CN110123210B - Robot ground inspection method, cleaning robot and data storage device - Google Patents
Robot ground inspection method, cleaning robot and data storage device Download PDFInfo
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- CN110123210B CN110123210B CN201910376097.9A CN201910376097A CN110123210B CN 110123210 B CN110123210 B CN 110123210B CN 201910376097 A CN201910376097 A CN 201910376097A CN 110123210 B CN110123210 B CN 110123210B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention provides a robot ground inspection method, a cleaning robot and a data storage device, which judge whether the robot finishes ground inspection parameter learning by detecting whether the robot finishes ground inspection parameter setting, collect first ground inspection data and second ground inspection data of the robot to finish parameter learning and obtain a first correlation function if the robot does not finish learning, collect real-time third ground inspection data on the basis of finishing parameter learning and obtaining the first correlation function, obtain a second correlation function, process the third ground inspection data and obtain expected ground inspection data, so that the expected ground inspection data is closer to a real value and more accurate. The robot ground detection method avoids structural modification of the robot, saves manufacturing cost, and improves the anti-interference performance of the robot and the accuracy of ground detection signals.
Description
Technical Field
The invention relates to the technical field of ground detection, in particular to a robot ground detection method, a cleaning robot and a data storage device.
Background
In general, a sweeping robot is provided with a plurality of cliff sensors at a bottom edge of a body, and a cliff is detected by the cliff sensors, and the cliff sensors are generally provided with a pair of optical emitters for detecting a ground condition. In order to improve the cleaning effect of the sweeping robot, the sweeping robot is also provided with a side sweeping device at the bottom of the machine body, the side sweeping device comprises a brush, and the brush can shield the cliff sensor when rotating, so that the stability of ground detection signals is influenced. In order to solve the above problems, some manufacturers in the market for producing sweeping robots adjust the position of the side sweeping device or the length of the brush to enable the side sweeping device to avoid the cliff sensor, but in this scheme, the overall structure of the sweeping robot is adjusted greatly, and the consumed capital cost is huge, and in this scheme, the brush is usually short and has a poor sweeping effect, so that the sweeping robot needs to be improved.
Disclosure of Invention
The present invention solves at least one of the above technical problems to some extent, and therefore the present invention provides a robot ground inspection method, a cleaning robot and a data storage device, which reduce the interference of a side scanning device by processing ground inspection data, so that the output ground inspection data is more accurate and effective.
A first object of the invention is to propose a method for robotic ground inspection comprising the following steps:
step S1, detecting whether the robot completes the ground detection parameter setting;
step S2, if not, collecting first ground detection data of the robot, and setting ground detection parameters according to the first ground detection data;
step S3, collecting second ground detection data of the robot, and obtaining a first correlation function through the first ground detection data and the second ground detection data;
in step S4, a second correlation function is obtained, and desired ground fault data is obtained by the first correlation function and the second correlation function.
Further, step S1 includes the following steps:
step S11, judging whether the robot completes the ground detection parameter setting by detecting whether the data backup flag bit changes;
in step S12, if the data backup flag is not changed, go to step S2, and if the data backup flag is changed, go to step S4.
Further, step S2 includes the following steps:
step S21, operating the side scanning device of the robot at a first rotating speed, and collecting data by taking first sampling time as a sampling period;
step S22, determining whether the sampling cycle number reaches a preset cycle number, if so, acquiring the first ground inspection data, otherwise, returning to step S21 to continue to acquire data.
Further, step S2 includes the following steps: step S23, setting a ground detection parameter according to the first ground detection data, wherein the first ground detection data includes a first peak value and a first valley value.
Further, the step S3 includes the following steps:
step S31, accelerating the side scanning device to obtain a second rotating speed, collecting second ground detection data, and simultaneously judging whether the second rotating speed meets a first condition and/or a second condition, wherein the first condition is that the second rotating speed reaches a preset rotating speed value, and the second condition is that the acceleration time reaches preset acceleration time;
and step S32, if yes, controlling the edge-sweeping device to operate at the second rotating speed, and acquiring and storing the second ground detection data.
Further, the step S3 includes the following steps:
step S33, if not, further judging whether the second ground detection data meets ground detection conditions;
if the second ground detection data meet the ground detection condition, acquiring and storing the second ground detection data, wherein the second ground detection data comprise second ground detection signal values, the ground detection condition is that the second ground detection signal values are in a preset interval, and the preset interval is related to ground detection parameters;
if the second ground detection data does not meet the ground detection condition, jumping back to step S2;
and step S34, obtaining a first correlation function through the first ground detection data and the second ground detection data, wherein the first correlation function is at least related to the rotating speed of the edge scanning device.
Further, step S4 includes: and step S41, third ground detection data of the robot are collected, and a second correlation function is obtained through the third ground detection data and the first correlation function.
Further, step S4 includes: and step S42, obtaining an error coefficient according to the second correlation function, and processing the third ground detection data according to the error coefficient to obtain the expected ground detection data.
A second objective of the present invention is to provide a cleaning robot, which includes a memory and a processor, the processor is connected to the memory in a communication manner, the memory stores a plurality of instructions, and the instructions are executed by the processor, so that the processor can execute the method of any one of the above embodiments.
In one embodiment, the cleaning robot includes a side-sweep apparatus and at least one ground detection module configured to detect ground information.
A third object of the present invention is to provide a data storage device, which includes a memory and a processor, wherein the memory stores instructions, and the processor causes the data storage device to implement the method of any one of the above embodiments by executing the instructions stored in the memory.
Compared with the prior art, the invention at least has the following beneficial effects: the invention provides a robot ground inspection method, which judges whether a robot finishes ground inspection parameter learning or not by detecting whether the robot finishes ground inspection parameter setting or not, acquires first ground inspection data and second ground inspection data of the robot to finish parameter learning and acquire a first correlation function if the robot does not finish the learning, acquires real-time third ground inspection data on the basis of finishing the parameter learning and acquiring the first correlation function, acquires a second correlation function, processes the third ground inspection data to acquire expected ground inspection data, and enables the expected ground inspection data to be closer to a real value and more accurate. The method avoids structural modification of the robot, saves the manufacturing cost, and simultaneously improves the anti-interference performance of the robot and the accuracy of ground detection signals.
Drawings
FIG. 1 is a schematic overall flow chart of a robot ground inspection method provided by an embodiment of the invention;
fig. 2 is a schematic flow chart of step S1 according to the embodiment of the present invention;
FIG. 3 is a flowchart illustrating step S2 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating step S3 according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating step S4 according to an embodiment of the present invention;
FIG. 6 is a schematic processing flow diagram of a robot ground inspection method according to an embodiment of the present invention;
fig. 7 is a bottom view of a cleaning robot according to an embodiment of the present invention.
Description of reference numerals: a cleaning robot 10; a robot main body 100; the side-sweeping device 200; ground detection module 300.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
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 and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first", "second" and "first" are used 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 the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The invention is further described with reference to the following figures and examples.
Referring to fig. 7, the cleaning robot 10 includes a robot main body 100, a side-scan apparatus 200 and at least one ground inspection module 300, the side-scan apparatus 200 and the at least one ground inspection module 300 being provided on the robot main body 100, the at least one ground inspection module 300 being configured to detect ground information. Since the brush of the edge-scan device 200 is rotated to block the ground inspection module 300, so that the data detected by the ground inspection module 300 is inaccurate, the internal software algorithm of the cleaning robot 10 is further optimized according to the present invention.
As shown in fig. 1, the present invention provides a method for robot ground inspection, comprising the following steps:
step S1, detecting whether the robot completes the ground detection parameter setting;
step S2, if not, collecting first ground detection data of the robot, and setting ground detection parameters according to the first ground detection data;
step S3, collecting second ground detection data of the robot, and obtaining a first correlation function through the first ground detection data and the second ground detection data;
in step S4, a second correlation function is obtained, and desired ground fault data is obtained by the first correlation function and the second correlation function.
Whether the robot completes ground inspection parameter setting or not is detected, whether the robot completes ground inspection parameter learning or not is judged, if the robot does not complete learning is judged, first ground inspection data and second ground inspection data of the robot are collected to complete parameter learning, a first correlation function is obtained, real-time third ground inspection data are collected on the basis of completing the parameter learning and obtaining the first correlation function, a second correlation function is obtained, the third ground inspection data are processed, expected ground inspection data are obtained, and the expected ground inspection data are enabled to be closer to a true value and more accurate. The method avoids structural modification of the robot, saves the manufacturing cost, and simultaneously improves the anti-interference performance of the robot and the accuracy of ground detection signals.
Further, referring to fig. 2 and 6, step S1 includes the following steps:
step S11, determining whether the robot completes the parameter setting by detecting whether the data backup flag bit changes, where the data backup flag bit is an initial flag bit set in the Flash data memory, and for example, if the initial flag bit is not 0xAB, it indicates that the backup is not performed, and data backup and learning are required.
In step S12, if the data backup flag is not changed, go to step S2, and if the data backup flag is changed, go to step S4. For example, if the data backup flag bit is 0xAB during detection, it indicates that data backup and learning have been performed, and only needs to collect real-time data output ground detection signals on the basis of the previous backup data.
Further, referring to fig. 3 and fig. 6, step S2 includes the following steps:
in step S21, the robot scanning device 200 is operated at a first rotation speed, and data is collected with a first sampling time as a sampling period. Specifically, in the process of parameter learning and data backup by the robot in step S21, the robot' S edge-scan device 200 is first rotated from a lower rotation speed, so that the edge-scan device 200 has almost no obstruction to the ground detection module 300, and the output ground detection signal 300 is a ground detection signal without interference from the edge-scan device 200.
Step S22, determining whether the sampling cycle number reaches a preset cycle number, if so, acquiring the first ground inspection data, otherwise, returning to step S21 to continue to acquire data. Specifically, under the condition of the first rotation speed operation, data of 100-200 sampling periods need to be acquired, the sampling period is 100us, when the acquired data is enough, the data reliability at the moment is high, and the data of the 100-200 sampling periods are taken as first ground detection data.
Further, step S2 includes the following steps: step S23, setting a ground detection parameter according to the first ground detection data, wherein the first ground detection data includes a first peak value and a first valley value. On the basis of obtaining the first ground detection data, because the first ground detection data are a plurality of groups of curves close to sine waves, wave peak values and wave trough values exist, all wave peak values in the data of 100-200 sampling periods are taken, the sum and the average value are taken to obtain a first wave peak value, all wave trough values in the data of 100-200 sampling periods are taken, the sum and the average value are taken to obtain a first wave trough value, and the first wave peak value and the first wave trough value are set as a part of ground detection parameters.
Further, referring to fig. 4 and 6, the step S3 provides two embodiments for screening the second rotation speed and the second ground test data.
In a first embodiment, the step S3 includes the following steps:
step S31, accelerating the side-sweep apparatus 200 to obtain a second rotation speed, collecting second ground inspection data, and simultaneously determining whether the second rotation speed satisfies a first condition and/or a second condition, wherein the first condition is that the second rotation speed reaches a preset rotation speed value, and the second condition is that the acceleration time reaches a preset acceleration time;
and step S32, if yes, controlling the edge-sweeping device 200 to operate at the second rotation speed, and acquiring and storing the second ground detection data.
During the acceleration process of the edge-sweeping device 200, the brush of the edge-sweeping device 200 rotates faster, which results in higher shielding frequency of the brush on the ground inspection module 300, so that the influence of the edge-sweeping device 200 on the ground inspection module 300 is gradually increased. The robot side sweeping device 200 is usually configured with an optimal rotation speed range, for example, 120rpm to 180rpm, and the second rotation speed is obtained through steps S31 and S32, wherein the second rotation speed is the optimal rotation speed, and the influence of the side sweeping device 200 is within a range acceptable by the system just under the second rotation speed, that is, the ground detection module 300 can just detect the cliff on the ground, and the ground detection module 300 cannot detect the cliff on the ground beyond the second rotation speed.
In the second embodiment, the step S3 includes the following steps:
step S33, if not, further judging whether the second ground detection data meets ground detection conditions;
if the second local inspection data meets the local inspection condition, acquiring and storing the second local inspection data, wherein the second local inspection data comprises a second local inspection signal value, the local inspection condition is that the second local inspection signal value is within a preset interval, the preset interval is related to a local inspection parameter, and if the local inspection parameter is R, the preset interval is [0.8R,1.2R ], which is only described as an example and does not represent that the specific local inspection parameter and the preset interval are the same value, preferably, the preset interval is [ (1-k) × R, (1+ k) × R ], wherein k is greater than 0 and less than 1. The second ground detection signal includes a second peak signal and a second valley signal, and the second peak signal and the second valley signal are calculated in a manner similar to that in step S23.
If the second ground detection data does not meet the ground detection condition, jumping back to step S2;
in step S34, a first correlation function is obtained from the first ground test data and the second ground test data, and the first correlation function is at least related to the rotation speed of the edge-scanning device 200.
A specific embodiment of the application of the first correlation function in the present invention is described below.
Defining the first correlation function as y ═ f (V, δ), where δ is a peak change rate or a trough change rate, and V is a rotation speed of the edge-scan apparatus 200, and obtaining a peak difference value and a trough difference value by the following formulas, Δ H ═ H1-H2|, Δ L ═ L1-L2|, where Δ H and Δ L are the peak difference value and the trough difference value, respectively, H1 and H2 are the first peak value and the second peak value, respectively, and L1 and L2 are the first valley value and the second valley value, respectively, and if Δ H is greater than Δ L, positive correlation is obtained, that is, the ground detection signal is enhanced by the edge-scan apparatus 200, and if Δ H is less than Δ L, negative correlation is obtained, that is, the ground detection signal is attenuated by the edge-scan apparatus 200. The positive correlation and the negative correlation refer to the correlation between the edge-scan device 200 and the ground detection signal.
When the negative correlation is determined, it can be determined that the brush of the edge-scanning device 200 absorbs the ground detection light, such as the edge-scanning device 200 with a black brush, so that the second ground detection signal is weakened, when the brush of the edge-scanning device 200 is blocked, the second ground detection signal has a second valley value, and when the brush is not blocked, the second peak value occurs, and at this time, the rotation speed of the edge-scanning device 200 is continuously increased, so that the second peak value is greatly changed.
When the positive correlation is determined, it can be determined that the brush of the side scanning device 200 reflects the ground detection light, and if the white brush is used as the side scanning device 200, the second ground detection signal becomes stronger, and when the brush of the side scanning device 200 is shielded, the second ground detection signal has a second peak value, and when the brush is not shielded, the second valley value appears, and at this time, the rotation speed of the side scanning device 200 is continuously increased, and then the second valley value can be greatly changed.
On the basis of the positive and negative correlations determined in the foregoing, the second ground survey data is compared in the following manner:
and when the negative correlation is determined, comparing a second wave peak value with the first wave peak value, and if the second wave peak value is greater than or equal to (1-k) × R1, wherein R1 is the first wave peak value, judging that the second ground detection data meets the ground detection condition, otherwise, judging that the second ground detection data does not meet the ground detection condition.
And when the positive correlation is determined, comparing the second valley value with the first valley value, and if the second valley value is less than or equal to (1+ k) × R2, wherein R2 is the first valley value, judging that the second ground detection data meets the ground detection condition, otherwise, judging that the second ground detection data does not meet the ground detection condition.
The second ground detection data meeting the requirements can be finally obtained through the embodiment, the setting process of the ground detection parameters is completed, and the learning process of the robot is completed. After the ground inspection parameter setting is completed, the ground data backup flag bit is modified, so that the robot can be directly used during secondary use, the middle learning process is skipped, and accurate ground inspection signals can be directly output after real-time third ground inspection data are collected.
Further, referring to fig. 5, step S4 includes: and step S41, third ground detection data of the robot are collected, and a second correlation function is obtained through the third ground detection data and the first correlation function. The third ground detection data is data collected when the robot is operated in real time.
Further, step S4 includes: and step S42, obtaining an error coefficient according to the second correlation function, and processing the third ground detection data according to the error coefficient to obtain the expected ground detection data.
Defining a second correlation function as where y is the first correlation function, V is the rotational speed of the edge-scan apparatus 200 for the third ground detection signal associated with the third ground detection data. During actual measurement of the ground fault signal, the third ground fault signal may be affected by the edge scanning apparatus 200 and need to be processed.
And determining that the edge scanning device 200 is positively correlated or negatively correlated through the first correlation function, substituting the third ground detection signal measured in real time into the second correlation function, obtaining an error coefficient according to the second correlation function, and processing the third ground detection data according to the error coefficient and the correlation of the edge scanning device 200.
For example, if the peak value of the ground detection signal is 1000 when no interference of the edge scanning device is present and the ground detection signal is 800 when the edge scanning device is present, the error coefficient of the ground detection signal by the edge scanning device 200 at the rotation speed is 20%, and if the peak value of the measured third ground detection data is 900 at the same rotation speed, the following processing is performed on the peak value of the third ground detection data: the peak value of the third local inspection data is increased by 0.2 times, and the peak value 1080 of the desired local inspection data is obtained.
Similarly, if it is determined that the scanning device 200 is positively correlated, the measured third ground fault data is larger than the true ground fault data, and the third ground fault data needs to be reduced to obtain the expected ground fault data closer to the true ground fault data. Through the mode, the third ground detection data can be restored to the maximum extent so as to reduce the interference of the edge scanning device 200 and enable the ground detection signals output by the robot to be more accurate.
A second objective of the present invention is to provide a cleaning robot 10, wherein the cleaning robot 10 includes a memory and a processor, the processor is connected to the memory in a communication manner, the memory stores a plurality of instructions, and the instructions are executed by the processor, so that the processor can execute the method described in the above embodiment.
A third object of the present invention is to provide a data storage device, which includes a memory and a processor, wherein the memory stores instructions, and the processor causes the data storage device to implement the method described in the above embodiments by executing the instructions stored in the memory.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A robotic ground inspection method applied to a robot including a side-scan device and at least one ground inspection module configured to detect ground information, comprising the steps of:
step S1, detecting whether the robot completes the ground detection parameter setting;
step S2, if not, acquiring first ground detection data of the robot, and setting ground detection parameters according to the first ground detection data;
step S3, collecting second ground detection data of the robot, and obtaining a first correlation function through the first ground detection data and the second ground detection data;
step S4, acquiring a second correlation function, and acquiring expected ground detection data through the first correlation function and the second correlation function;
the step S2 includes the following steps:
step S21, operating the edge scanning device of the robot at a first rotating speed, and performing data acquisition by taking first sampling time as a sampling period, wherein the first rotating speed enables the edge scanning device to have almost no shielding on the ground detection module;
step S22, judging whether the sampling period number reaches the preset period number, if so, acquiring first ground detection data, and if not, returning to the step S21 to continue to acquire data;
step S23, setting ground detection parameters according to the first ground detection data, wherein the first ground detection data comprises a first wave peak value and a first wave valley value,
the step S3 includes the steps of:
step S31, accelerating the side scanning device to obtain a second rotating speed, collecting second ground detection data, and simultaneously judging whether the second rotating speed meets a first condition and/or a second condition, wherein the first condition is that the second rotating speed reaches a preset rotating speed value, and the second condition is that the acceleration time reaches preset acceleration time;
step S32, if yes, controlling the edge-sweeping device to operate at a second rotating speed to acquire and store second ground detection data, wherein the second rotating speed is 120-180 rpm, and the second ground detection data comprises a second peak signal value and a second valley signal value;
step S34, obtaining a first correlation function from the first ground inspection data and the second ground inspection data, where the first correlation function is at least related to a rotation speed of the edge scanning device, and defining the first correlation function as y ═ f (V, δ), where δ is a peak change rate or a trough change rate, and V is a rotation speed of the edge scanning device, obtaining a peak difference value and a trough difference value by the following formulas, Δ H ═ H1-H2|, Δ L ═ L1-L2|, where Δ H and Δ L are the peak difference value and the trough difference value, respectively, H1 and H2 are the first peak value and the second peak value, respectively, L1 and L2 are the first trough value and the second trough value, if Δ H is greater than Δ L, the edge scanning device is positively correlated with the ground inspection signal, and if Δ H is less than Δ L, the edge scanning device is negatively correlated with the ground inspection signal;
the step S4 includes the steps of:
step S41, collecting third ground detection data of the robot, and obtaining a second correlation function through the third ground detection data and the first correlation function, wherein the second correlation function is related to the rotating speed of the edge scanning device, the first correlation function and a third ground detection signal related to the third ground detection data;
and obtaining an error coefficient according to the second correlation function, and processing the third ground detection data according to the error coefficient to obtain the expected ground detection data.
2. The robotic ground inspection method of claim 1, wherein step S1 includes the steps of:
step S11, judging whether the robot completes the ground detection parameter setting by detecting whether the data backup flag bit changes;
in step S12, if the data backup flag is not changed, go to step S2, and if the data backup flag is changed, go to step S4.
3. The robotic ground inspection method of claim 1, wherein the step S3 includes the steps of:
step S33, if not, further determining whether the second ground detection data meets the ground detection condition,
if the second ground detection data meets the ground detection condition, acquiring and storing the second ground detection data, wherein the second ground detection data comprises a second ground detection signal value, the ground detection condition is that the second ground detection signal value is in a preset interval, and the preset interval is related to ground detection parameters,
when the negative correlation between the edge scanning device and the ground detection signal is determined, comparing a second wave peak value with the first wave peak value, and if the second wave peak value is greater than or equal to (1-k) R1, wherein R1 is the first wave peak value, k is greater than 0 and less than 1, determining that the second ground detection data meets the ground detection condition, otherwise, not meeting the ground detection condition;
when the edge scanning device is determined to be positively correlated with the ground detection signal, comparing a second valley value with the first valley value, and if the second valley value is less than or equal to (1+ k) × R2, wherein R2 is the first valley value, and k is greater than 0 and less than 1, determining that the second ground detection data meets the ground detection condition, otherwise, not meeting the ground detection condition;
if the second ground detection data does not meet the ground detection condition, jumping back to step S2;
if the second ground detection data meets the ground detection condition, the step S34 is executed.
4. A cleaning robot comprising a memory and a processor communicatively coupled to the memory, the memory storing instructions that are executable by the processor to enable the processor to perform the method of any of claims 1-3.
5. The cleaning robot of claim 4, comprising a side-sweep apparatus and at least one ground detection module configured to detect ground information.
6. A data storage device, comprising a memory having instructions stored therein and a processor that causes the data storage device to implement the method of any one of claims 1 to 3 by executing the instructions stored in the memory.
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| CN115153365A (en) * | 2021-04-02 | 2022-10-11 | 速感科技（北京）有限公司 | Cleaning robot, method for controlling rotation speed of main brush of cleaning robot, and storage medium |
| CN114767009A (en) * | 2022-04-24 | 2022-07-22 | 深圳市倍思科技有限公司 | Robot control method, device, equipment and storage medium |
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