CN111481113A - Method and device for judging slippage of sweeping robot - Google Patents
Method and device for judging slippage of sweeping robot Download PDFInfo
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- CN111481113A CN111481113A CN201910086275.4A CN201910086275A CN111481113A CN 111481113 A CN111481113 A CN 111481113A CN 201910086275 A CN201910086275 A CN 201910086275A CN 111481113 A CN111481113 A CN 111481113A
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- driving wheel
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- 238000010408 sweeping Methods 0.000 title claims abstract description 313
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000006073 displacement reaction Methods 0.000 claims abstract description 91
- 230000001133 acceleration Effects 0.000 claims description 36
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000006870 function Effects 0.000 description 1
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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
-
- 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
-
- 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 discloses a method and a device for judging the slippage of a sweeping robot, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state. Therefore, in the technical scheme, whether the sweeping robot slips or not is judged by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot, so that corresponding processing measures can be timely carried out when the sweeping robot slips, normal work of the sweeping robot is guaranteed, and use experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for judging the skidding of a sweeping robot, electronic equipment and a computer readable storage medium.
Background
Nowadays, various robots are applied to various industries, and people's daily life, such as a floor sweeping robot, is also entered, so that great convenience is brought to people's life. In practical application, when the sweeping robot performs sweeping, the robot can slip, and if measures cannot be taken in time, the normal work of the sweeping robot can be influenced. Therefore, a scheme for judging the slippage of the sweeping robot is urgently needed.
Disclosure of Invention
In view of the above, the present invention has been made to provide a method, an apparatus, an electronic device and a computer readable storage medium for determining a skidding of a sweeping robot, which overcome or at least partially solve the above problems.
According to one aspect of the invention, a method for judging the skid of a sweeping robot is provided, wherein the method comprises the following steps:
acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
acquiring the actual displacement of the sweeping robot in the certain time period;
and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
Optionally, the acquiring the driving mileage of the driving wheel of the sweeping robot in a certain period of time includes:
and determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
Optionally, the acquiring the actual displacement of the sweeping robot in the certain time period includes:
acquiring an acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot;
and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
Optionally, the method further comprises:
acquiring a current change value of a driving wheel of the sweeping robot:
judging whether the current change value is larger than a preset threshold value or not;
if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, acquiring the driving mileage of the driving wheel of the sweeping robot in a certain time period; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting information that the sweeping robot is in the slipping state.
Optionally, the method further comprises:
acquiring a processing strategy when the sweeping robot is in a slipping state;
and controlling the robot to execute corresponding operation according to the processing strategy.
Optionally, the processing policy includes:
after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value;
and/or the presence of a gas in the gas,
and after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
According to another aspect of the present invention, there is provided an apparatus for determining a slip of a sweeping robot, wherein the apparatus comprises:
the driving mileage acquisition unit is suitable for acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
the actual displacement acquisition unit is suitable for acquiring the actual displacement of the sweeping robot in the certain time period;
and the determining unit is suitable for comparing the travel mileage with the actual displacement, if the travel mileage is greater than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
Alternatively,
the driving mileage acquisition unit is suitable for determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
Alternatively,
the actual displacement acquisition unit is suitable for acquiring the acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot; and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
Optionally, the apparatus further comprises:
the pre-judging unit is suitable for acquiring a current change value of a driving wheel of the sweeping robot: judging whether the current change value is larger than a preset threshold value or not; if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, the driving mileage acquiring unit, the actual displacement acquiring unit and the determining unit execute corresponding steps again.
Optionally, the apparatus further comprises:
the control unit is suitable for acquiring a processing strategy when the sweeping robot is in a slipping state; and controlling the robot to execute corresponding operation according to the processing strategy.
Optionally, the processing policy includes:
after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value;
and/or the presence of a gas in the gas,
and after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
According to still another aspect of the present invention, there is provided an electronic apparatus, wherein the electronic apparatus includes:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to the foregoing.
According to yet another aspect of the present invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the aforementioned method.
According to the technical scheme, the driving mileage of a driving wheel of the sweeping robot in a certain time period is obtained; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state. Therefore, in the technical scheme, whether the sweeping robot slips or not is judged by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot, so that corresponding processing measures can be timely carried out when the sweeping robot slips, normal work of the sweeping robot is guaranteed, and use experience of a user is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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 refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow chart of a method for determining a skidding of a sweeping robot according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a device for judging the skid of the sweeping robot according to an embodiment of the invention;
FIG. 3 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;
fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present 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 is a flow chart illustrating a method for determining a skid of a sweeping robot according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and step S110, acquiring the driving mileage of the driving wheel of the sweeping robot in a certain time period.
And step S120, acquiring the actual displacement of the sweeping robot in the certain time period.
The actual displacement of the sweeping robot is the actual displacement of the whole sweeping robot in the certain time period.
And step S130, comparing the driving mileage with the actual displacement, if the driving mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
Considering that the driving wheel of the sweeping robot drives the sweeping robot to move when the sweeping robot is in a normal state, that is, the driving mileage of the driving wheel of the sweeping robot is consistent with the displacement of the sweeping robot, if the sweeping robot is in a slipping state, the driving wheel of the sweeping robot rotates, and the displacement of the sweeping robot is not changed. Therefore, in the embodiment, whether the sweeping robot slips or not is judged by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot, so that corresponding processing measures can be timely carried out when the sweeping robot slips, normal work of the sweeping robot is guaranteed, and use experience of a user is improved.
In the present embodiment, when comparing the mileage with the actual displacement, the comparison is performed using values in a uniform unit. The displacement of the sweeping robot is the total displacement of the sweeping robot in a period of time, for example, the sweeping robot is displaced forward by 1 meter and backward by 0.5 meter in the period of time, and the total displacement of the sweeping robot in the period of time is 1.5 meters.
In one embodiment of the present invention, the acquiring the driving mileage of the driving wheel of the sweeping robot in the step S110 of the method shown in fig. 1 for a certain period of time includes: and determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
In this embodiment, the driving wheel of the sweeping robot is provided with the odometer, and the driving mileage of the driving wheel of the sweeping robot within a certain time period can be determined according to the data acquired by the odometer.
In one embodiment of the present invention, the acquiring the driving mileage of the driving wheel of the sweeping robot in the step S110 of the method shown in fig. 1 for a certain period of time includes: the number of revolutions of the driving wheel in a certain time period collected by a revolution meter arranged on the driving wheel of the sweeping robot is acquired, and the driving mileage of the driving wheel of the sweeping robot in the certain time period is determined according to the acquired number of revolutions of the driving wheel.
In this embodiment, because the diameter of the driving wheel is fixed and known, the driving mileage of the driving wheel of the sweeping robot in a certain period of time can be calculated according to the diameter of the driving wheel and the number of revolutions of the driving wheel.
In one embodiment of the present invention, the acquiring the actual displacement of the sweeping robot in the certain time period in step S120 of the method shown in fig. 1 includes: acquiring an acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot; and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
In this embodiment, an acceleration sensor is arranged on the sweeping robot, and the actual position of the sweeping robot in a certain time period can be calculated by using the data of the acceleration sensor in different directions in the certain time period.
In one embodiment of the present invention, the method shown in fig. 1 further comprises: acquiring a current change value of a driving wheel of the sweeping robot: judging whether the current change value is larger than a preset threshold value or not; if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, acquiring the driving mileage of the driving wheel of the sweeping robot in a certain time period; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
In practical application, whether the sweeping robot is in a slipping state can be judged according to the current change value of the driving wheel, but in this case, the judgment on whether the sweeping robot slips is inaccurate, for example, if the sweeping robot slips in a place with water, the current change value of the driving wheel is not large, and if the judgment is carried out according to the current change value, the situation that the sweeping robot is in the slipping state cannot be judged. Meanwhile, the scheme of judging whether the sweeping robot slips or not by comparing the driving mileage of the driving wheels with the actual displacement of the sweeping robot can be accurately judged, but more system resources are wasted.
Therefore, in this embodiment, first, whether the sweeping robot is in a slipping state is determined according to the current variation value, and if the current variation value is greater than a preset threshold value, it is determined that the sweeping robot is in the slipping state, information that the sweeping robot is in the slipping state is directly reported; if the current change value is not larger than the preset threshold value, in order to avoid the condition of missed judgment, judging whether the sweeping robot slips or not by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot. Therefore, whether the sweeping robot is in a slipping state or not can be judged more accurately, and system resources can be reasonably utilized.
In one embodiment of the present invention, the method shown in fig. 1 further comprises: acquiring a processing strategy when the sweeping robot is in a slipping state; and controlling the robot to execute corresponding operation according to the processing strategy.
After the information that the sweeping robot is in the slipping state is reported, corresponding measures are required so that the sweeping robot can be separated from the slipping state and can work normally in time. In this embodiment, after the sweeping robot system receives the information that the sweeping robot is in the slipping state, a corresponding processing strategy is determined, and after the processing strategy when the sweeping robot is in the slipping state is obtained, the robot is controlled to execute a corresponding operation according to the processing strategy, so that the slipping state of the sweeping robot can be ended, and the sweeping robot can enter the normal working state in time.
Specifically, the processing strategies include: after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value; and/or after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
Considering that the reason for causing the sweeping robot to slip may be that a bulge with a lower height is arranged in front of the sweeping robot, the robot can be controlled to pass through the bulge with higher height in an accelerated manner, and specifically, the robot is controlled to move back for a preset distance and then is accelerated according to a preset acceleration value; the robot can be controlled to pass by the obstacle, particularly after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
Preferably, after controlling the robot to perform the corresponding operation according to the processing strategy, the method further comprises: and judging whether the sweeping robot is separated from the slipping state, if not, controlling the robot to execute another operation according to the processing strategy.
In this embodiment, the method is suitable for a situation where the processing strategy includes multiple operations, and after one operation is executed, if the sweeping robot does not leave the slipping state, the sweeping robot is controlled to execute another operation until the sweeping robot leaves the slipping state.
Preferably, the processing strategy for acquiring the time when the sweeping robot is in the slipping state includes: the method comprises the steps of identifying the type of an obstacle causing the sweeping robot to slip from an image acquired by a camera of the sweeping robot, and determining a processing strategy according to the type of the obstacle.
The method comprises the steps that images of the surrounding environment are collected through a camera of the sweeping robot, if the obstacle causing slipping of the sweeping robot is identified to be a protrusion with a low height, such as a carpet, from the images, the robot can be controlled to pass through in an accelerated mode, namely, the sweeping robot is controlled to move back for a preset distance in a processing strategy, and then the robot is accelerated according to a preset acceleration value; if an obstacle, such as a chair, which cannot be crossed by the obstacle causing the slipping of the sweeping robot is identified from the image, the robot can be controlled to pass by the obstacle, and then the processing strategy is to control one driving wheel of the sweeping robot to rotate and then control the other driving wheel of the sweeping robot to rotate.
Fig. 2 is a schematic structural diagram of a device for judging the skid of the sweeping robot according to an embodiment of the invention. As shown in fig. 2, the device 200 for determining the slippage of the sweeping robot comprises:
the driving mileage acquiring unit 210 is adapted to acquire the driving mileage of the driving wheel of the sweeping robot in a certain time period.
The actual displacement obtaining unit 220 is adapted to obtain the actual displacement of the sweeping robot in the certain time period.
The actual displacement of the sweeping robot is the actual displacement of the whole sweeping robot in the certain time period.
The determining unit 230 is adapted to compare the driving mileage with the actual displacement, determine that the sweeping robot is in a slipping state if the driving mileage is greater than the actual displacement, and report information that the sweeping robot is in the slipping state.
Considering that the driving wheel of the sweeping robot drives the sweeping robot to move when the sweeping robot is in a normal state, that is, the driving mileage of the driving wheel of the sweeping robot is consistent with the displacement of the sweeping robot, if the sweeping robot is in a slipping state, the driving wheel of the sweeping robot rotates, and the displacement of the sweeping robot is not changed. Therefore, in the embodiment, whether the sweeping robot slips or not is judged by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot, so that corresponding processing measures can be timely carried out when the sweeping robot slips, normal work of the sweeping robot is guaranteed, and use experience of a user is improved.
In the present embodiment, when comparing the mileage with the actual displacement, the comparison is performed using values in a uniform unit. The displacement of the sweeping robot is the total displacement of the sweeping robot in a period of time, for example, the sweeping robot is displaced forward by 1 meter and backward by 0.5 meter in the period of time, and the total displacement of the sweeping robot in the period of time is 1.5 meters.
In an embodiment of the present invention, the mileage acquiring unit 210 shown in fig. 2 is adapted to determine the mileage of the driving wheel of the sweeping robot within a certain period of time according to the data collected by the odometer disposed on the driving wheel of the sweeping robot.
In this embodiment, the driving wheel of the sweeping robot is provided with the odometer, and the driving mileage of the driving wheel of the sweeping robot within a certain time period can be determined according to the data acquired by the odometer.
In an embodiment of the present invention, the mileage acquiring unit 210 shown in fig. 2 is adapted to acquire the number of revolutions of the driving wheel within a certain period of time collected by a revolution meter disposed on the driving wheel of the sweeping robot, and determine the mileage of the driving wheel of the sweeping robot within the certain period of time according to the acquired number of revolutions of the driving wheel.
In this embodiment, because the diameter of the driving wheel is fixed and known, the driving mileage of the driving wheel of the sweeping robot in a certain period of time can be calculated according to the diameter of the driving wheel and the number of revolutions of the driving wheel.
In an embodiment of the present invention, the actual displacement obtaining unit 220 shown in fig. 2 is adapted to obtain an acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor disposed on the sweeping robot; and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
In this embodiment, an acceleration sensor is arranged on the sweeping robot, and the actual position of the sweeping robot in a certain time period can be calculated by using the data of the acceleration sensor in different directions in the certain time period.
In one embodiment of the present invention, the apparatus shown in fig. 2 further comprises:
the pre-judging unit is suitable for acquiring a current change value of a driving wheel of the sweeping robot: judging whether the current change value is larger than a preset threshold value or not; if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, the driving mileage acquiring unit, the actual displacement acquiring unit and the determining unit execute corresponding steps again.
In practical application, whether the sweeping robot is in a slipping state can be judged according to the current change value of the driving wheel, but in this case, the judgment on whether the sweeping robot slips is inaccurate, for example, if the sweeping robot slips in a place with water, the current change value of the driving wheel is not large, and if the judgment is carried out according to the current change value, the situation that the sweeping robot is in the slipping state cannot be judged. Meanwhile, the scheme of judging whether the sweeping robot slips or not by comparing the driving mileage of the driving wheels with the actual displacement of the sweeping robot can be accurately judged, but more system resources are wasted.
Therefore, in this embodiment, first, whether the sweeping robot is in a slipping state is determined according to the current variation value, and if the current variation value is greater than a preset threshold value, it is determined that the sweeping robot is in the slipping state, information that the sweeping robot is in the slipping state is directly reported; if the current change value is not larger than the preset threshold value, in order to avoid the condition of missed judgment, judging whether the sweeping robot slips or not by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot. Therefore, whether the sweeping robot is in a slipping state or not can be judged more accurately, and system resources can be reasonably utilized.
In one embodiment of the present invention, the apparatus shown in fig. 2 further comprises:
the control unit is suitable for acquiring a processing strategy when the sweeping robot is in a slipping state; and controlling the robot to execute corresponding operation according to the processing strategy.
After the information that the sweeping robot is in the slipping state is reported, corresponding measures are required so that the sweeping robot can be separated from the slipping state and can work normally in time. In this embodiment, after the sweeping robot system receives the information that the sweeping robot is in the slipping state, a corresponding processing strategy is determined, and after the processing strategy when the sweeping robot is in the slipping state is obtained, the robot is controlled to execute a corresponding operation according to the processing strategy, so that the slipping state of the sweeping robot can be ended, and the sweeping robot can enter the normal working state in time.
Specifically, the processing strategies include: after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value; and/or after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
Considering that the reason for causing the sweeping robot to slip may be that a bulge with a lower height is arranged in front of the sweeping robot, the robot can be controlled to pass through the bulge with higher height in an accelerated manner, and specifically, the robot is controlled to move back for a preset distance and then is accelerated according to a preset acceleration value; the robot can be controlled to pass by the obstacle, particularly after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
Preferably, the control unit is further adapted to determine whether the sweeping robot is out of the slipping state after controlling the robot to perform the corresponding operation according to the processing strategy, and if not, control the robot to perform another operation according to the processing strategy.
In this embodiment, the method is suitable for a situation where the processing strategy includes multiple operations, and after one operation is executed, if the sweeping robot does not leave the slipping state, the sweeping robot is controlled to execute another operation until the sweeping robot leaves the slipping state.
Preferably, the control unit is adapted to identify a type of an obstacle causing the sweeping robot to slip from an image acquired by a camera of the sweeping robot, and determine the processing strategy according to the type of the obstacle.
The method comprises the steps that images of the surrounding environment are collected through a camera of the sweeping robot, if the obstacle causing slipping of the sweeping robot is identified to be a protrusion with a low height, such as a carpet, from the images, the robot can be controlled to pass through in an accelerated mode, namely, the sweeping robot is controlled to move back for a preset distance in a processing strategy, and then the robot is accelerated according to a preset acceleration value; if an obstacle, such as a chair, which cannot be crossed by the obstacle causing the slipping of the sweeping robot is identified from the image, the robot can be controlled to pass by the obstacle, and then the processing strategy is to control one driving wheel of the sweeping robot to rotate and then control the other driving wheel of the sweeping robot to rotate.
The invention also provides a sweeping robot, which comprises a device 200 for judging the slipping of the sweeping robot as shown in fig. 2.
It should be noted that the embodiments of the sweeping robot herein are the same as the embodiments of the device shown in fig. 2, and the detailed description is given above and will not be repeated herein.
In summary, according to the technical scheme of the invention, the driving mileage of the driving wheel of the sweeping robot in a certain time period is obtained; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state. Therefore, in the technical scheme, whether the sweeping robot slips or not is judged by comparing the driving mileage of the driving wheel with the actual displacement of the sweeping robot, so that corresponding processing measures can be timely carried out when the sweeping robot slips, normal work of the sweeping robot is guaranteed, and use experience of a user is improved.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, 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 interpreted as reflecting an intention that: that the invention as claimed 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 device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. 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. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements 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 included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be presented in any combination.
The 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. It will be appreciated by those skilled in the art 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 means for determining the hydroplaning of the sweeping robot, the electronics and the computer readable storage medium according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device 300 conventionally comprises a processor 310 and a memory 320 arranged to store computer-executable instructions (program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Memory 320 has storage space 330 for storing program code 340 for performing the method steps shown in fig. 1 and in any of the embodiments. For example, the storage space 330 for the program code may comprise respective program codes 340 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is generally a computer-readable storage medium 400 such as described in fig. 4. The computer-readable storage medium 400 may have memory segments, memory spaces, etc. arranged similarly to the memory 320 in the electronic device of fig. 3. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores a program code 410 for performing the steps of the method according to the invention, i.e. a program code readable by a processor such as 310, which program code, when executed by an electronic device, causes the electronic device to perform the individual steps of the method described above.
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 words first, second, and third, etc. do not denote any order. These words may be interpreted as names.
The invention discloses A1 and a method for judging the skid of a sweeping robot, wherein the method comprises the following steps:
acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
acquiring the actual displacement of the sweeping robot in the certain time period;
and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
A2, the method as recited in a1, wherein the acquiring the driving mileage of the driving wheels of the sweeping robot in a certain period of time includes:
and determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
A3, the method as claimed in a1, wherein the acquiring the actual displacement of the sweeping robot in the certain time period includes:
acquiring an acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot;
and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
A4, the method of a1, wherein the method further comprises:
acquiring a current change value of a driving wheel of the sweeping robot:
judging whether the current change value is larger than a preset threshold value or not;
if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, acquiring the driving mileage of the driving wheel of the sweeping robot in a certain time period; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting information that the sweeping robot is in the slipping state.
A5, the method of a1, wherein the method further comprises:
acquiring a processing strategy when the sweeping robot is in a slipping state;
and controlling the robot to execute corresponding operation according to the processing strategy.
A6, the method of A5, wherein the processing strategy comprises:
after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value;
and/or the presence of a gas in the gas,
and after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
The invention also discloses B7, a device for judging the skid of the sweeping robot, wherein the device comprises:
the driving mileage acquisition unit is suitable for acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
the actual displacement acquisition unit is suitable for acquiring the actual displacement of the sweeping robot in the certain time period;
and the determining unit is suitable for comparing the travel mileage with the actual displacement, if the travel mileage is greater than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
B8, the device of B7, wherein,
the driving mileage acquisition unit is suitable for determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
B9, the device of B7, wherein,
the actual displacement acquisition unit is suitable for acquiring the acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot; and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
B10, the apparatus of B7, wherein the apparatus further comprises:
the pre-judging unit is suitable for acquiring a current change value of a driving wheel of the sweeping robot: judging whether the current change value is larger than a preset threshold value or not; if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, the driving mileage acquiring unit, the actual displacement acquiring unit and the determining unit execute corresponding steps again.
B11, the apparatus of B7, wherein the apparatus further comprises:
the control unit is suitable for acquiring a processing strategy when the sweeping robot is in a slipping state; and controlling the robot to execute corresponding operation according to the processing strategy.
B12, the apparatus as in B11, wherein the processing policy comprises:
after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value;
and/or the presence of a gas in the gas,
and after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
The invention also discloses C13 and an electronic device, wherein the electronic device comprises:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of a 1-a 6.
The invention also discloses D14, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs that when executed by a processor implement the method of any one of a 1-a 6.
Claims (10)
1. A method of determining a slippage of a sweeping robot, wherein the method comprises:
acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
acquiring the actual displacement of the sweeping robot in the certain time period;
and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
2. The method of claim 1, wherein the obtaining the driving mileage of the driving wheels of the sweeping robot over a period of time comprises:
and determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
3. The method of claim 1, wherein the acquiring the actual displacement of the sweeping robot over the certain period of time comprises:
acquiring an acceleration value of the sweeping robot in the certain time period, which is acquired by an acceleration sensor arranged on the sweeping robot;
and calculating the actual displacement of the sweeping robot in the certain time period according to the acceleration value.
4. The method of claim 1, wherein the method further comprises:
acquiring a current change value of a driving wheel of the sweeping robot:
judging whether the current change value is larger than a preset threshold value or not;
if the judgment result is yes, directly determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state; if not, acquiring the driving mileage of the driving wheel of the sweeping robot in a certain time period; acquiring the actual displacement of the sweeping robot in the certain time period; and comparing the travel mileage with the actual displacement, if the travel mileage is larger than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting information that the sweeping robot is in the slipping state.
5. The method of claim 1, wherein the method further comprises:
acquiring a processing strategy when the sweeping robot is in a slipping state;
and controlling the robot to execute corresponding operation according to the processing strategy.
6. The method of claim 5, wherein the processing policy comprises:
after the sweeping robot is controlled to retreat for a preset distance, accelerating according to a preset acceleration value;
and/or the presence of a gas in the gas,
and after one driving wheel of the sweeping robot is controlled to rotate, the other driving wheel of the sweeping robot is controlled to rotate.
7. A device that judges that robot of sweeping floor skids, wherein, the device includes:
the driving mileage acquisition unit is suitable for acquiring the driving mileage of a driving wheel of the sweeping robot in a certain time period;
the actual displacement acquisition unit is suitable for acquiring the actual displacement of the sweeping robot in the certain time period;
and the determining unit is suitable for comparing the travel mileage with the actual displacement, if the travel mileage is greater than the actual displacement, determining that the sweeping robot is in a slipping state, and reporting the information that the sweeping robot is in the slipping state.
8. The apparatus of claim 7, wherein,
the driving mileage acquisition unit is suitable for determining the driving mileage of the driving wheel of the sweeping robot within a certain time period according to the data acquired by the odometer arranged on the driving wheel of the sweeping robot.
9. An electronic device, wherein the electronic device comprises:
a processor; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of claims 1 to 6.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-6.
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| CN201910086275.4A CN111481113A (en) | 2019-01-29 | 2019-01-29 | Method and device for judging slippage of sweeping robot |
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| CN201910086275.4A CN111481113A (en) | 2019-01-29 | 2019-01-29 | Method and device for judging slippage of sweeping robot |
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| CN113432610A (en) * | 2021-06-15 | 2021-09-24 | 云鲸智能(深圳)有限公司 | Robot passage planning method and device, robot and storage medium |
| CN113729578A (en) * | 2021-08-04 | 2021-12-03 | 深圳创动科技有限公司 | Cleaning robot, motion state monitoring method thereof, server and storage medium |
| CN113791609A (en) * | 2021-02-02 | 2021-12-14 | 北京京东乾石科技有限公司 | Control method, control device, storage medium, and electronic apparatus |
| CN114518125A (en) * | 2022-01-31 | 2022-05-20 | 深圳市云鼠科技开发有限公司 | Accelerometer advancing mileage acquisition method and application |
| CN114911225A (en) * | 2021-02-23 | 2022-08-16 | 北京盈迪曼德科技有限公司 | Method and device for judging slippage of double-wheel differential robot |
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Application publication date: 20200804 |