CN111481106B - Detection method and device for charging seat of sweeper, computing equipment and storage medium - Google Patents
Detection method and device for charging seat of sweeper, computing equipment and storage medium Download PDFInfo
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- CN111481106B CN111481106B CN201910080933.9A CN201910080933A CN111481106B CN 111481106 B CN111481106 B CN 111481106B CN 201910080933 A CN201910080933 A CN 201910080933A CN 111481106 B CN111481106 B CN 111481106B
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- sweeper
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—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
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
Landscapes
- Time Recorders, Dirve Recorders, Access Control (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a detection method and device for a charging seat of a sweeper, computing equipment and a storage medium, wherein the method comprises the following steps: when the preset conditions are met, determining a preset moving track; moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process; if the charging seat position is detected, the sweeper is moved to the charging seat position for charging. The invention presets the moving track for the sweeper, so that the sweeper can rapidly detect the position of the charging seat.
Description
Technical Field
The invention relates to the field of intelligent household appliances, in particular to a detection method and device for a charging seat of a sweeper, computing equipment and a storage medium.
Background
With the development of science and technology, machines capable of replacing people to work have been greatly developed, and particularly, the machines are widely applied to household appliances. In daily life, cleaning of the floor of a room is generally completed manually, but with the popularization of various intelligent machines, the floor cleaning machine replacing manual cleaning is accepted and used by more families. The floor sweeper can automatically finish the cleaning work on the ground in a room, so that a user can release the floor sweeper from the tedious cleaning work.
The sweeping machine is provided with a sweeping device for sweeping various sundries on the ground through which the sweeping device passes, so that the work of cleaning the ground of a room is realized. The sweeper is mainly powered by a built-in rechargeable battery to complete the walking and cleaning work of the sweeper. The sweeper needs to be charged during or after the floor cleaning process. In the prior art, when the floor sweeper starts to clean the ground from a charging seat (hereinafter referred to as a charging seat) of the floor sweeper, the floor sweeper can record the position information of the charging seat. However, the charging seat can be moved away, so that the sweeper cannot find the charging seat to charge according to the recorded position information of the charging seat.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a detection method and apparatus, a computing device, and a computer storage medium for a sweeper charging socket that overcomes or at least partially solves the above-mentioned problems.
According to an aspect of the present invention, there is provided a method for detecting a charging stand of a sweeper, comprising:
when the preset conditions are met, determining a preset moving track;
moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process;
if the charging seat position is detected, the sweeper is moved to the charging seat position for charging.
According to another aspect of the present invention, there is provided a detection apparatus for a charging stand of a sweeper, comprising:
the determining module is suitable for determining a preset moving track when a preset condition is met;
the detection module is suitable for moving the sweeper according to a preset moving track and detecting the position of the charging seat in the moving process;
and the moving module is suitable for moving the sweeper to the charging seat position for charging if the charging seat position is detected.
According to yet another aspect of the present invention, there is provided a computing device comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the detection method of the sweeper charging seat.
According to still another aspect of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the method for detecting a charging stand of a sweeper as described above.
According to the detection method and device for the charging seat of the sweeper, the computing equipment and the computer storage medium, when the preset conditions are met, a preset moving track is determined; moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process; if the charging seat position is detected, the sweeper is moved to the charging seat position for charging. The invention presets the moving track for the sweeper, so that the sweeper can rapidly detect the position of the charging seat.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 shows a flowchart of a method of detecting a sweeper charging socket according to an embodiment of the present invention;
fig. 2 is a flowchart showing a method of detecting a sweeper charging socket according to another embodiment of the present invention;
FIG. 3 is a schematic view showing a sweeper moving along a preset movement path;
FIG. 4 shows a functional block diagram of a detection device of a sweeper charging dock according to one embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of a computing device, according to one embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flowchart of a method of detecting a sweeper charging socket according to an embodiment of the present invention. As shown in fig. 1, the detection method of the charging stand of the sweeper specifically includes the following steps:
step S101, judging whether a preset condition is met.
The embodiment is used for rapidly detecting the position of the charging seat of the sweeper, for example, the position of the charging seat can be recorded when the sweeper starts from the charging seat, and the sweeper can be returned to the charging seat for charging according to the recorded charging seat when the sweeper returns to charge. In practical application, the problem that the charging seat may be moved manually or the sweeping machine collides with the charging seat to cause position change is considered, so that the charging seat cannot be found when the sweeping machine returns according to the recorded charging seat position. Based on the embodiment, the charging seat position can be detected rapidly when the charging seat is not detected at the charging seat position recorded by the sweeper.
Specifically, the preset condition may be that when the charging seat is not detected at the charging seat position recorded by the sweeper, and when the sweeper moves to the recorded charging seat position and the charging seat is not detected, the preset condition is judged to be met, and step S102 is executed.
Step S102, determining a preset moving track.
And determining a preset moving track according to the recorded charging seat position and the recorded obstacle information near the charging seat position. Here, the recorded obstacle information near the charging seat includes the recorded obstacle position information of the house wall, furniture, and the like, which are located near the charging seat and recorded by the sweeper during the process of cleaning the ground. The preset moving track is the track of the charging seat for detecting the movement of the sweeper. When the preset moving track is determined, the moving direction, the moving distance and the like of the sweeper body are required to be determined according to the recorded charging seat position and the recorded obstacle information near the charging seat position, and a moving path is planned in advance for the sweeper so as to quickly detect the charging seat position.
Further, the charging seat position recorded by the sweeper can be replaced by a designated position, and when the sweeper moves to the designated position and the charging seat is not detected, the preset moving track is determined according to the designated position and the obstacle information near the designated position.
Step S103, moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process.
After the preset moving track is determined, the sweeper is moved according to the preset moving track, and the position of the charging seat is detected in at least one detection mode in the moving process. Such as a sweeper, may detect the position of the charging stand using, for example, infrared detection, lidar detection, etc. Specifically, the sweeper receives an infrared signal emitted by an infrared signal emitter arranged on the charging seat by using an infrared signal receiver arranged on the sweeper in the process of moving along a preset moving track. Determining the transmitting direction of the received infrared signal through the received infrared signal, determining the transmitting distance according to the intensity of the received infrared signal, and the like, and determining the corresponding charging seat position; or the charging seat is provided with bar code information in advance, the bar code information arranged on the charging seat is acquired by utilizing the laser radar arranged on the sweeper, and when the acquired bar code information is matched with the bar code information preset on the charging seat, the acquisition position of the laser radar is determined to be the position of the charging seat.
Step S104, if the charging seat position is detected, the sweeper is moved to the charging seat position for charging.
After the sweeper detects the charging seat position, the sweeper can stop moving according to a preset moving track and directly move to the charging seat position to charge.
According to the detection method of the charging seat of the sweeper, when the preset condition is met, a preset moving track is determined; moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process; if the charging seat position is detected, the sweeper is moved to the charging seat position for charging. The invention presets the moving track for the sweeper, so that the sweeper can rapidly detect the position of the charging seat.
Fig. 2 is a flowchart illustrating a method for detecting a charging stand of a sweeper according to another embodiment of the present invention. As shown in fig. 2, the detection method of the charging stand of the sweeper specifically includes the following steps:
step S201, judging whether a preset condition is satisfied.
The preset condition may be that when the charging stand is not detected at the charging stand position recorded by the sweeper, when the sweeper moves to the recorded charging stand position and the charging stand is not detected, the preset condition is judged to be met, and step S202 is executed.
Step S202, determining a first moving direction and a second moving direction of a preset moving track according to the charging seat position recorded by the sweeper and/or the recorded obstacle information around the charging seat.
Taking the position of a charging seat recorded by the sweeper as a starting point of a preset moving track. The first moving direction is a direction parallel to the extending direction of the obstacle corresponding to the recorded charging seat, for example, the charging seat needs to be charged after being in collision contact with the sweeper, and therefore, the charging seat adopts a mode of being arranged by an object such as a back wall. Besides the recorded charging seat positions, the sweeper also records the information of various obstacles encountered in the cleaning process. And acquiring the extension direction of the recorded obstacles around the charging seat, such as a backrest, according to the recorded charging seat position and the recorded information of each obstacle around the recorded charging seat position. The obstacle may be a wall or the like. The extending direction of the barrier is the extending direction of the plane where the object such as the wall is located. The first moving direction is a direction parallel to the extending direction of the plane where the object such as a wall is located. The second direction of movement is a direction away from the recorded charging dock position. If the moved charging seat is positioned near the recorded charging seat, after the sweeper moves to the recorded charging seat, the camera of the sweeper is taken as the right front side, and the moved charging seat is positioned on the right side or the left side of the camera of the sweeper, so that the moved charging seat is not easy to detect. The second moving direction can enable the sweeper to be slightly far away from the recorded charging seat position, so that the situation that the charging seat position cannot be normally detected due to too close distance between the sweeper and the charging seat is avoided.
Step S203, the sweeper is moved along a preset movement track, and the position of the charging seat is detected in the moving process.
For the recorded charging seat position, the sweeper can be moved for a first preset distance along a first moving direction, then moved for a second preset distance along a second moving direction, the moving track is repeated, and the charging seat position is detected in the moving process until the charging seat position is detected. Or, the sweeper can be moved along the second moving direction for a second preset distance, then moved along the first moving direction for a first preset distance, the moving track is repeated, and the charging seat position is detected in the moving process until the charging seat position is detected. Here, the setting may be according to actual situations, and the sequence of the first movement direction and the second movement direction in the preset movement track is not limited. In the moving process, the first preset distance and the second preset distance are gradually increased according to the moving track. If the first preset distance of the first movement along the first movement direction is 60cm, the second preset distance of the first movement along the second movement direction is 10cm, the first preset distance of the second movement along the first movement direction is 120cm, the second preset distance of the second movement along the second movement direction is 20cm, etc., so as to gradually expand the detection range and rapidly detect the position of the charging seat. The first preset distance and the second preset distance are set according to the recorded information of the surrounding obstacles of the charging seat. If the recorded charging seat is close to the corner of the intersection of the two walls, a proper first preset distance and a proper second preset distance are required to be set according to the obstacle information.
Preferably, the preset moving track is a zigzag moving track, as shown in fig. 3, and the moving track of the floor cleaning machine below fig. 3 moves to the recorded charging seat position shown in fig. 3 according to the recorded charging seat position when the floor cleaning machine needs to be charged. However, since the charging stand is moved to the charging stand position shown in fig. 3, the sweeper cannot be charged, and the preset moving track, such as the preset moving track shown in fig. 3, needs to be determined according to the recorded charging stand position shown in fig. 3 and the corresponding information related to the obstacle. The floor sweeping machine moves along the second moving direction for a second preset distance, then moves along the first moving direction with the obstacle for a first preset distance, and repeats the Z-shaped moving track.
Further, when the moving direction of the sweeper is changed, such as changing the first moving direction of the sweeper to the second moving direction or changing the second moving direction of the sweeper to the first moving direction, the sweeper is made to rotate at the changing point to detect the position of the charging seat. When the first moving direction is changed into the second moving direction after the sweeper reaches the first preset distance, the sweeper automatically detects the position of the charging seat at the changing point. Or when the sweeper reaches the second preset distance and needs to change from the second moving direction to the first moving direction, the sweeper automatically detects the position of the charging seat at the changing point. 360-degree detection is carried out near the change point, the detection angle of the infrared detection or the laser radar detection is increased, and the charging seat position is detected more rapidly.
Step S204, if the charging seat position is detected, the sweeper is moved to the charging seat position for charging.
As shown in fig. 3, when the charging seat position is detected, the sweeper can be directly moved to the charging seat for charging.
According to the detection method of the charging seat of the sweeper, the first moving direction and the second moving direction of the preset moving track and the corresponding first preset distance and second preset distance are determined according to the charging seat position recorded by the sweeper and/or the recorded peripheral obstacle information of the charging seat, so that the sweeper can rapidly detect the position of the charging seat after moving. Furthermore, when the sweeper moves according to the Z-shaped moving track, the moving charging seat can be rapidly detected from a larger range.
Fig. 4 shows a functional block diagram of a detection device of a sweeper charging socket according to an embodiment of the present invention. As shown in fig. 4, the detection device of the charging stand of the sweeper comprises the following modules:
the determination module 410 is adapted to: and when the preset conditions are met, determining a preset moving track.
The detection module 420 is adapted to: and moving the sweeper with a preset moving track, and detecting the position of the charging seat in the moving process.
The movement module 430 is adapted to: if the charging seat position is detected, the sweeper is moved to the charging seat position for charging.
Optionally, the preset conditions are specifically: no charging stand is detected at the charging stand position recorded by the sweeper.
Optionally, the determining module 410 is further adapted to: determining a first moving direction and a second moving direction according to the charging seat position recorded by the sweeper and/or the recorded obstacle information around the charging seat; the first moving direction is a direction parallel to the extending direction of the obstacle corresponding to the recorded charging seat, and the second moving direction is a direction away from the recorded charging seat;
the detection module 420 is further adapted to: moving a first preset distance along a first moving direction relative to the recorded charging seat position; moving a second preset distance along a second moving direction, repeating the moving track, and detecting the position of the charging seat in the moving process until the position of the charging seat is detected; the first preset distance and/or the second preset distance are/is gradually increased according to the moving track.
Optionally, the preset moving track is a zigzag moving track.
Optionally, the detection module 420 is further adapted to: when the moving direction of the sweeper is changed, the sweeper rotates at a changing point to detect the position of the charging seat; wherein changing the movement direction of the sweeper comprises changing the sweeper from the first movement direction to the second movement direction and/or changing the sweeper from the second movement direction to the first movement direction.
Optionally, the detection module 420 is further adapted to: moving the sweeper with a preset moving track, and detecting the position of the charging seat in at least one detection mode in the moving process; wherein the at least one detection mode comprises an infrared detection mode and/or a laser radar detection mode.
The above descriptions of the modules refer to the corresponding descriptions in the method embodiments, and are not repeated herein.
The application also provides a non-volatile computer storage medium, which stores at least one executable instruction, and the computer executable instruction can execute the detection method of the sweeper charging seat in any method embodiment.
FIG. 5 illustrates a schematic diagram of a computing device, according to one embodiment of the invention, the particular embodiment of the invention not being limited to a particular implementation of the computing device.
As shown in fig. 5, the computing device may include: a processor 502, a communication interface (Communications Interface) 504, a memory 506, and a communication bus 508.
Wherein:
processor 502, communication interface 504, and memory 506 communicate with each other via communication bus 508.
A communication interface 504 for communicating with network elements of other devices, such as clients or other servers.
The processor 502 is configured to execute the program 510, and specifically may execute the relevant steps in the above-described detection method embodiment of the sweeper charging socket.
In particular, program 510 may include program code including computer-operating instructions.
The processor 502 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included by the computing device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
A memory 506 for storing a program 510. Memory 506 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 510 may be specifically configured to cause the processor 502 to perform the method for detecting a sweeper charging pad in any of the above-described method embodiments. The specific implementation of each step in the procedure 510 may refer to the corresponding step and corresponding description in the unit in the detection embodiment of the charging stand of the sweeper, which is not repeated herein. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedure descriptions in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the detection device of the sweeper charging pad according to an embodiment of the present invention. The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Claims (8)
1. A detection method of a sweeper charging seat comprises the following steps:
when the preset conditions are met, determining a preset moving track;
moving the sweeper by the preset moving track, and detecting the position of the charging seat in the moving process;
if the charging seat position is detected, the sweeper is moved to the charging seat position for charging;
the preset conditions include: detecting no charging seat at the charging seat position recorded by the sweeper;
when the preset condition is met, determining the preset moving track further comprises:
when a preset condition is met, determining a moving direction and a moving distance according to the recorded charging seat position and obstacle information near the charging seat position, and determining a preset moving track according to the moving direction and the moving distance;
the preset conditions further include: detecting no charging seat at a specified position recorded by the sweeper;
when the preset condition is met, determining the preset moving track further comprises:
when a preset condition is met, determining a preset moving track according to the recorded specified position and the obstacle information near the specified position;
the determining the preset moving track further comprises:
determining a first moving direction and a second moving direction according to the charging seat position recorded by the sweeper and/or the recorded obstacle information around the charging seat; the first moving direction is a direction parallel to the extending direction of the obstacle corresponding to the recorded charging seat, and the second moving direction is a direction away from the recorded charging seat;
the step of moving the sweeper with the preset moving track and detecting the charging seat in the moving process further comprises the following steps:
moving a first preset distance along the first moving direction relative to the recorded charging seat position; moving a second preset distance along the second moving direction, repeating the moving track, and detecting the position of the charging seat in the moving process until the position of the charging seat is detected; wherein the first preset distance and/or the second preset distance are gradually increased according to the moving track;
the preset moving track is a Z-shaped moving track.
2. The method of claim 1, wherein the moving the sweeper with the preset movement trajectory and detecting the charging seat during the movement further comprises:
when the moving direction of the sweeper is changed, the sweeper rotates at a changing point to detect the position of the charging seat; wherein the changing of the movement direction of the sweeper comprises changing the sweeper from the first movement direction to the second movement direction and/or changing the sweeper from the second movement direction to the first movement direction.
3. The method according to any one of claims 1 or 2, wherein the moving the sweeper with the preset movement trajectory and detecting the charging seat during the movement further comprises:
moving the sweeper according to the preset moving track, and detecting the position of the charging seat in at least one detection mode in the moving process; wherein the at least one detection mode comprises an infrared detection mode and/or a laser radar detection mode.
4. A detection device for a sweeper charging stand, comprising:
the determining module is suitable for determining a preset moving track when a preset condition is met;
the detection module is suitable for moving the sweeper according to the preset moving track and detecting the position of the charging seat in the moving process;
the mobile module is suitable for moving the sweeper to the charging seat for charging if the charging seat is detected;
the preset conditions include: detecting no charging seat at the charging seat position recorded by the sweeper;
the determining module is further adapted to determine a moving direction and a moving distance according to the recorded charging seat position and the obstacle information near the charging seat position when a preset condition is met, and determine a preset moving track according to the moving direction and the moving distance;
the preset conditions further include: detecting no charging seat at a specified position recorded by the sweeper;
the determining module is further adapted to determine a preset moving track according to the recorded obstacle information at the designated position and the vicinity of the designated position when the preset condition is met;
the determining module is further adapted to determine a first moving direction and a second moving direction according to the charging seat position recorded by the sweeper and/or the recorded obstacle information around the charging seat; the first moving direction is a direction parallel to the extending direction of the obstacle corresponding to the recorded charging seat, and the second moving direction is a direction away from the recorded charging seat;
the detection module is further adapted to move a first preset distance along the first movement direction relative to the recorded charging seat position; moving a second preset distance along the second moving direction, repeating the moving track, and detecting the position of the charging seat in the moving process until the position of the charging seat is detected; wherein the first preset distance and/or the second preset distance are gradually increased according to the moving track;
the preset moving track is a Z-shaped moving track.
5. The apparatus of claim 4, wherein the detection module is further adapted to:
when the moving direction of the sweeper is changed, the sweeper rotates at a changing point to detect the position of the charging seat; wherein the changing of the movement direction of the sweeper comprises changing the sweeper from the first movement direction to the second movement direction and/or changing the sweeper from the second movement direction to the first movement direction.
6. The apparatus of any one of claims 4 or 5, wherein the detection module is further adapted to:
moving the sweeper according to the preset moving track, and detecting the position of the charging seat in at least one detection mode in the moving process; wherein the at least one detection mode comprises an infrared detection mode and/or a laser radar detection mode.
7. A computing device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction, where the executable instruction causes the processor to perform operations corresponding to the method for detecting a sweeper charging socket according to any one of claims 1-3.
8. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the method of detecting a sweeper charging socket as defined in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910080933.9A CN111481106B (en) | 2019-01-28 | 2019-01-28 | Detection method and device for charging seat of sweeper, computing equipment and storage medium |
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