CN108594806B - Method and device for getting rid of difficulties of sweeper - Google Patents
Method and device for getting rid of difficulties of sweeper Download PDFInfo
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- CN108594806B CN108594806B CN201810292139.6A CN201810292139A CN108594806B CN 108594806 B CN108594806 B CN 108594806B CN 201810292139 A CN201810292139 A CN 201810292139A CN 108594806 B CN108594806 B CN 108594806B
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 157
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000010408 sweeping Methods 0.000 claims abstract description 40
- 230000002452 interceptive effect Effects 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 7
- 208000032140 Sleepiness Diseases 0.000 description 1
- 206010041349 Somnolence Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000037321 sleepiness Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a method and a device for getting rid of trouble of a sweeper, wherein the top of the sweeper is provided with a rocker device protruding out of the top and used for collecting direction, the method comprises the steps of obtaining first direction information of the rocker device, and the first direction information is the direction information output by the rocker device when the sweeper is touched; and controlling the sweeper to move in the direction avoiding the touch according to the first direction information. Through being provided with rocker device, realize when the machine of sweeping the floor meets the obstacle, can acquire the direction of meetting the obstacle, control the machine of sweeping the floor to avoiding the direction removal that touches, break away from the region of meetting the obstacle.
Description
Technical Field
The invention relates to the technical field of floor sweeping machines, in particular to a method and a device for removing sleepiness of a floor sweeping machine.
Background
The sweeper is a sweeping machine which can absorb the sundries on the ground into a garbage storage box and can automatically avoid the wall. The current machine of sweeping the floor adopts traditional collision sensor or infrared distance sensor to accomplish and dodges mostly, but, traditional collision sensor can only detect and have or not collide, can not detect the direction of collision, is unfavorable for getting rid of poverty, and infrared distance sensor can only detect the single-point, and probably became invalid to the black object. Above two kinds of sensors can't effectual solution sweeper appear the card under lower barriers such as sofa, greatly influenced daily sweeper's use.
Disclosure of Invention
The invention mainly aims to provide a method and a device for removing difficulty of a sweeper, and aims to solve the technical problem that the existing sweeper cannot be effectively separated from an obstacle area when encountering an obstacle.
The invention provides a trap removal method of a sweeper, which is characterized in that a rocker device protruding out of the top and used for outputting direction information is arranged at the top of the sweeper, and the trap removal method comprises the following steps: acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched; and controlling the sweeper to move in the direction avoiding the touch according to the first direction information.
Further, the step of obtaining the first direction information of the rocker device comprises: after the sweeper is started and is not moved, if the first direction information is collected through the rocker device, it is judged that an interfering object interferes with the normal work of the rocker device.
Further, after the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, the method includes: and if second direction information is acquired within a specified time, controlling the sweeper to move in a direction of rotating 90 degrees, wherein a second direction corresponding to the second direction information is opposite to a first direction corresponding to the first direction information.
Further, after the sweeper is started and when the sweeper is not moved, if the first direction information is collected through the rocker device, before the step of determining that an interfering object interferes with the normal operation of the rocker device, the method includes: after the sweeper is started, the electric quantity of the battery is detected, and if the electric quantity of the battery is lower than a preset electric quantity and electric value, the sweeper is judged to be low in electric quantity and incapable of working.
Further, after the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, the method includes: and after the sweeper finishes cleaning, controlling the sweeper to return to the initial position.
The invention provides a trap removal device of a sweeper, wherein a rocker device protruding out of the top and used for collecting directions is arranged at the top of the sweeper, and the trap removal device comprises: the information acquisition unit is used for acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched; and the control unit is used for controlling the sweeper to move in the direction avoiding the touch according to the first direction information.
Further, still include: and the self-checking unit is used for judging that an interfering object interferes with the normal work of the rocker device if the first direction information is acquired through the rocker device after the sweeper is started and is not moved.
Further, still include: and the special condition processing unit and the self-checking unit are used for judging that an interfering object interferes with the normal work of the rocker device if the first direction information is acquired through the rocker device after the sweeper is started and does not move.
Further, still include: the electric quantity self-checking unit is used for detecting the electric quantity of the battery after the sweeper is started, and if the electric quantity of the battery is lower than a preset electric quantity electric value, the sweeper is judged to be low in electric quantity and incapable of working.
The automatic homing unit is used for controlling the sweeper to return to the initial position after the sweeper is cleaned.
According to the method and the device for getting rid of the trouble of the sweeper, the rocker device is arranged, so that when the sweeper encounters an obstacle, the direction of the obstacle can be acquired, the sweeper is controlled to move in the direction of avoiding the collision, and the sweeper is separated from the area of the obstacle.
Drawings
FIG. 1 is a schematic flow chart of the method of the invention for relieving trouble of a sweeper;
fig. 2 is a schematic structural view of the escaping device of the sweeper.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the invention provides a method for relieving difficulty of a sweeper, which is characterized in that a rocker device protruding from the top and used for collecting directions is arranged at the top of the sweeper, and the method for relieving difficulty comprises the following steps:
s1, acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched;
and S2, controlling the sweeper to move in the direction avoiding the touch according to the first direction information.
In this embodiment, the rocker device is a rod-shaped structure that is slightly raised in the middle of the top of the sweeper and can tilt along the stress direction when being collided, and the trigger device is arranged around the rod-shaped protrusion on the sweeper and sends a signal of first direction information to the control system after receiving the touch of the rod-shaped protrusion. The first direction information is a preset direction signal generated when the trigger device is touched, and the preset direction signal is sent to the control system when the trigger device is touched. In the sweeping process of the sweeper, if the sweeper enters the bottom of furniture such as a sofa to be swept, the furniture may be clamped by the bottom of the sofa, at the moment, the control system receives a signal of first direction information sent by the trigger device, and after receiving the signal, the control system controls the sweeper to stop moving, and simultaneously turns the direction, so that the sweeper can be selectively controlled to move in the opposite direction of the received first direction information to be separated from a region with obstacles.
In this embodiment, before the step S1 of obtaining the first direction information of the joystick device, the method includes:
s3, after the sweeper is started and does not move, if the first direction information is collected through the rocker device, it is judged that an interfering object interferes with the normal work of the rocker device.
Before the sweeper is started, when the sweeper is not in operation, the trigger device of the rocker device is possibly touched by some interferents, at the moment, the control system can judge whether the sweeper is in the moving process, and if the sweeper does not move, the situation that the rocker device is interfered by the interferents to normally work is judged, and the rocker device needs to be checked.
In this embodiment, after the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, the method includes:
and S4, when the second direction information is acquired within the designated time, controlling the sweeper to move in the direction of rotating 90 degrees, wherein the second direction corresponding to the second direction information is opposite to the first direction corresponding to the first direction information.
When the sweeper enters the desk bottom, there is a high possibility that obstacles exist at the front and the rear, if the control system still only controls the sweeper to move in the opposite direction, the sweeper cannot effectively separate from the obstacle area, in this embodiment, it is set that if the specified time is usually set to 30 seconds, if the control system receives the second direction information again, and the second direction corresponding to the second direction information and the first direction corresponding to the first direction information are opposite directions, it is determined that both sides of the sweeper are obstacle areas, and the control system sends a command for controlling the sweeper to move in the direction rotating by 90 degrees to the sweeper to separate from the obstacle area.
In this embodiment, after the sweeper is started, and when the sweeper is not moved, if the first direction information is collected through the rocker device, before the step of determining that an interfering object interferes with the normal operation of the rocker device, the method includes:
and S5, detecting the electric quantity of the battery after the sweeper is started, and if the electric quantity of the battery is lower than a preset electric quantity and electric value, judging that the sweeper is low in electric quantity and cannot work.
In this embodiment, the sweeper is further provided with an electric quantity detection function, and the electric quantity of the battery of the sweeper is sufficient before the sweeper is swept, so that the sweeper cannot stop working at some hidden positions due to insufficient electric quantity of the battery of the sweeper during sweeping, and a user cannot find the sweeper easily.
After the sweeper is started, the control system can firstly check the battery power condition of the residual sweeper, and if the battery power of the sweeper is lower than a preset power value which is usually set to be 40%, the sweeper is judged to be incapable of finishing sweeping, and an alarm can be sent to a user to charge.
In this embodiment, after the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, the method includes:
and S6, after the sweeper is cleaned, controlling the sweeper to return to the initial position.
In this embodiment, the sweeper is further provided with a position mark recording function, when the sweeper is turned on, the position where the sweeper is located is marked, when the sweeper cleans, the path is recorded, after the sweeper finishes cleaning, the control system compares the position where the sweeper is located with an initial mark point, selects a nearest line, and controls the sweeper to return to the initial position.
As shown in fig. 2, the present invention further provides a device for relieving difficulty of a sweeper, wherein a rocker device protruding from the top and used for collecting directions is disposed on the top of the sweeper, and the device for relieving difficulty comprises:
the information acquisition unit 2 is used for acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched;
and the control unit 1 is used for controlling the sweeper to move in the direction avoiding the touch according to the first direction information.
In this embodiment, the rocker device is a rod-shaped structure which is slightly raised in the middle of the top of the sweeper and can tilt along the stress direction when being collided, and on the sweeper, an information acquisition unit 2 is arranged around the rod-shaped protrusion and sends a signal of first direction information to the control unit 1 after receiving the collision of the rod-shaped protrusion. The first direction information is a preset direction signal generated when the information acquisition unit 2 is touched, and the preset direction signal is sent to the control unit 1 when the information acquisition unit is touched. In the cleaning process of the sweeper, if the sweeper enters the bottom of furniture such as a sofa for cleaning, the furniture may be clamped by the bottom of the sofa, at this time, the control unit 1 receives a signal of first direction information sent by the information acquisition unit 2, and after receiving the signal, the control unit 1 controls the sweeper to stop moving, and simultaneously turns the direction, so that the sweeper can be selectively controlled to move in the direction opposite to the direction in which the first direction information is received, and is separated from the area where the obstacle occurs.
The sweeper further comprises a self-checking unit 4, and the self-checking unit is used for judging that an interfering object interferes with normal work of the rocker device if first direction information is collected through the rocker device after the sweeper is started and does not move.
Before the quick-witted start-up of sweeping the floor promptly, the machine of sweeping the floor when not working, probably because some interferents touch information acquisition unit 2 in rocker device's information acquisition unit 2 department, after the machine of sweeping the floor starts, self-checking unit 4 can at first carry out once to the machine of sweeping the floor and detect, if detect the signal of the first direction information that information acquisition unit 2 sent and come, the control unit 1 can judge whether the machine of sweeping the floor is at the removal in-process this moment, if the machine of sweeping the floor does not move this moment yet, judge promptly that there is the interferent to disturb the normal work of rocker device of machine of sweeping the floor in the rocker device appears, need to inspect the rocker device.
And the special condition processing unit 5 is configured to control the sweeper to move in a direction of rotating 90 degrees if second direction information is acquired within a specified time, wherein a second direction corresponding to the second direction information is opposite to a first direction corresponding to the first direction information.
When the sweeper enters the desk bottom, there is a high possibility that obstacles exist at the front and the rear, if the control unit 1 still only controls the sweeper to move in the opposite direction, at this time, the sweeper cannot effectively separate from the obstacle area, in this embodiment, it is set that, if the specified time is usually set to 30 seconds, if the control unit 1 receives the obstacle information again, and the second direction corresponding to the second direction information and the first direction corresponding to the first direction information are opposite directions, it is determined that both sides of the sweeper are the obstacle areas, and the control unit 1 sends a command for controlling the sweeper to move in the direction rotating by 90 degrees to the sweeper to separate from the obstacle area.
Electric quantity self-checking unit 3 for the machine of sweeping the floor starts the back, detects the battery power, if the battery power is less than preset electric quantity electric value, then judges that the machine of sweeping the floor electric quantity is low, unable work.
In this embodiment, the sweeper is further provided with an electric quantity self-checking unit 3, which is used for detecting that the sweeper ensures that the electric quantity of the sweeper battery is sufficient before sweeping, and the sweeper cannot stop working at some hidden positions due to insufficient electric quantity of the sweeper battery in a sweeping process, so that a user is difficult to find the sweeper. After the sweeper is started, the control unit 1 can firstly check the battery power condition of the residual sweeper of the sweeper, and if the residual battery power of the sweeper is lower than a preset power value which is usually set to 40%, the sweeper is judged to be incapable of finishing sweeping, and an alarm can be sent to a user to charge.
And the automatic homing unit 6 is used for controlling the sweeper to return to the initial position after the sweeper is cleaned.
In this embodiment, the sweeper is further provided with an automatic homing unit 6, when the sweeper is turned on, the position where the sweeper is located is marked, when the sweeper cleans, the path is recorded, after the sweeper finishes cleaning, the control unit 1 compares the position where the sweeper is located with an initial mark point, selects a nearest line, and controls the sweeper to return to the initial position.
The invention also provides a sweeping robot, wherein the top of the sweeping robot is provided with a rocker device protruding out of the top and used for collecting directions, the sweeping robot comprises a processor, the processor acquires first direction information of the rocker device, and the first direction information is direction information output by the rocker device when the sweeper is touched; and controlling the sweeper to move in the direction avoiding the touch according to the first direction information.
In an embodiment, before the processor executes the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, after the sweeping robot is started and does not move, if the first direction information is collected through the rocker device, it is determined that an interfering object interferes with the normal operation of the rocker device.
In an embodiment, after the processor executes the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, if the second direction information is acquired within a specified time, the sweeper is controlled to move in the direction rotating by 90 degrees, and the second direction corresponding to the second direction information is opposite to the first direction corresponding to the first direction information.
In an embodiment, after the sweeping robot is started and is not moved, if the first direction information is collected through the rocker device, the processor detects the battery power before the step of determining that an interfering object interferes with the normal operation of the rocker device, and if the battery power is lower than a preset power value, the processor determines that the sweeping robot is low in power and cannot operate.
In an embodiment, after the processor executes the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information, the sweeper robot is controlled to return to the initial position after the sweeping robot finishes cleaning.
In this embodiment, when the processor of the sweeping robot controls the sweeping robot to move, the driving device of the sweeping robot is controlled, and the driving device generally comprises a motor, a gear transmission assembly, wheels, and the like.
In summary, the sweeper escaping method and device and the sweeping robot provided by the invention can acquire the direction of the obstacle when the sweeper encounters an obstacle, and control the sweeper to move in the direction avoiding the touch direction to escape from the area encountering the obstacle by arranging the rocker device.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The utility model provides a quick-witted method of getting rid of poverty of sweeping the floor, its characterized in that, the top of machine of sweeping the floor be provided with salient in the top for output direction information's rocker device, rocker device is the bellied shaft-like structure of department in the middle of the machine top of sweeping the floor, when receiving the collision, can topple over along the atress direction, on the machine of sweeping the floor, be provided with trigger device around the shaft-like arch, after receiving the bellied back that touches of shaft-like, send the signal of first direction information to control system, the method of getting rid of poverty includes:
acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched;
controlling the sweeper to move in a direction avoiding the touch according to the first direction information;
and if second direction information is acquired within a specified time, controlling the sweeper to move in a direction of rotating 90 degrees, wherein a second direction corresponding to the second direction information is opposite to a first direction corresponding to the first direction information.
2. The method of claim 1, wherein the step of obtaining the first direction information of the rocker device is preceded by the steps of:
after the sweeper is started and is not moved, if the first direction information is collected through the rocker device, it is judged that an interfering object interferes with the normal work of the rocker device.
3. The escaping method of the sweeper according to claim 2, wherein after the sweeper is started and does not move, if the first direction information is collected through the rocker device, before the step of determining that an interfering object interferes with the normal operation of the rocker device, the method comprises:
after the sweeper is started, the electric quantity of the battery is detected, and if the electric quantity of the battery is lower than a preset electric quantity and electric value, the sweeper is judged to be low in electric quantity and incapable of working.
4. The escaping method of the sweeper according to claim 1, wherein the step of controlling the sweeper to move in the direction avoiding the touch according to the first direction information comprises the following steps:
and after the sweeper finishes cleaning, controlling the sweeper to return to the initial position.
5. The utility model provides a device of getting rid of poverty of machine of sweeping floor, its characterized in that, the top of machine of sweeping floor be provided with outstanding in the top for gather the rocker device of direction, the rocker device is for setting up the bellied shaft-like structure in the middle of the machine top of sweeping floor, when receiving the collision, can topple over along the atress direction, on the machine of sweeping floor, is provided with trigger device around shaft-like arch, and after receiving shaft-like bellied touching, the signal of sending first direction information to control system, the device of getting rid of poverty includes:
the information acquisition unit is used for acquiring first direction information of the rocker device, wherein the first direction information is the direction information output by the rocker device when the sweeper is touched;
the control unit is used for controlling the sweeper to move towards the direction avoiding the touch according to the first direction information;
and the special condition processing unit is used for controlling the sweeper to move towards the direction of rotating 90 degrees if second direction information is acquired within a specified time, wherein the second direction corresponding to the second direction information is opposite to the first direction corresponding to the first direction information.
6. The machine of claim 5, further comprising:
and the self-checking unit is used for judging that an interfering object interferes with the normal work of the rocker device if the first direction information is acquired through the rocker device after the sweeper is started and is not moved.
7. The machine of claim 6, further comprising:
the electric quantity self-checking unit is used for detecting the electric quantity of the battery after the sweeper is started, and if the electric quantity of the battery is lower than a preset electric quantity electric value, the sweeper is judged to be low in electric quantity and incapable of working.
8. The machine of claim 5, further comprising:
and the automatic homing unit is used for controlling the sweeper to return to the initial position after the sweeper is cleaned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810292139.6A CN108594806B (en) | 2018-04-03 | 2018-04-03 | Method and device for getting rid of difficulties of sweeper |
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| CN201810292139.6A CN108594806B (en) | 2018-04-03 | 2018-04-03 | Method and device for getting rid of difficulties of sweeper |
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| CN108594806B true CN108594806B (en) | 2021-08-31 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111208811B (en) * | 2018-11-22 | 2024-06-21 | 北京奇虎科技有限公司 | Narrow slit escaping method, device and equipment of sweeping robot and readable storage medium |
| CN112256013A (en) * | 2019-07-05 | 2021-01-22 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic walking equipment and control method thereof |
| CN110427023A (en) * | 2019-07-10 | 2019-11-08 | 北京云迹科技有限公司 | The control method for movement of robot |
| CN110464262B (en) * | 2019-07-30 | 2021-05-14 | 广东宝乐机器人股份有限公司 | Method for getting rid of difficulties of sweeping robot |
| CN111954188B (en) * | 2020-07-30 | 2024-01-19 | 深圳优地科技有限公司 | Robot control method, device, terminal and medium |
| CN112596524A (en) * | 2020-12-15 | 2021-04-02 | 速感科技（北京）有限公司 | Autonomous mobile device |
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| US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
| CN101313829A (en) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | Cleaning robot |
| KR20100132147A (en) * | 2009-06-09 | 2010-12-17 | 웅진코웨이주식회사 | Mobile body and method for controlling traveling of the same |
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