the right side of the first sensor, the two wheels of the sweeping device are controlled to rotate clockwise by taking the circle center as a fixed point.
EXAMPLE III
Another possible implementation manner of the embodiment of the present invention is, on the basis of the first embodiment or the second embodiment, further including the operation shown in the third embodiment, wherein,
before the step of controlling the rotation of the sweeping device, the method further comprises the following steps: and controlling the sweeping device to perform anti-shake treatment.
For the embodiment of the invention, after the second sensor detects the falling signal, the sweeping device is controlled to perform anti-shake processing, and after the anti-shake processing is performed, the sweeping device is controlled to rotate, that is, after the second sensor detects the falling signal, the sweeping device is controlled to continue to move, in the process of moving for the first preset distance, the sensor always detects the falling signal, and moves for the second preset distance in the direction opposite to the moving direction, and after that, the sweeping device is controlled to rotate.
For the embodiment of the invention, the first preset distance is greater than or equal to the second preset distance, and the first preset distance and the second preset distance can be set by a user or a sweeping device. The present invention is not limited to the embodiments.
For the embodiment of the invention, whether the second sensor detects the falling signal can be further determined by controlling the sweeping device to perform anti-shake processing, so that the second sensor is prevented from being judged by mistake, and the falling prevention accuracy of the sweeping device can be improved.
The embodiment of the invention provides a device for preventing a floor sweeping device from falling, wherein the bottom of the floor sweeping device is provided with a preset number of sensors, and two ends of the bottom of the floor sweeping device are symmetrically provided with two wheels, as shown in fig. 6, the device comprises: a determination module 61, a control module 62, wherein,
the determining module 61 is configured to determine, when it is determined that the first sensor detects the falling signal, a rotation mode of the sweeping device corresponding to the first sensor in a working process of the sweeping device.
And the control module 62 is used for controlling the rotation of the sweeping device according to the rotation mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground.
And the control module 62 is also used for controlling the sweeping device to work along the direction parallel to the edge of the ground.
Specifically, the control module 62 is specifically configured to control the rotation of the sweeping device until the second sensor detects a falling signal, and the first sensor is adjacent to the second sensor.
The determining module 62 is specifically configured to determine a first angle to be rotated by the sweeping device with a midpoint of a wheel adjacent to the second sensor as a fixed point, and control the sweeping device to rotate according to the first angle, so that a connection line between the second sensor and a circle center of the sweeping device is perpendicular to the edge of the ground.
The control module 62 is specifically configured to control the two wheels of the sweeping device to rotate around the center of the circle as a fixed point according to a preset second angle, so that the two wheels are both parallel to the edge of the ground.
Specifically, the determining module 61 is specifically configured to determine the third angle, and determine the first angle according to the third angle and an included angle between the first sensor and the second sensor.
The third angle is a rotation angle between the starting point when the first sensor detects the ground right and the end point when the second sensor detects the falling signal right.
Specifically, the control module 62 is specifically configured to control the sweeping device to rotate around the center of the circle as a fixed point until the second sensor detects a falling signal.
Specifically, the control module 62 is specifically configured to control the sweeping device to rotate in the preset direction with the circle center as a fixed point until the second sensor detects a falling signal.
The control module 62 is specifically configured to control the sweeping device to rotate in a preset direction according to the first angle.
Specifically, the determining module 61 is further configured to determine that a drop signal is detected when any sensor detects that the height of the any sensor from the ground is greater than a preset threshold.
The control module 62 is further configured to control the sweeping device to perform anti-shaking processing.
The embodiment of the invention provides a device for preventing a sweeping device from falling, compared with the prior art, the bottom of the sweeping device in the embodiment of the invention is provided with a preset number of sensors, two ends of the bottom of the sweeping device are symmetrically provided with two wheels, in the working process of the sweeping device, when the first sensor is determined to detect a falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground, namely, after any sensor of the sweeping device detects the falling signal, the sweeping device is controlled to rotate according to the preset rotating mode until the two wheels of the sweeping device are parallel to the edge of the ground, so that the sweeping device can automatically detect the falling signal, and can avoid this device of sweeping the floor to fall from ground edge to can improve the efficiency of this intelligence device work of sweeping the floor, and then can promote user's experience.
The device for preventing the floor sweeping device from falling provided by the embodiment of the invention is suitable for the method embodiment, and is not described herein again.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for preventing the sweeping device from falling is realized.
Compared with the prior art, the embodiment of the invention provides a computer readable storage medium, the bottom of the sweeping device in the embodiment of the invention is provided with a preset number of sensors, two ends of the bottom of the sweeping device are symmetrically provided with two wheels, in the working process of the sweeping device, when the first sensor is determined to detect a falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are both parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground, namely, after any sensor of the sweeping device detects the falling signal, the sweeping device is controlled to rotate according to the preset rotating mode until the two wheels of the sweeping device are both parallel to the edge of the ground, so that the sweeping device can automatically detect the falling signal, and can avoid this device of sweeping the floor to fall from ground edge to can improve the efficiency of this intelligence device work of sweeping the floor, and then can promote user's experience.
The computer-readable storage medium provided by the embodiment of the present invention is applicable to the above method embodiments, and is not described herein again.
An embodiment of the present invention further provides a computing device, including: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the method for preventing the sweeping device from falling.
The embodiment of the invention provides a computing device, compared with the prior art, the bottom of the sweeping device in the embodiment of the invention is provided with a preset number of sensors, two ends of the bottom of the sweeping device are symmetrically provided with two wheels, in the working process of the sweeping device, when the first sensor is determined to detect a falling signal, the rotating mode of the sweeping device corresponding to the first sensor is determined, then the sweeping device is controlled to rotate according to the rotating mode of the sweeping device until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device is controlled to work in the direction parallel to the edge of the ground, namely, after any sensor of the sweeping device detects the falling signal, the sweeping device is controlled to rotate according to the preset rotating mode until the two wheels of the sweeping device are parallel to the edge of the ground, and then the sweeping device continues to work, so that the sweeping device can automatically detect the falling signal, and can avoid this device of sweeping the floor to fall from ground edge to can improve the efficiency of this intelligence device work of sweeping the floor, and then can promote user's experience.
The computing device provided by the embodiment of the present invention is applicable to the above method embodiments, and is not described herein again.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (12)
1. The utility model provides a method that device dropproof of sweeping floor, its characterized in that, the bottom of the device of sweeping floor is provided with the sensor of predetermineeing the number, the bottom both ends symmetry of the device of sweeping floor is provided with two wheels, include:
in the working process of the sweeping device, when a first sensor is determined to detect a falling signal, determining a rotation mode of the sweeping device corresponding to the first sensor;
controlling the sweeping device to rotate according to the rotation mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
controlling the sweeping device to work along the direction parallel to the edge of the ground;
wherein, according to the device rotation mode of sweeping the floor control the device of sweeping the floor rotates, until two wheels of the device of sweeping the floor all with the ground edge is parallel, include:
controlling the sweeping device to rotate in the anticlockwise direction by taking the circle center of the sweeping device as a fixed point until a second sensor detects a falling signal, wherein the second sensor is a sensor positioned on the left side of the first sensor; after the second sensor detects the falling signal, determining a third angle, wherein the third angle is a rotating angle between the first sensor and the ground as a starting point, the second sensor detects the falling signal for the first time as an end point, the first angle is determined according to the third angle and an included angle between the first sensor and the second sensor, and the first angle is rotated in an anticlockwise direction by taking the center of a left wheel of the sweeping device as a fixed point, so that a connecting line of the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground; or
Controlling the sweeping device to rotate clockwise by taking the circle center of the sweeping device as a fixed point until a second sensor detects a falling signal, wherein the second sensor is a sensor positioned on the right side of the first sensor; after the second sensor detects the falling signal, determining a third angle, wherein the third angle is a rotating angle between the first sensor and the ground as a starting point, the second sensor detects the falling signal for the first time as an end point, the first angle is determined according to the third angle and an included angle between the first sensor and the second sensor, and the first angle is rotated clockwise by taking the center of a right wheel of the sweeping device as a fixed point, so that a connecting line of the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground;
the sensors are arranged on the same circumference with the center of the sweeping device as the circle center, and the first sensor is arranged right in front of the bottom of the sweeping device.
2. The method of claim 1, wherein the step of controlling the sweeping device to rotate until the second sensor detects a fall signal comprises:
and controlling the sweeping device to rotate by taking the circle center as a fixed point until the sweeping device and the second sensor detect a falling signal.
3. The method of claim 2, wherein the step of controlling the sweeping device to rotate around the center of the circle until the second sensor detects the fall signal comprises:
controlling the sweeping device to rotate along a preset direction by taking the circle center as a fixed point until a falling signal is detected by the sweeping device and a second sensor;
wherein, according to first angle control the pivoted step of device of sweeping the floor, include:
and controlling the sweeping device to rotate along the preset direction according to the first angle.
4. The method of claim 1, wherein determining the manner in which the sensor detects the fall signal comprises:
and when any sensor detects that the height between the sensor and the ground is greater than a preset threshold value, determining that a falling signal is detected.
5. The method of claim 1, wherein the step of controlling the rotation of the sweeping device is preceded by the step of:
and controlling the sweeping device to perform anti-shaking treatment.
6. The utility model provides a device that device dropproof of sweeping floor, its characterized in that, the bottom of the device of sweeping floor is provided with the sensor of predetermineeing the number, the bottom both ends symmetry of the device of sweeping floor is provided with two wheels, include:
the determining module is used for determining a rotation mode of the sweeping device corresponding to a first sensor when the first sensor is determined to detect a falling signal in the working process of the sweeping device;
the control module is used for controlling the sweeping device to rotate according to the rotating mode of the sweeping device until two wheels of the sweeping device are parallel to the edge of the ground;
the control module is also used for controlling the sweeping device to work along the direction parallel to the edge of the ground;
wherein, control module is according to the device rotation mode of sweeping the floor control the device of sweeping the floor rotates, when two wheels of the device of sweeping the floor all are parallel with the ground edge, specifically are used for:
controlling the sweeping device to rotate in the anticlockwise direction by taking the circle center of the sweeping device as a fixed point until a second sensor detects a falling signal, wherein the second sensor is a sensor positioned on the left side of the first sensor; after the second sensor detects the falling signal, determining a third angle, wherein the third angle is a rotating angle between the first sensor and the ground as a starting point, the second sensor detects the falling signal for the first time as an end point, the first angle is determined according to the third angle and an included angle between the first sensor and the second sensor, and the first angle is rotated in an anticlockwise direction by taking the center of a left wheel of the sweeping device as a fixed point, so that a connecting line of the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground; or
Controlling the sweeping device to rotate clockwise by taking the circle center of the sweeping device as a fixed point until a second sensor detects a falling signal, wherein the second sensor is a sensor positioned on the right side of the first sensor; after the second sensor detects the falling signal, determining a third angle, wherein the third angle is a rotating angle between the first sensor and the ground as a starting point, the second sensor detects the falling signal for the first time as an end point, the first angle is determined according to the third angle and an included angle between the first sensor and the second sensor, and the first angle is rotated clockwise by taking the center of a right wheel of the sweeping device as a fixed point, so that a connecting line of the second sensor and the circle center of the sweeping device is perpendicular to the edge of the ground;
the sensors are arranged on the same circumference with the center of the sweeping device as the circle center, and the first sensor is arranged right in front of the bottom of the sweeping device.
7. The apparatus of claim 6,
the control module is specifically used for controlling the sweeping device to rotate with the circle center as a fixed point until the second sensor detects a falling signal.
8. The apparatus of claim 7,
the control module is specifically used for controlling the sweeping device to rotate along a preset direction by taking the circle center as a fixed point until a falling signal is detected by the second sensor;
the control module is specifically further used for controlling the sweeping device to rotate along the preset direction according to the first angle.
9. The apparatus of claim 6,
the determining module is specifically further configured to determine that a falling signal is detected when any sensor detects that the height between the any sensor and the ground is greater than a preset threshold.
10. The apparatus of claim 6,
the control module is also used for controlling the sweeping device to perform anti-shaking treatment.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method of any one of claims 1 to 5.
12. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the method for preventing the sweeping device from falling, as claimed in any one of claims 1-5.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108113596A CN108113596A (en) | 2018-06-05 |
| CN108113596B true CN108113596B (en) | 2021-06-18 |
Family
ID=62230047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338303.4A Active CN108113596B (en) | 2017-12-14 | 2017-12-14 | Anti-falling method and device for sweeping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108113596B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568309B (en) * | 2019-02-19 | 2023-12-05 | 北京奇虎科技有限公司 | Anti-drop method, anti-drop device, sweeping equipment and computer readable storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10750918B2 (en) * | 2014-07-01 | 2020-08-25 | Samsung Electronics Co., Ltd. | Cleaning robot and controlling method thereof |
| KR102404258B1 (en) * | 2015-02-06 | 2022-06-02 | 삼성전자주식회사 | Apparatus for returning of robot and returning method thereof |
| CN205849400U (en) * | 2016-04-14 | 2017-01-04 | 杭州信多达电器有限公司 | A kind of have collision and fall the sweeping robot of module |
| CN206700114U (en) * | 2016-10-25 | 2017-12-05 | 福玛特（北京）机器人科技股份有限公司 | A kind of intellective dust collector |
-
2017
- 2017-12-14 CN CN201711338303.4A patent/CN108113596B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108113596A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11487019B2 (en) | Power management in wireless tracking device operating with restricted power source | |
| CN101636637B (en) | Multi-sensor data collection and/or processing | |
| CN111366161B (en) | Vehicle positioning method and electronic equipment | |
| AU2003294452B2 (en) | Method and system for monitoring the location of a vehicle | |
| KR101445715B1 (en) | Location information decision method in integrated terminal | |
| US20180321055A1 (en) | Navigation apparatus and navigation method | |
| US20160198286A1 (en) | Sensor installation location determination support system and sensor installation location determination support method | |
| KR20120013446A (en) | Method and apparatus for movement detection by evaluating elementary movement patterns | |
| CN102981645A (en) | Reverse gravity induction method and mobile terminal thereof | |
| CN104197929A (en) | Localization method, device and system based on geomagnetism and WIFI | |
| CN108113596B (en) | Anti-falling method and device for sweeping device | |
| CN103236183A (en) | Automatic car-searching system, automatic car-searching method and mobile terminal based on wireless geomagnetism detection | |
| CN105387857A (en) | Navigation method and device | |
| US20140075211A1 (en) | Cascading power consumption | |
| CN104064868A (en) | Directional antenna adjustment method and device and electronic device with device | |
| CN108095647B (en) | Anti-falling method and device for sweeping device | |
| CN108089580B (en) | Method and device for edge working of intelligent sweeping device | |
| US20170034811A1 (en) | Method and apparatus for azimuth detection | |
| WO2016082091A1 (en) | Orientation method, device and system | |
| WO2016078211A1 (en) | Method, terminal, system and computer storage medium for navigation | |
| US10031238B2 (en) | Geolocation antenna system | |
| CN111568309B (en) | Anti-drop method, anti-drop device, sweeping equipment and computer readable storage medium | |
| WO2017187948A1 (en) | Electronic apparatus, control method, and control program | |
| CN104538745B (en) | Wave beam is accurately directed to the control method of target under antenna pedestal heeling condition | |
| US10929687B2 (en) | Authentication by navigation-correlated sensing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |