CN109917488A - Sweeping robot carpet detection method and equipment - Google Patents
Sweeping robot carpet detection method and equipment Download PDFInfo
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- CN109917488A CN109917488A CN201910172819.9A CN201910172819A CN109917488A CN 109917488 A CN109917488 A CN 109917488A CN 201910172819 A CN201910172819 A CN 201910172819A CN 109917488 A CN109917488 A CN 109917488A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 141
- 238000001514 detection method Methods 0.000 title claims abstract description 72
- 238000004140 cleaning Methods 0.000 claims abstract description 44
- 238000000034 method Methods 0.000 claims abstract description 27
- 230000008447 perception Effects 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims description 32
- 238000012545 processing Methods 0.000 claims description 28
- 238000005070 sampling Methods 0.000 claims description 28
- 238000004364 calculation method Methods 0.000 claims description 16
- 239000000428 dust Substances 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 14
- 238000009499 grossing Methods 0.000 claims description 14
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 abstract description 9
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 15
- 230000006870 function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 241001417527 Pempheridae Species 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000010407 vacuum cleaning Methods 0.000 description 1
Abstract
The object of the present invention is to provide a kind of sweeping robot carpet detection method and equipment, Multi-sensor Fusion carpet detection method proposed by the invention can utilize movable motor current detecting, round brush current detecting, the detection of side brush current and steep cliff perception infrared sensor simultaneously.When a kind of sensor can not obtain valid data because of abnormal wherein, it still can effectively realize that carpet detects, specific preferable anti-interference ability.Multiple sensors inside the passed through sweeping robot of the present invention, carry out data fusion, confidence level model are established, to determine whether sweeping robot is on carpet.It is subsequent determine sweeping robot be on carpet when, adjustable cleaning method, preferably to adapt to the cleaning of the special medias such as carpet.
Description
Technical field
The present invention relates to computer field more particularly to a kind of sweeping robot carpet detection methods and equipment.
Background technique
In recent years, with the rapid development of computer technology and Artificial Intelligence Science, intelligent robot technology is increasingly becoming
The hot spot of modern machines people's research field.Wherein, the one kind of sweeping robot as most practicalization in intelligent robot can rely on
Certain artificial intelligence is automatically performed the cleaning work on ground.The developing direction of sweeping robot will be more advanced artificial
Intelligent bring preferably cleans effect, higher sweeping efficiency, bigger sweep-out pattern.Current intelligent sweeping robot,
General use brush is swept and vacuum mode, ground sundries is sucked to the dirt box of itself, to complete the function of land clearing.
But general sweeping robot, it is limited to built-in sensor and Processing Algorithm or can not detect in room
The special articles such as carpet, carpet is equally cleaned also like conventional ground, can not effectively remove the rubbish on carpet
And sundries；Using the simple decision procedure of single-sensor, and it is easy to happen erroneous detection.Such as use individual infrared sensing
Device is easy not detected by material color or ambient light interference；Or single ultrasonic sensor is used, it is easy by medium
The interference of surface shape and detect mistake；Or detected using single round brush curent change, due to using middle round brush to be easy
(rope, hair etc.) is wound by foreign matter, current anomaly is caused to increase, and erroneous detection occurs.
Summary of the invention
It is an object of the present invention to provide a kind of sweeping robot carpet detection method and equipment.
According to an aspect of the invention, there is provided a kind of sweeping robot carpet detection method, this method comprises:
Determine the confidence that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Spend model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model with ground material
f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model f with ground material3；It determines
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of sweeping robot change associated confidence level model
f4；
According to the confidence level model f1With the operating current of the movable motor detected, corresponding carpet inspection is calculated
Survey confidence level P1；
According to the confidence level model f2With the operating current of the round brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P2；
According to the confidence level model f3With the operating current of the side brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P3；
According to the confidence level model f4The reflection signal sampling value of infrared sensor is perceived with the steep cliff detected,
Calculate corresponding carpet detection confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
Further, in the above method, confidence level P is detected according to the carpet1、P2、P3And P4It sweeps the floor described in judgement machine
After whether people is on carpet, further includes:
If the sweeping robot is on carpet, turned by the round brush that the round brush motor adjusts the sweeping robot
Speed passes through the master control system of the sweeping robot by the brush revolving speed when brush motor adjusts the sweeping robot
Dust absorption fan power is adjusted to increase the suction of dust absorption fan, to adapt to carpet cleaning.
Further, in the above method, according to the confidence level model f1With the work of the movable motor detected
Electric current calculates corresponding carpet detection confidence level P1, comprising:
After the sweeping robot starts cleaning task, the operating current of the movable motor is obtained in real time, and to obtaining
The operating current for the movable motor got is filtered smoothing processing；
Preset motor rotation blockage electric current in master control system by the sweeping robot carries out the stifled of the movable motor
Turn to determine,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, according to the confidence level model f1, to by filtering treated movable motor
Operating current I1Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P1。
Further, in the above method, according to the confidence level model f2With the work of the round brush motor detected
Electric current calculates corresponding carpet detection confidence level P2, comprising:
When the sweeping robot executes cleaning task, the operating current of round brush motor is obtained in real time, and to round brush electricity
The operating current of machine is filtered smoothing processing；
Preset round brush motor rotation blockage electric current in master control system by the sweeping robot, carries out the round brush motor
Stall determine；
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f2, to the round brush motor by filtering processing
Operating current I2Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P2。
Further, in the above method, according to the confidence level model f3With the work of the side brush motor detected
Electric current calculates corresponding carpet detection confidence level P3, comprising:
When the sweeping robot executes cleaning task, the operating current of the side brush motor is obtained in real time, and to institute
The operating current for stating side brush motor is filtered smoothing processing.
Preset motor rotation blockage electric current in master control system by the sweeping robot carries out the stifled of the side brush motor
Turn to determine,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f3, to the work of the side brush motor by filtering processing
Make electric current I3Confidence calculations are carried out, corresponding carpet detection confidence level P is obtained3。
Further, in the above method, according to the confidence level model f4Infrared biography is perceived with the steep cliff detected
The reflection signal sampling value of sensor calculates corresponding carpet detection confidence level P4, comprising:
When the sweeping robot executes cleaning task, the reflection signal for obtaining steep cliff perception infrared sensor in real time is adopted
Sample value, and smoothing processing is filtered to the reflection signal sampling value.
By the sweeping robot to steep cliff trigger value preset in master control system, carries out steep cliff triggering and determines,
If detecting steep cliff, enter steep cliff abnormality processing；
If not detecting steep cliff, confidence level model f is detected by the carpet4, to filtering treated reflection
Signal sampling value s carries out confidence calculations, obtains corresponding carpet detection confidence level P4。
Further, in the above method, confidence level P is detected according to the carpet1、P2、P3And P4It sweeps the floor described in judgement machine
Whether people is on carpet, comprising:
Weighting confidence level P is calculated according to following formulam:
Pm=P1*R1+P2*R2+P3*R3+P4*R4, wherein R1~R4For corresponding weighted value；
Compare the current weighting confidence level being calculated and preset carpet triggering confidence level Ps,
If Pm>Ps, then determine that the sweeping robot is currently on carpet；
Otherwise, it is determined that the sweeping robot is currently on common ground.
According to another aspect of the present invention, a kind of equipment based on calculating is also provided, wherein include:
Processor；And it is arranged to the memory of storage computer executable instructions, the executable instruction is being held
Make the processor when row:
Determine the confidence that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Spend model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model with ground material
f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model f with ground material3；It determines
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of sweeping robot change associated confidence level model
f4；
According to the confidence level model f1With the operating current of the movable motor detected, corresponding carpet inspection is calculated
Survey confidence level P1；
According to the confidence level model f2With the operating current of the round brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P2；
According to the confidence level model f3With the operating current of the side brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P3；
According to the confidence level model f4The reflection signal sampling value of infrared sensor is perceived with the steep cliff detected,
Calculate corresponding carpet detection confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
According to another aspect of the present invention, a kind of computer readable storage medium is also provided, being stored thereon with computer can
It executes instruction, wherein the computer executable instructions make the processor when being executed by processor:
Determine the confidence that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Spend model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model with ground material
f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model f with ground material3；It determines
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of sweeping robot change associated confidence level model
f4；
According to the confidence level model f1With the operating current of the movable motor detected, corresponding carpet inspection is calculated
Survey confidence level P1；
According to the confidence level model f2With the operating current of the round brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P2；
According to the confidence level model f3With the operating current of the side brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P3；
According to the confidence level model f4The reflection signal sampling value of infrared sensor is perceived with the steep cliff detected,
Calculate corresponding carpet detection confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
Compared with prior art, Multi-sensor Fusion carpet detection method proposed by the invention can utilize row simultaneously
Walk current of electric detection, the detection of round brush current detecting, side brush current and steep cliff perception infrared sensor.A kind of sensor wherein
When can not obtain valid data because of abnormal, it still can effectively realize that carpet detects, specific preferable anti-interference ability.This
The multiple sensors inside passed through sweeping robot are invented, data fusion is carried out, confidence level model is established, to determine sweeper
Whether device people is on carpet.It is subsequent determine sweeping robot be on carpet when, adjustable cleaning method, with better
Adapt to the cleaning of the special medias such as carpet.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that the sweeping robot brush of one embodiment of the invention sweeps dust absorbing structure schematic diagram；
Fig. 2 is the sweeping robot master control system structural schematic diagram of one embodiment of the invention
Fig. 3 is that the sweeping robot current of electric sampled value of one embodiment of the invention changes schematic diagram；
Fig. 4 is the sweeping robot steep cliff perceptron sampled value schematic diagram of one embodiment of the invention；
Fig. 5 is the detection of sweeping robot carpet and cleaning method control flow chart of one embodiment of the invention.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flashRAM).Memory is showing for computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or
Any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, computer
Readable medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
The present invention provides a kind of sweeping robot carpet detection method, which comprises
It is interrelated with ground media variations to determine that the operating current of the movable motor of sweeping robot changes by step S1
Confidence level model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence with ground material
Spend model f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model with ground material
f3；The reflection signal sampling value and ground material for determining the steep cliff perception infrared sensor of sweeping robot change associated confidence
Spend model f4；
Step S2, according to the confidence level model f1With the operating current of the movable motor detected, calculates and correspond to
Carpet detect confidence level P1；
Step S3, according to the confidence level model f2With the operating current of the round brush motor detected, calculates and correspond to
Carpet detect confidence level P2；
Step S4, according to the confidence level model f3With the operating current of the side brush motor detected, calculates and correspond to
Carpet detect confidence level P3；
Step S5, according to the confidence level model f4With the reflection signal of the steep cliff perception infrared sensor detected
Sampled value calculates corresponding carpet detection confidence level P4；
Step S6 detects confidence level P according to the carpet1、P2、P3And P4Judge whether the sweeping robot is in ground
On blanket.
Here, Multi-sensor Fusion carpet detection method proposed by the invention, can utilize movable motor electric current simultaneously
Detection, the detection of round brush current detecting, side brush current and steep cliff perceive infrared sensor.Wherein a kind of sensor because it is abnormal and
When can not obtain valid data, it still can effectively realize that carpet detects, specific preferable anti-interference ability.The present invention is passed through
Multiple sensors inside sweeping robot carry out data fusion, confidence level model are established, to determine whether sweeping robot is located
In on carpet.It is subsequent determine sweeping robot be on carpet when, adjustable cleaning method, preferably to adapt to carpet etc.
The cleaning of special media.
In one embodiment of sweeping robot carpet detection method of the invention, step S6 detects confidence according to the carpet
Spend P1、P2、P3And P4After judging whether the sweeping robot is on carpet, further includes:
If the sweeping robot is on carpet, turned by the round brush that the round brush motor adjusts the sweeping robot
Speed passes through the master control system of the sweeping robot by the brush revolving speed when brush motor adjusts the sweeping robot
Dust absorption fan power is adjusted to increase the suction of dust absorption fan, to adapt to carpet cleaning.
In one embodiment of sweeping robot carpet detection method of the invention, step S2, according to the confidence level model f1
With the operating current of the movable motor detected, corresponding carpet detection confidence level P is calculated1, comprising:
After the sweeping robot starts cleaning task, the operating current of the movable motor is obtained in real time, and to obtaining
The operating current for the movable motor got is filtered smoothing processing；
Preset motor rotation blockage electric current in master control system by the sweeping robot carries out the stifled of the movable motor
Turn to determine,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, according to the confidence level model f1, to by filtering treated movable motor
Operating current I1Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P1。
In one embodiment of sweeping robot carpet detection method of the invention, step S3, according to the confidence level model f2
With the operating current of the round brush motor detected, corresponding carpet detection confidence level P is calculated2, comprising:
When the sweeping robot executes cleaning task, the operating current of round brush motor is obtained in real time, and to round brush electricity
The operating current of machine is filtered smoothing processing；
Preset round brush motor rotation blockage electric current in master control system by the sweeping robot, carries out the round brush motor
Stall determine；
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f2, to the round brush motor by filtering processing
Operating current I2Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P2。
In one embodiment of sweeping robot carpet detection method of the invention, step S4, according to the confidence level model f3
With the operating current of the side brush motor detected, corresponding carpet detection confidence level P is calculated3, comprising:
When the sweeping robot executes cleaning task, the operating current of the side brush motor is obtained in real time, and to institute
The operating current for stating side brush motor is filtered smoothing processing.
Preset motor rotation blockage electric current in master control system by the sweeping robot carries out the stifled of the side brush motor
Turn to determine,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f3, to the work of the side brush motor by filtering processing
Make electric current I3Confidence calculations are carried out, corresponding carpet detection confidence level P is obtained3。
In one embodiment of sweeping robot carpet detection method of the invention, step S5, according to the confidence level model f4
With the reflection signal sampling value of the steep cliff perception infrared sensor detected, corresponding carpet detection confidence level P is calculated4,
Include:
When the sweeping robot executes cleaning task, the reflection signal for obtaining steep cliff perception infrared sensor in real time is adopted
Sample value, and smoothing processing is filtered to the reflection signal sampling value.
By the sweeping robot to steep cliff trigger value preset in master control system, carries out steep cliff triggering and determines,
If detecting steep cliff, enter steep cliff abnormality processing；
If not detecting steep cliff, confidence level model f is detected by the carpet4, to filtering treated reflection
Signal sampling value s carries out confidence calculations, obtains corresponding carpet detection confidence level P4。
In one embodiment of sweeping robot carpet detection method of the invention, step S6 detects confidence according to the carpet
Spend P1、P2、P3And P4Judge whether the sweeping robot is on carpet, comprising:
Weighting confidence level P is calculated according to following formulam:
Pm=P1*R1+P2*R2+P3*R3+P4*R4, wherein R1~R4For corresponding weighted value；
Compare the current weighting confidence level being calculated and preset carpet triggering confidence level PsIf Pm>Ps, then determine
The sweeping robot is currently on carpet, otherwise, it is determined that the sweeping robot is currently on common ground.
Specifically, intelligent sweeping robot of the present invention, vacuum cleaning mode is swept using brush, fuselage is wireless when work
Connection, based on disc, is powered using rechargeable battery, and mode of operation is fuselage control panel or dedicated APP.
Fig. 1 and 2 is the system structure diagram of sweeper robot of the present invention, it includes master control system 7, brushes and sweep
System (side brush 2 and round brush 4), dust collecting system 7, sensor 5 and traveling control system (universal wheel 1 and movable motor 3).
Fig. 3 is the variation schematic diagram of sweeping robot of the present invention current of electric sampled value in Different Ground.
Fig. 4 is sweeping robot of the present invention in Different Ground, and steep cliff detecting sensor sampled value changes schematic diagram.
Fig. 5 is the detection of sweeping robot Multi-sensor Fusion carpet and the implementation of cleaned model method of adjustment of the present invention
Flow chart.
Intelligent sweeping robot of the present invention, using two-wheeled differential fashion, walking function, mainly by attached drawing 1
Movable motor 3 and universal wheel 1 complete；Its brush sweeps function, mainly by the round brush 4 and bottom side among the appended bottom Fig. 1
Side brush 2 is completed；Its dust-absorbing function is mainly completed by the dust absorption fan 7 in attached drawing 1；Its steep cliff perceptional function, mainly passes through attached drawing
Infrared sensor 5 in 1 is realized；Its algorithm and control function are mainly completed by the master control system 6 in attached drawing 2.
Sweeping robot is generally run when executing cleaning task with constant speed.If ground material smoothness changes
It is constant, maintain the electric current of motor constant speed operation to be also basically unchanged.But when sweeping robot is come on carpet, due to
Walking resistance becomes larger, and the operating current of motor constant speed is maintained just to will increase.With reference to attached drawing 3, it is possible thereby to establish a row
Walk the confidence level model f that is mutually related of motor working current variation and ground media variations1。
f1(x)=a1x3+b1x2+c1x+d1 (1)
Same principle can equally bring round brush and side to brush when sweeping robot is run on common ground and carpet
The different electric current output of motor.Therefore, it similarly can establish round brush and brush motor operating current in side change, become with ground material
Change associated confidence level model f2And f3。
f2(x)=a2x3+b2x2+c2x+d2 (2)
f3(x)=a3x3+b3x2+c3x+d3 (3)
In addition, the common steep cliff perception infrared sensor of sweeping robot also can when being transitioned into carpet from common ground
Different reflection signals is generated, with reference to attached drawing 4.Thus, it is possible to establish a reflection signal sampling value and ground material variation pass
The confidence level model f of connection4。
f4(x)=a4x+b4 (4)
By the test to sweeper in Different Ground, and different carpet materials, we can be directed to above-mentioned four kinds
Confidence level model demarcates corresponding confidence spatial match parameter a1~a4, b1~b4, c1~c3And d1~d3。
When sweeping robot executes cleaning task, the operating current of each motor is obtained in real time, by confidence level model,
Calculate corresponding carpet detection confidence level P1,P2And P3；Meanwhile the sampling of steep cliff perceptron reflection signal is obtained in real time
Value calculates carpet detection confidence level P equally by confidence level model4.Then, fusion is weighted to all confidence levels, obtained
Take fused confidence level P.
P=P1*R1+P2*R2+P3*R3+P4*R4 (5)
The wherein corresponding weighted value R of modules confidence level1~R4, and demarcated by standard testing.The model
Suitable for different sweepers, but specific parameter needs to do individual calibration.
If Weighted Fusion confidence level is greater than preset value, determine that sweeping robot is located on carpet.Otherwise it is assumed that sweeping the floor
Robot is on common ground.
When sweeping robot determines that oneself is located on carpet, just by master control system 7, round brush and side brush revolving speed are adjusted,
To adapt to carpet cleaning；Meanwhile by master control system, increase the suction of dust absorption fan 6, preferably to clear up the dust on carpet
Or rubbish.
After sweeping robot determines that oneself is detached from carpet, just by master control system 7, turn of round brush and side brush is readjusted
The suction of speed and dust absorption fan restores the cleaning modes of common ground, to save energy while guaranteeing pick-up performance
Consumption.
It is detailed, referring to Fig. 5, which comprises
Step 1, it after sweeping robot starts cleaning task, needs to obtain movable motor operating current in real time, and carry out
Filtering processing.
Step 2, by the preset motor rotation blockage electric current of master control system, motor rotation blockage judgement is carried out.In case of stall, then
Stop cleaning, and alarms.If stall does not occur, 3 are entered step.
Step 3, confidence level model f is detected by preset carpet1, to the movable motor operating current I detected1It carries out
Confidence calculations obtain corresponding carpet detection confidence level P1。
P1=f1(I1) (6)
Step 4, when sweeping robot executes cleaning task, the operating current of round brush motor is obtained in real time, and is filtered
Wave smoothing processing.
Step 5, by the preset motor rotation blockage electric current of master control system, motor rotation blockage judgement is carried out.In case of stall, then
Stop cleaning, and alarms.If stall does not occur, 6 are entered step.
Step 6, confidence level model f is detected by preset carpet2, to the round brush motor working current I detected2It carries out
Confidence calculations obtain corresponding carpet detection confidence level P2。
P2=f2(I2) (7)
Step 7, when sweeping robot executes cleaning task, the operating current of side brush motor is obtained in real time, and is filtered
Wave smoothing processing.
Step 8, by the preset motor rotation blockage electric current of master control system, motor rotation blockage judgement is carried out.In case of stall, then
Stop cleaning, and alarms.If stall does not occur, 9 are entered step.
Step 9, confidence level model f is detected by preset carpet3, to the side brush motor operating current I detected3It carries out
Confidence calculations obtain corresponding carpet detection confidence level P3。
P3=f3(I3) (8)
Step 10, when sweeping robot executes cleaning task, the reflection letter of steep cliff perception infrared sensor is obtained in real time
Number sampled value, and carry out filtering processing.
Step 11, it by the preset steep cliff trigger value of master control system, carries out steep cliff triggering and determines.If detecting steep cliff,
Then enter steep cliff abnormality processing, otherwise enters step 12.
Step 12, confidence level model f is detected by preset carpet4, the steep cliff perceptron sampled value s detected is carried out
Confidence calculations obtain corresponding carpet detection confidence level P4。
P4=f4(s) (9)
Step 13, to the confidence level of each sensor obtained, weighting confidence level P is calculated according to formula (5)m:
Pm=P1*R1+P2*R2+P3*R3+P4*R4 (10)
Step 14, compare the current weighting confidence level being calculated and preset carpet triggering confidence level PsIf Pm>Ps,
Then determine that robot is currently on carpet, enters step 15.Otherwise, it is determined that robot is currently on common ground, enter
Step 16.
Step 15, dust absorption fan suction is adjusted, preferably to clear up carpet, subsequently into step 17.
Step 16, dust absorption fan suction is adjusted, to adapt to common ground cleaning, power consumption is saved, subsequently into step 17.
Step 17, it checks to clean whether complete, if do not completed, returns to step 1.Otherwise, terminate to clean, return to charging
Stake.
It should be pointed out that for the confidence level model f for each sensor in this implementation steps, being related to1,f2,f3With
f4And the weighted value R used in formula (10)1,R2,R3And R4And last carpet detection triggering confidence level Ps, it is by sweeping
Floor-washing robot is under standard testing scene, by repeatedly testing, obtains after progress data fitting.This confidence level model, can
To be adapted to different sweeping robots, but when being adapted to different sweeping robots, need by retesting, with acquisition
The model parameter matched.
It should be noted that sweeping robot of the present invention, can be adjusted in real time by master control system and control circuit
Section brush sweeps the power of system (round brush, side brush) and dust absorption fan.
It should be pointed out that the various pieces of system of the present invention have been done logic and have been drawn according to the function that it is realized
Point, still, the present invention is not limited to this, can be as needed, to the various components of sweeping robot, carry out drawing again for function
Point.
According to another aspect of the present invention, a kind of equipment based on calculating is also provided, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the place when executed
Manage device:
Determine the confidence that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Spend model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model with ground material
f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model f with ground material3；It determines
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of sweeping robot change associated confidence level model
f4；
According to the confidence level model f1With the operating current of the movable motor detected, corresponding carpet inspection is calculated
Survey confidence level P1；
According to the confidence level model f2With the operating current of the round brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P2；
According to the confidence level model f3With the operating current of the side brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P3；
According to the confidence level model f4The reflection signal sampling value of infrared sensor is perceived with the steep cliff detected,
Calculate corresponding carpet detection confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
According to another aspect of the present invention, a kind of computer readable storage medium is also provided, being stored thereon with computer can
It executes instruction, wherein the computer executable instructions make the processor when being executed by processor:
Determine the confidence that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Spend model f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model with ground material
f2；Determine that the operating current variation of the side brush motor of sweeping robot changes associated confidence level model f with ground material3；It determines
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of sweeping robot change associated confidence level model
f4；
According to the confidence level model f1With the operating current of the movable motor detected, corresponding carpet inspection is calculated
Survey confidence level P1；
According to the confidence level model f2With the operating current of the round brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P2；
According to the confidence level model f3With the operating current of the side brush motor detected, corresponding carpet inspection is calculated
Survey confidence level P3；
According to the confidence level model f4The reflection signal sampling value of infrared sensor is perceived with the steep cliff detected,
Calculate corresponding carpet detection confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
The detailed content of each equipment and storage medium embodiment of the invention, for details, reference can be made to the correspondences of each method embodiment
Part, here, repeating no more.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (9)
1. a kind of sweeping robot carpet detection method, wherein this method comprises:
Determine the confidence level mould that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Type f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model f with ground material2；Really
The operating current variation for determining the side brush motor of sweeping robot changes associated confidence level model f with ground material3；Determination is swept the floor
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of robot change associated confidence level model f4；
According to the confidence level model f1With the operating current of the movable motor detected, calculates corresponding carpet detection and set
Reliability P1；
According to the confidence level model f2With the operating current of the round brush motor detected, calculates corresponding carpet detection and set
Reliability P2；
According to the confidence level model f3With the operating current of the side brush motor detected, calculates corresponding carpet detection and set
Reliability P3；
According to the confidence level model f4With the reflection signal sampling value of the steep cliff perception infrared sensor detected, calculate
Corresponding carpet detects confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
2. according to the method described in claim 1, wherein, detecting confidence level P according to the carpet1、P2、P3And P4It is swept described in judgement
After whether floor-washing robot is on carpet, further includes:
If the sweeping robot is on carpet, turning for the round brush of the sweeping robot is adjusted by the round brush motor
Speed passes through the master control system of the sweeping robot by the revolving speed brushed when brush motor adjusts the sweeping robot
System adjusts dust absorption fan power to increase the suction of dust absorption fan, to adapt to carpet cleaning.
3. according to the method described in claim 1, wherein, according to the confidence level model f1With the movable motor detected
Operating current, calculate corresponding carpet detection confidence level P1, comprising:
After the sweeping robot starts cleaning task, the operating current of the movable motor is obtained in real time, and to getting
The operating current of the movable motor be filtered smoothing processing；
Preset motor rotation blockage electric current, the stall for carrying out the movable motor are sentenced in master control system by the sweeping robot
It is fixed,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, according to the confidence level model f1, to the work by filtering treated movable motor
Electric current I1Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P1。
4. according to the method described in claim 1, wherein, according to the confidence level model f2With the round brush motor detected
Operating current, calculate corresponding carpet detection confidence level P2, comprising:
When the sweeping robot executes cleaning task, the operating current of round brush motor is obtained in real time, and to round brush motor
Operating current is filtered smoothing processing；
Preset round brush motor rotation blockage electric current in master control system by the sweeping robot carries out the stifled of the round brush motor
Turn to determine；
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f2, to the work electricity of the round brush motor by filtering processing
Flow I2Confidence calculations are carried out, to obtain corresponding carpet detection confidence level P2。
5. according to the method described in claim 1, wherein, according to the confidence level model f3With the side brush motor detected
Operating current, calculate corresponding carpet detection confidence level P3, comprising:
When the sweeping robot executes cleaning task, the operating current of the side brush motor is obtained in real time, and to the side
The operating current of brush motor is filtered smoothing processing.
Preset motor rotation blockage electric current in master control system by the sweeping robot, the stall for carrying out the side brush motor are sentenced
It is fixed,
In case of stall, then stop cleaning, and alarm；
If stall does not occur, pass through the confidence level model f3, to the operating current of the side brush motor by filtering processing
I3Confidence calculations are carried out, corresponding carpet detection confidence level P is obtained3。
6. according to the method described in claim 1, wherein, according to the confidence level model f4With the steep cliff perception detected
The reflection signal sampling value of infrared sensor calculates corresponding carpet detection confidence level P4, comprising:
When the sweeping robot executes cleaning task, the reflection signal sampling of steep cliff perception infrared sensor is obtained in real time
Value, and smoothing processing is filtered to the reflection signal sampling value.
By the sweeping robot to steep cliff trigger value preset in master control system, carries out steep cliff triggering and determines,
If detecting steep cliff, enter steep cliff abnormality processing；
If not detecting steep cliff, confidence level model f is detected by the carpet4, to filtering treated reflection signal adopt
Sample value s carries out confidence calculations, obtains corresponding carpet detection confidence level P4。
7. according to the method described in claim 1, wherein, detecting confidence level P according to the carpet1、P2、P3And P4It is swept described in judgement
Whether floor-washing robot is on carpet, comprising:
Weighting confidence level P is calculated according to following formulam:
Pm=P1*R1+P2*R2+P3*R3+P4*R4, wherein R1~R4For corresponding weighted value；
Compare the current weighting confidence level being calculated and preset carpet triggering confidence level Ps,
If Pm>Ps, then determine that the sweeping robot is currently on carpet；
Otherwise, it is determined that the sweeping robot is currently on common ground.
8. a kind of equipment based on calculating, wherein include:
Processor；And
It is arranged to the memory of storage computer executable instructions, the executable instruction makes the processing when executed
Device:
Determine the confidence level mould that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Type f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model f with ground material2；Really
The operating current variation for determining the side brush motor of sweeping robot changes associated confidence level model f with ground material3；Determination is swept the floor
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of robot change associated confidence level model f4；
According to the confidence level model f1With the operating current of the movable motor detected, calculates corresponding carpet detection and set
Reliability P1；
According to the confidence level model f2With the operating current of the round brush motor detected, calculates corresponding carpet detection and set
Reliability P2；
According to the confidence level model f3With the operating current of the side brush motor detected, calculates corresponding carpet detection and set
Reliability P3；
According to the confidence level model f4With the reflection signal sampling value of the steep cliff perception infrared sensor detected, calculate
Corresponding carpet detects confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
9. a kind of computer readable storage medium, is stored thereon with computer executable instructions, wherein the computer is executable to be referred to
Make the processor when order is executed by processor:
Determine the confidence level mould that is mutually related of the operating current variation and ground media variations of the movable motor of sweeping robot
Type f1；Determine that the operating current variation of the round brush motor of sweeping robot changes associated confidence level model f with ground material2；Really
The operating current variation for determining the side brush motor of sweeping robot changes associated confidence level model f with ground material3；Determination is swept the floor
The reflection signal sampling value and ground material of the steep cliff perception infrared sensor of robot change associated confidence level model f4；
According to the confidence level model f1With the operating current of the movable motor detected, calculates corresponding carpet detection and set
Reliability P1；
According to the confidence level model f2With the operating current of the round brush motor detected, calculates corresponding carpet detection and set
Reliability P2；
According to the confidence level model f3With the operating current of the side brush motor detected, calculates corresponding carpet detection and set
Reliability P3；
According to the confidence level model f4With the reflection signal sampling value of the steep cliff perception infrared sensor detected, calculate
Corresponding carpet detects confidence level P4；
Confidence level P is detected according to the carpet1、P2、P3And P4Judge whether the sweeping robot is on carpet.
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| CN201910172819.9A CN109917488A (en) | 2019-03-07 | 2019-03-07 | Sweeping robot carpet detection method and equipment |
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| CN201910172819.9A CN109917488A (en) | 2019-03-07 | 2019-03-07 | Sweeping robot carpet detection method and equipment |
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| CN110522360A (en) * | 2019-09-05 | 2019-12-03 | 深圳市杉川机器人有限公司 | Carpet detection method, device, sweeping robot and computer storage medium |
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| CN115227149B (en) * | 2020-08-31 | 2023-08-08 | 追觅创新科技(苏州)有限公司 | Method and device for identifying ground characteristics of automatic cleaning equipment |
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| CN112137505B (en) * | 2020-08-31 | 2022-08-12 | 追觅创新科技(苏州)有限公司 | Method and device for identifying ground features by automatic cleaning equipment |
| CN112369983A (en) * | 2020-10-28 | 2021-02-19 | 珠海格力电器股份有限公司 | Speed detection method and device for side brush of sweeper, storage medium and sweeper |
| CN112369983B (en) * | 2020-10-28 | 2021-07-06 | 珠海格力电器股份有限公司 | Speed detection method and device for side brush of sweeper, storage medium and sweeper |
| CN112515578A (en) * | 2020-11-25 | 2021-03-19 | 深圳拓邦股份有限公司 | Work control method and device of cleaning equipment and cleaning equipment |
| CN112515578B (en) * | 2020-11-25 | 2022-06-17 | 深圳拓邦股份有限公司 | Work control method and device of cleaning equipment and cleaning equipment |
| CN113009269A (en) * | 2021-04-07 | 2021-06-22 | 深圳市云视机器人有限公司 | Robot detection tool sweeps floor |
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Application publication date: 20190621 |