CN111697637A - Charging control method and device for sweeping robot - Google Patents
Charging control method and device for sweeping robot Download PDFInfo
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- CN111697637A CN111697637A CN201910181759.7A CN201910181759A CN111697637A CN 111697637 A CN111697637 A CN 111697637A CN 201910181759 A CN201910181759 A CN 201910181759A CN 111697637 A CN111697637 A CN 111697637A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 320
- 238000000034 method Methods 0.000 title claims abstract description 88
- 238000011084 recovery Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims description 41
- 238000003860 storage Methods 0.000 claims description 17
- 238000010030 laminating Methods 0.000 description 10
- 238000004140 cleaning Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention discloses a charging control method and device for a sweeping robot. According to the charging control method, whether the recharging condition is met or not is judged according to the charging interruption event in the charging process of the sweeping robot. And if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic. And if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling. Therefore, after the charging interruption event occurs to the sweeping robot, the position of the sweeping robot is controlled to be adjusted in time to recover the charging, and the smooth charging completion is ensured. And once a charging recovery event occurs, the sweeping robot is controlled to finish the traveling, the position adjustment is stopped, the influence of invalid traveling on charging is avoided, and the charging accuracy of the sweeping robot is ensured.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a charging control method and device of a sweeping robot.
Background
The robot of sweeping the floor receives the striking of external force at the in-process of charging, the robot of sweeping the floor or fill electric pile, and the position of charging deviates easily to cause the robot of sweeping the floor to charge the interrupt. For example, when a child at home plays, the sweeping robot which is being charged is knocked in the running process, so that the sweeping robot is separated from the charging pile and cannot be continuously charged. At this moment, the sweeping robot is required to be manually connected with the charging pile, and then the sweeping robot can be charged again. If the operation is not considered, the sweeping robot and the charging pile cannot be connected, so that the sweeping robot cannot be fully charged in time, and the normal sweeping work of the sweeping robot is influenced. Therefore, a corresponding solution is needed.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a charging control method, apparatus, electronic device and computer readable storage medium for a sweeping robot that overcome or at least partially solve the above problems.
According to an aspect of the present invention, there is provided a charging control method for a sweeping robot, wherein the method includes:
judging whether a recharging condition is met or not according to a charging interruption event in the charging process of the sweeping robot;
if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic;
and if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling.
Optionally, a charging pole piece is arranged on the sweeping robot, and the charging pole piece is attached to the charging pile when the sweeping robot is charged;
the judging whether the recharging condition is met according to the charging interruption event comprises the following steps:
and judging whether the charging pole piece is separated from the charging pile or not, and if so, meeting the recharging condition.
Optionally, the charging pole piece forms a recharging detection loop when being attached to the charging pile;
judging whether the pole piece that charges breaks away from fill electric pile includes: judging whether the recharging detection loop is an open circuit or not, if so, judging that the charging pole piece is separated from the charging pile;
the charge restoration event includes:
the recharge detection circuit is changed from an open circuit to a closed circuit.
Optionally, the charging pole piece is arranged at the rear part of the sweeping robot;
the controlling the sweeping robot to advance according to a first preset logic comprises:
and controlling the sweeping robot to rotate left and right according to a preset rotation frequency and move backwards at the same time.
Optionally, the controlling the sweeping robot to travel according to a first preset logic comprises:
and if the traveling time and/or the traveling distance of the sweeping robot reach corresponding preset values, controlling the sweeping robot to finish the traveling.
Optionally, the method further comprises:
and if the charging recovery event does not occur until the traveling is finished, controlling the sweeping robot to travel to the charging pile according to a second preset logic.
Optionally, a laser radar is arranged on the sweeping robot;
control the robot of sweeping the floor according to the second preset logic march to fill electric pile and include:
controlling the laser radar to scan the charging pile and determining the position of the charging pile;
determining a travel track according to the position of the charging pile and the current position of the sweeping robot;
and controlling the sweeping robot to move to the position of the charging pile along the travelling track for charging.
Optionally, bar code information is set on the charging pile;
the control the laser radar scans the charging pile, and the determining the position of the charging pile comprises:
controlling the laser radar to perform rotary scanning;
and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
According to another aspect of the present invention, there is provided a charging control apparatus for a sweeping robot, wherein the apparatus includes:
the recharging judging unit is suitable for judging whether recharging conditions are met or not according to the charging interruption events in the charging process of the sweeping robot;
the first traveling control unit is suitable for controlling the sweeping robot to travel according to a first preset logic if the recharging condition is met;
and the ending unit is used for controlling the sweeping robot to end the traveling if a charging recovery event occurs in the traveling process.
Optionally, a charging pole piece is arranged on the sweeping robot, and the charging pole piece is attached to the charging pile when the sweeping robot is charged;
the recharging judging unit is suitable for judging whether the charging pole piece is separated from the charging pile or not, and if so, recharging conditions are met.
Optionally, the charging pole piece forms a recharging detection loop when being attached to the charging pile;
the recharging judging unit is further suitable for judging whether the recharging detection loop is open-circuit or not, and if so, judging that the charging pole piece is separated from the charging pile;
the charge restoration event includes:
the recharge detection circuit is changed from an open circuit to a closed circuit.
Optionally, the charging pole piece is arranged at the rear part of the sweeping robot;
the first traveling control unit is suitable for controlling the sweeping robot to rotate left and right according to a preset rotating frequency and move backwards at the same time.
Optionally, the first travel control unit is adapted to control the sweeping robot to end the current travel if the travel time and/or the travel distance of the sweeping robot reach/reaches a corresponding preset value.
Optionally, the apparatus further comprises:
and the second traveling control unit is suitable for controlling the sweeping robot to travel to the charging pile according to a second preset logic if no charging recovery event occurs until the traveling is finished.
Optionally, a laser radar is arranged on the sweeping robot;
the second advancing control unit is further suitable for controlling the laser radar to scan the charging pile and determine the position of the charging pile;
determining a travel track according to the position of the charging pile and the current position of the sweeping robot;
and controlling the sweeping robot to move to the position of the charging pile along the travelling track for charging.
Optionally, bar code information is set on the charging pile;
the second traveling control unit is further suitable for controlling the laser radar to perform rotary scanning;
and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
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 any of the above.
According to a further aspect of the 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 method of any of the above.
According to the technical scheme, whether the recharging condition is met or not is judged according to the charging interruption event in the charging process of the sweeping robot. And if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic. And if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling. Therefore, after the charging interruption event occurs to the sweeping robot, the position of the sweeping robot is controlled to be adjusted in time to recover the charging, and the smooth charging completion is ensured. And once a charging recovery event occurs, the sweeping robot is controlled to finish the traveling, the position adjustment is stopped, the influence of invalid traveling on charging is avoided, and the charging accuracy of the sweeping robot is ensured.
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 is a schematic flow chart illustrating a charging control method of a cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a charging control device of a sweeping robot according to an embodiment of the present 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 shows a schematic flow chart of a charging control method of a sweeping robot according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and step S110, judging whether a recharging condition is met according to the charging interruption event in the charging process of the sweeping robot.
In the process of charging the floor sweeping robot by using the charging pile, charging interruption events possibly occurring include power failure, separation of the floor sweeping robot from the charging pile or other fault events, so that the charging state of the floor sweeping robot is interrupted. When a charging interruption event occurs, in order to ensure that the sweeping robot can complete charging, it is necessary to determine whether to perform recharging so that the sweeping robot can perform charging again.
And step S120, if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic.
In the charging interruption event that may occur as described above, if the power is off, the cleaning robot cannot be recharged even if recharging is performed. Therefore, the recharging condition is met, and the explanation shows that the sweeping robot is separated from the charging pile and cannot be charged. For example, the sweeping robot is collided by other objects, and is separated from the charging pile. In this case, the sweeping robot needs to be controlled to move to be connected with the charging pile again so as to continue charging. The sweeping robot advances according to a first preset logic, adjusts the position of the sweeping robot and moves to the charging pile.
And step S130, if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling.
And (4) charging a recovery event, namely, connecting the sweeping robot with the charging pile, and charging again. At the moment, recharging of the sweeping robot is completed, and the sweeping robot is controlled to finish the travelling of the sweeping robot as long as a charging recovery event occurs, so that position adjustment is stopped, invalid travelling influence on charging is avoided, and correct charging of the sweeping robot is ensured.
According to the technical scheme, whether the recharging condition is met or not is judged according to the charging interruption event in the charging process of the sweeping robot. And if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic. And if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling. Therefore, after the charging interruption event occurs to the sweeping robot, the position of the sweeping robot is controlled to be adjusted in time to recover the charging, and the smooth charging completion is ensured. And once a charging recovery event occurs, the sweeping robot is controlled to finish the traveling, the position adjustment is stopped, the influence of invalid traveling on charging is avoided, and the charging accuracy of the sweeping robot is ensured.
In an embodiment of the invention, as shown in fig. 1, in the method, a charging pole piece is arranged on the sweeping robot, and the charging pole piece is attached to the charging pile when the sweeping robot is charged. The step S110 of determining whether the recharging condition is satisfied according to the occurrence of the charging interruption event includes: and judging whether the charging pole piece is separated from the charging pile or not, and if so, meeting the recharging condition.
The robot of sweeping the floor charges with filling the cooperation of electric pile, and the pole piece that charges can be used for the location, also can be used for charging. When the pole piece and the laminating of filling electric pile charge, the robot of sweeping the floor is located the position of charging, can charge. And when the charging pole piece breaks away from the charging pile, the sweeping robot deviates from the charging position, so that the charging is interrupted. Therefore, whether the floor sweeping robot needs to carry out recharging or not can be accurately determined by judging whether the charging pole piece is separated from the charging pile or not, so that the position of the floor sweeping robot is adjusted, and the charging pole piece is attached to the charging pile again.
In one embodiment, the charging pole piece adopts a pressure sensor for positioning the charging position of the sweeping robot. When the pole piece that charges and the laminating of filling electric pile, pressure sensor output pressure signal. And when the pressure sensor has no signal output, the charging pole piece can be determined to be separated from the charging pile. Therefore, whether the charging pole piece is separated from the charging pile or not can be judged by detecting the signal output of the pressure sensor.
In an embodiment of the present invention, in the above method, the charging pole piece forms a recharging detection loop when being attached to the charging pile. Whether the pole piece that judges charges breaks away from and fills electric pile includes: and judging whether the recharging detection loop is open or not, and if so, judging that the charging pole piece is separated from the charging pile. The charge recovery event in step S130 includes: the recharge detection circuit is changed from an open circuit to a closed circuit.
The charging pole piece is used for charging. The pole piece that charges and the laminating of filling electric pile constitute the robot of sweeping the floor and fill the detection return circuit. The recharging detection loop comprises a storage battery of the sweeping robot, and the charging pole piece is electrically connected with the storage battery. The battery of robot of sweeping the floor is connected to through the pole piece that charges and fills electric pile, charges the battery. Simultaneously, this detection return circuit that recharges can export the charged state to judge whether robot of sweeping the floor is charging, thereby judge whether the pole piece that charges breaks away from and fills electric pile. That is to say, when the recharging detection circuit is changed from the open circuit to the open circuit, the recharging detection circuit is disconnected, the sweeping robot is disconnected from the charging state, and the charging pole piece is separated from the charging pile; when the detection return circuit that recharges becomes the route from opening a way, explain to recharge the detection return circuit and connect and accomplish, the robot of sweeping the floor gets into the charged state, and the pole piece that charges this moment laminates with filling electric pile, has also taken place the recovery incident that charges promptly.
Of course, when the outage incident takes place, fill back and detect the return circuit and also become open a way from the passageway, the pole piece that charges still laminates with filling electric pile this moment. In this situation, if it is determined that the recharging condition is satisfied, it is obvious that an error occurs when the recharging of the cleaning robot is started. However, in today's environment, the occurrence of a power down event is a small probability event that will not normally occur. Therefore, whether the recharging condition is met or not is judged according to the charging state of the recharging detection loop, the probability of misjudgment is low, and the accuracy is relatively high. Moreover, by adopting the mode, the arrangement of the detection device can be simplified, so that the sweeping robot is provided with other functional structures, and the performance of the sweeping robot is improved to a certain extent.
In an embodiment of the invention, in the method, the charging pole piece is arranged at the rear part of the sweeping robot. The step S120 of controlling the sweeping robot to move according to a first preset logic includes: and controlling the sweeping robot to rotate left and right according to a preset rotation frequency and move backwards at the same time.
In the charging process, the sweeping robot is collided to enable the charging pole piece to be separated from the charging pile, and under the condition, the sweeping robot generally deviates in the opposite direction of the charging pile due to the fact that the sweeping robot is blocked by the charging pile. Consequently, only need control the robot of sweeping the floor to the opposite direction of skew, also fill the direction of electric pile and advance promptly, can make the pole piece that charges laminate with filling electric pile once more.
In order to determine the traveling direction of the sweeping robot, specifically, the position of the default charging pole piece is the rear part of the sweeping robot. The charging pole piece is separated from the charging pile, and the possible deviation direction of the sweeping robot is forward deviation, right-front deviation or left-front deviation. The robot of sweeping the floor is controlled to advance along the position of the pole piece that charges, namely advance backward, make it be close to and fill electric pile. The robot of sweeping the floor when skew, probably make the pole piece that charges also skew to the position of filling electric pile, consequently the robot of sweeping the floor is at the back in-process of marcing, and the while is controlled and is rotated, and the position of the pole piece that charges is adjusted, makes the pole piece that charges can accurately with fill electric pile laminating.
The rotation frequency and the rotation amplitude of the sweeping robot can be set according to actual conditions, for example, the rotation direction is changed every 500ms, and the rotation angle of each rotation direction is 60 degrees. During backward traveling, the sweeping robot firstly rotates clockwise by 60 degrees and then rotates anticlockwise by 120 degrees after 500 ms. Like this, just can ensure to charge the pole piece in certain position department, realize with the laminating of filling electric pile, resume charging. When the sweeping robot is close to the charging pile but no charging recovery event occurs, it is indicated that the charging pole piece is not attached to the charging pile. At the moment, the floor sweeping robot is controlled to rotate in situ, and the position of the charging pole piece is adjusted to enable the charging pole piece to be attached to the charging pile.
In an embodiment of the present invention, in the method shown in fig. 1, the step of controlling the sweeping robot to travel according to the first preset logic in step S120 includes: and if the traveling time and/or the traveling distance of the sweeping robot reach the corresponding preset values, controlling the sweeping robot to finish the traveling.
In the above embodiment, the robot of sweeping the floor receives the collision and breaks away from electric pile, and its is generally nearer with electric pile's distance of filling. The robot of sweeping the floor only needs the shorter distance of marcing, just can laminate once more with filling electric pile. Therefore, if the travel distance of the sweeping robot exceeds the preset distance value, it indicates that the sweeping robot may deviate from the direction of the charging pile. Even the robot of sweeping the floor still advances according to first preset logic, also can't laminate with filling electric pile. At the moment, the travelling of the sweeping robot is finished in time, so that more electric energy of the sweeping robot is prevented from being consumed, and the sweeping robot can be prevented from entering a dead cycle. The preset distance value can be 20cm, 30cm, 50cm and the like, and can be set according to actual conditions.
Similarly, according to the traveling time of the sweeping robot and the traveling speed of the sweeping robot, the traveling distance of the sweeping robot can be obtained, and whether the sweeping robot deviates from the direction of the charging pile or not is judged. That is to say, if the travel time of robot of sweeping the floor exceeded and predetermine for a long time, then judge that the robot of sweeping the floor has deviated from the direction of filling electric pile, in time finished advancing. The preset time length can be set to be 3s, 5s or 8s and the like and can be set according to actual conditions.
The above-mentioned manner of judging according to the travel time or the travel distance may be one of them, or may be two of them, and the setting is performed according to the specific situation.
In an embodiment of the present invention, as shown in fig. 1, if no charging recovery event occurs until the end of the travel, the sweeping robot is controlled to travel to the charging pile according to a second preset logic.
In the whole process that the sweeping robot travels by the first preset logic, no charging recovery event occurs, which indicates that the sweeping robot completely deviates from the direction of the charging pile. Meanwhile, the traveling direction of the first preset logic is incorrect, and the traveling direction of the sweeping robot needs to be determined again at the moment.
The sweeping robot moves backwards in the first preset logic, and the moving direction of the sweeping robot is changed in the second preset logic. First, the sweeping robot needs to determine the direction of the charging pile, and then set the direction as the traveling direction to travel in the direction. Meanwhile, the traveling mode of the sweeping robot can be the same as that in the first preset logic, namely, the sweeping robot rotates left and right at a certain rotation frequency.
In a specific example, the sweeping robot travels to the left rear of the charging pile by using a first preset logic, and the traveling direction of the sweeping robot is changed to move to the right front by using a second preset logic, so that the sweeping robot can travel to the position of the charging pile.
In an embodiment of the present invention, in the above method, the sweeping robot is provided with a laser radar. Control robot of sweeping the floor and marcing to filling electric pile according to the second and predetermine the logic and include: controlling a laser radar to scan the charging pile and determining the position of the charging pile; determining a traveling track according to the position of the charging pile and the current position of the sweeping robot; and controlling the sweeping robot to move to the position of the charging pile along the traveling track to charge.
The position of filling electric pile is confirmed through laser radar to this embodiment to confirm the advancing direction of robot of sweeping the floor. Specifically, the robot of sweeping the floor opens laser radar and scans filling electric pile, when scanning to filling electric pile, confirms the position of filling electric pile for the position of filling electric pile that scans. And determining the traveling track of the sweeping robot so that the sweeping robot avoids the obstacle and accurately travels to the position of the charging pile. For example, when the sweeping robot scans, the obstacle can be scanned and marked at the same time. Planning the travel track to avoid the obstacle.
In an embodiment of the present invention, in the method, barcode information is set on the charging pile. Control laser radar scanning fills electric pile, and the position of confirming to fill electric pile includes: controlling a laser radar to perform rotary scanning; and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
Fill and be provided with bar code information in advance on the electric pile, utilize the laser radar who sets up on the robot of sweeping the floor to gather and acquire the bar code information that sets up on filling the electric pile, when the bar code information that acquires and fill the bar code information matching that sets up in advance on the electric pile, confirm that laser radar gathers the position and be the charging seat position.
Of course, the position of the charging pile can also be determined in other ways. For example, the sweeping robot can detect the position of the charging pile by using an infrared detection mode. Specifically, the robot of sweeping the floor utilizes the infrared signal receiver who sets up on the machine of sweeping the floor to receive the infrared signal that sets up the infrared signal transmitter on filling electric pile and launch. The transmitting direction of the received infrared signal is determined through the received infrared signal, the transmitting distance is determined according to the strength of the received infrared signal, and the corresponding position of the charging seat is determined.
Fig. 2 is a schematic structural diagram of a charging control device of a sweeping robot according to an embodiment of the present invention. As shown in fig. 2, the apparatus 200 includes:
the recharging determination unit 210 is adapted to determine whether a recharging condition is met according to a charging interruption event occurring during a charging process of the robot.
In the process of charging the floor sweeping robot by using the charging pile, charging interruption events possibly occurring include power failure, separation of the floor sweeping robot from the charging pile or other fault events, so that the charging state of the floor sweeping robot is interrupted. When a charging interruption event occurs, in order to ensure that the sweeping robot can complete charging, it is necessary to determine whether to perform recharging so that the sweeping robot can perform charging again.
The first travel control unit 220 is adapted to control the sweeping robot to travel according to a first preset logic if the recharging condition is met.
In the charging interruption event that may occur as described above, if the power is off, the cleaning robot cannot be recharged even if recharging is performed. Therefore, the recharging condition is met, and the explanation shows that the sweeping robot is separated from the charging pile and cannot be charged. For example, the sweeping robot is collided by other objects, and is separated from the charging pile. In this case, the sweeping robot needs to be controlled to move to be connected with the charging pile again so as to continue charging. The sweeping robot advances according to a first preset logic, adjusts the position of the sweeping robot and moves to the charging pile.
And an ending unit 230, configured to control the sweeping robot to end the current travel if a charging recovery event occurs during the travel.
And (4) charging a recovery event, namely, connecting the sweeping robot with the charging pile, and charging again. At the moment, the back charging of the sweeping robot is completed, and the sweeping robot does not need to continuously adjust the position and does not need to continuously move. Therefore, as long as a charging recovery event occurs, the sweeping robot is controlled to finish the traveling of the time, the position adjustment is stopped, the charging is prevented from being influenced by invalid traveling, and the charging of the sweeping robot is ensured to be correct.
According to the technical scheme, whether the recharging condition is met or not is judged according to the charging interruption event in the charging process of the sweeping robot. And if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic. And if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling. Therefore, after the charging interruption event occurs to the sweeping robot, the position of the sweeping robot is controlled to be adjusted in time to recover the charging, and the smooth charging completion is ensured. And once a charging recovery event occurs, the sweeping robot is controlled to finish the traveling, the position adjustment is stopped, the influence of invalid traveling on charging is avoided, and the charging accuracy of the sweeping robot is ensured.
In an embodiment of the present invention, as shown in the apparatus 200 shown in fig. 2, the sweeping robot is provided with a charging pole piece, and the charging pole piece is attached to the charging pile when the sweeping robot is charging. The recharging determination unit 210 is adapted to determine whether the charging pole piece is separated from the charging pile, and if so, meets the recharging condition.
The robot of sweeping the floor charges with filling the cooperation of electric pile, and the pole piece that charges can be used for the location, also can be used for charging. When the pole piece and the laminating of filling electric pile charge, the robot of sweeping the floor is located the position of charging, can charge. And when the charging pole piece breaks away from the charging pile, the sweeping robot deviates from the charging position, so that the charging is interrupted. Therefore, whether the floor sweeping robot needs to carry out recharging or not can be accurately determined by judging whether the charging pole piece is separated from the charging pile or not, so that the position of the floor sweeping robot is adjusted, and the charging pole piece is attached to the charging pile again.
In one embodiment, the charging pole piece adopts a pressure sensor for positioning the charging position of the sweeping robot. When the pole piece that charges and the laminating of filling electric pile, pressure sensor output pressure signal. And when the pressure sensor has no signal output, the charging pole piece can be determined to be separated from the charging pile. Therefore, whether the charging pole piece is separated from the charging pile or not can be judged by detecting the signal output of the pressure sensor.
In one embodiment of the present invention, the charging pole piece forms a recharging detection loop when attached to the charging post in the device 200 shown in fig. 2. The recharging determination unit 210 is further adapted to determine whether the recharging detection loop is open, and if so, determine that the charging pole piece is separated from the charging pile. The charge restoration event includes: the recharge detection circuit is changed from an open circuit to a closed circuit.
The charging pole piece is used for charging. The pole piece that charges and the laminating of filling electric pile constitute the robot of sweeping the floor and fill the detection return circuit. The recharging detection loop comprises a storage battery of the sweeping robot, and the charging pole piece is electrically connected with the storage battery. The battery of robot of sweeping the floor is connected to through the pole piece that charges and fills electric pile, charges the battery. Simultaneously, this detection return circuit that recharges can export the charged state to judge whether robot of sweeping the floor is charging, thereby judge whether the pole piece that charges breaks away from and fills electric pile. That is to say, when the recharging detection circuit is changed from the open circuit to the open circuit, the recharging detection circuit is disconnected, the sweeping robot is disconnected from the charging state, and the charging pole piece is separated from the charging pile; when the detection return circuit that recharges becomes the route from opening a way, explain to recharge the detection return circuit and connect and accomplish, the robot of sweeping the floor gets into the charged state, and the pole piece that charges this moment laminates with filling electric pile, has also taken place the recovery incident that charges promptly.
Of course, when the outage incident takes place, fill back and detect the return circuit and also become open a way from the passageway, the pole piece that charges still laminates with filling electric pile this moment. In this situation, if it is determined that the recharging condition is satisfied, it is obvious that an error occurs when the recharging of the cleaning robot is started. However, in today's environment, the occurrence of a power down event is a small probability event that will not normally occur. Therefore, whether the recharging condition is met or not is judged according to the charging state of the recharging detection loop, the probability of misjudgment is low, and the accuracy is relatively high. Moreover, by adopting the mode, the arrangement of the detection device can be simplified, so that the sweeping robot is provided with other functional structures, and the performance of the sweeping robot is improved to a certain extent.
In an embodiment of the present invention, in the apparatus 200, the charging pole piece is disposed at the rear of the sweeping robot. The first traveling control unit 220 is adapted to control the sweeping robot to rotate left and right according to a preset rotation frequency and move backwards at the same time.
In the charging process, the sweeping robot is collided to enable the charging pole piece to be separated from the charging pile, and under the condition, the sweeping robot generally deviates in the opposite direction of the charging pile due to the fact that the sweeping robot is blocked by the charging pile. Consequently, only need control the robot of sweeping the floor to the opposite direction of skew, also fill the direction of electric pile and advance promptly, can make the pole piece that charges laminate with filling electric pile once more.
In order to determine the traveling direction of the sweeping robot, specifically, the position of the default charging pole piece is the rear part of the sweeping robot. The charging pole piece is separated from the charging pile, and the possible deviation direction of the sweeping robot is forward deviation, right-front deviation or left-front deviation. The robot of sweeping the floor is controlled to advance along the position of the pole piece that charges, namely advance backward, make it be close to and fill electric pile. The robot of sweeping the floor when skew, probably make the pole piece that charges also skew to the position of filling electric pile, consequently the robot of sweeping the floor is at the back in-process of marcing, and the while is controlled and is rotated, and the position of the pole piece that charges is adjusted, makes the pole piece that charges can accurately with fill electric pile laminating.
The rotation frequency and the rotation amplitude of the sweeping robot can be set according to actual conditions, for example, the rotation direction is changed every 500ms, and the rotation angle of each rotation direction is 60 degrees. During backward traveling, the sweeping robot firstly rotates clockwise by 60 degrees and then rotates anticlockwise by 120 degrees after 500 ms. Like this, just can ensure to charge the pole piece in certain position department, realize with the laminating of filling electric pile, resume charging. When the sweeping robot is close to the charging pile but no charging recovery event occurs, it is indicated that the charging pole piece is not attached to the charging pile. At the moment, the floor sweeping robot is controlled to rotate in situ, and the position of the charging pole piece is adjusted to enable the charging pole piece to be attached to the charging pile.
In an embodiment of the invention, in the apparatus 200, the first travel control unit 210 is adapted to control the sweeping robot to end the travel if the travel time and/or the travel distance of the sweeping robot reach a corresponding preset value.
In the above embodiment, the robot of sweeping the floor receives the collision and breaks away from electric pile, and its is generally nearer with electric pile's distance of filling. The robot of sweeping the floor only needs the shorter distance of marcing, just can laminate once more with filling electric pile. Therefore, if the travel distance of the sweeping robot exceeds the preset distance value, it indicates that the sweeping robot may deviate from the direction of the charging pile. Even the robot of sweeping the floor still advances according to first preset logic, also can't laminate with filling electric pile. At the moment, the travelling of the sweeping robot is finished in time, so that more electric energy of the sweeping robot is prevented from being consumed, and the sweeping robot can be prevented from entering a dead cycle. The preset distance value can be 20cm, 30cm, 50cm and the like, and can be set according to actual conditions.
Similarly, according to the traveling time of the sweeping robot and the traveling speed of the sweeping robot, the traveling distance of the sweeping robot can be obtained, and whether the sweeping robot deviates from the direction of the charging pile or not is judged. That is to say, if the travel time of robot of sweeping the floor exceeded and predetermine for a long time, then judge that the robot of sweeping the floor has deviated from the direction of filling electric pile, in time finished advancing. The preset time length can be set to be 3s, 5s or 8s and the like and can be set according to actual conditions.
The above-mentioned manner of judging according to the travel time or the travel distance may be one of them, or may be two of them, and the setting is performed according to the specific situation.
In one embodiment of the present invention, as in the apparatus 200 shown in fig. 2, the apparatus further comprises: and the second traveling control unit is suitable for controlling the sweeping robot to travel to the charging pile according to a second preset logic if the charging recovery event does not occur until the traveling is finished.
In the whole process that the sweeping robot travels by the first preset logic, no charging recovery event occurs, which indicates that the sweeping robot completely deviates from the direction of the charging pile. Meanwhile, the traveling direction of the first preset logic is incorrect, and the traveling direction of the sweeping robot needs to be determined again at the moment.
The sweeping robot moves backwards in the first preset logic, and the moving direction of the sweeping robot is changed in the second preset logic. First, the sweeping robot needs to determine the direction of the charging pile, and then set the direction as the traveling direction to travel in the direction. Meanwhile, the traveling mode of the sweeping robot can be the same as that in the first preset logic, namely, the sweeping robot rotates left and right at a certain rotation frequency.
In a specific example, the sweeping robot travels to the left rear of the charging pile by using a first preset logic, and the traveling direction of the sweeping robot is changed to move to the right front by using a second preset logic, so that the sweeping robot can travel to the position of the charging pile.
In an embodiment of the present invention, in the above-mentioned apparatus 200, the sweeping robot is provided with a laser radar. The second advancing control unit is further suitable for controlling the laser radar to scan the charging pile and determine the position of the charging pile; determining a traveling track according to the position of the charging pile and the current position of the sweeping robot; and controlling the sweeping robot to move to the position of the charging pile along the traveling track to charge.
The position of filling electric pile is confirmed through laser radar to this embodiment to confirm the advancing direction of robot of sweeping the floor. Specifically, the robot of sweeping the floor opens laser radar and scans filling electric pile, when scanning to filling electric pile, confirms the position of filling electric pile for the position of filling electric pile that scans. And determining the traveling track of the sweeping robot so that the sweeping robot avoids the obstacle and accurately travels to the position of the charging pile. For example, when the sweeping robot scans, the obstacle can be scanned and marked at the same time. Planning the travel track to avoid the obstacle.
In an embodiment of the present invention, in the device 200, barcode information is provided on the charging pile. The second advancing control unit is further suitable for controlling the laser radar to carry out rotary scanning; and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
Fill and be provided with bar code information in advance on the electric pile, utilize the laser radar who sets up on the robot of sweeping the floor to gather and acquire the bar code information that sets up on filling the electric pile, when the bar code information that acquires and fill the bar code information matching that sets up in advance on the electric pile, confirm that laser radar gathers the position and be the charging seat position.
Of course, the position of the charging pile can also be determined in other ways. For example, the sweeping robot can detect the position of the charging pile by using an infrared detection mode. Specifically, the robot of sweeping the floor utilizes the infrared signal receiver who sets up on the machine of sweeping the floor to receive the infrared signal that sets up the infrared signal transmitter on filling electric pile and launch. The transmitting direction of the received infrared signal is determined through the received infrared signal, the transmitting distance is determined according to the strength of the received infrared signal, and the corresponding position of the charging seat is determined.
According to the technical scheme, whether the recharging condition is met or not is judged according to the charging interruption event in the charging process of the sweeping robot. And if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic. And if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling. Therefore, after the charging interruption event occurs to the sweeping robot, the position of the sweeping robot is controlled to be adjusted in time to recover the charging, and the smooth charging completion is ensured. And once a charging recovery event occurs, the sweeping robot is controlled to finish the traveling, the position adjustment is stopped, the influence of invalid traveling on charging is avoided, and the charging accuracy of the sweeping robot is ensured.
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 used 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 components of the charge control apparatus, electronics and computer readable storage medium device of a sweeping robot 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 usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The invention provides a1 and a charging control method of a sweeping robot, wherein the method comprises the following steps:
judging whether a recharging condition is met or not according to a charging interruption event in the charging process of the sweeping robot;
if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic;
and if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling.
A2, the method according to A1, wherein a charging pole piece is arranged on the sweeping robot, and the charging pole piece is attached to a charging pile when the sweeping robot is charged;
the judging whether the recharging condition is met according to the charging interruption event comprises the following steps:
and judging whether the charging pole piece is separated from the charging pile or not, and if so, meeting the recharging condition.
A3, the method of A2, wherein the charging pole piece forms a recharging detection loop when attached to a charging pile;
judging whether the pole piece that charges breaks away from fill electric pile includes: judging whether the recharging detection loop is an open circuit or not, if so, judging that the charging pole piece is separated from the charging pile;
the charge restoration event includes:
the recharge detection circuit is changed from an open circuit to a closed circuit.
A4, the method of A2, wherein the charging pole piece is arranged at the rear part of the sweeping robot;
the controlling the sweeping robot to advance according to a first preset logic comprises:
and controlling the sweeping robot to rotate left and right according to a preset rotation frequency and move backwards at the same time.
A5, the method of a1, wherein the controlling the sweeping robot to travel according to a first preset logic comprises:
and if the traveling time and/or the traveling distance of the sweeping robot reach corresponding preset values, controlling the sweeping robot to finish the traveling.
A6, the method of a1, wherein the method further comprises:
and if the charging recovery event does not occur until the traveling is finished, controlling the sweeping robot to travel to the charging pile according to a second preset logic.
A7, the method of A6, wherein the sweeping robot is provided with a laser radar;
control the robot of sweeping the floor according to the second preset logic march to fill electric pile and include:
controlling the laser radar to scan the charging pile and determining the position of the charging pile;
determining a travel track according to the position of the charging pile and the current position of the sweeping robot;
and controlling the sweeping robot to move to the position of the charging pile along the travelling track for charging.
A8, the method of A7, wherein bar code information is provided on the charging post;
the control the laser radar scans the charging pile, and the determining the position of the charging pile comprises:
controlling the laser radar to perform rotary scanning;
and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
The invention also provides B9 and a charging control device of the sweeping robot, wherein the device comprises:
the recharging judging unit is suitable for judging whether recharging conditions are met or not according to the charging interruption events in the charging process of the sweeping robot;
the first traveling control unit is suitable for controlling the sweeping robot to travel according to a first preset logic if the recharging condition is met;
and the ending unit is used for controlling the sweeping robot to end the traveling if a charging recovery event occurs in the traveling process.
The device of B10, as in B9, wherein the sweeping robot is provided with a charging pole piece, and the charging pole piece is attached to a charging pile when the sweeping robot is charged;
the recharging judging unit is suitable for judging whether the charging pole piece is separated from the charging pile or not, and if so, recharging conditions are met.
B11, the device of B10, wherein the charging pole piece forms a recharging detection loop when attached to a charging post;
the recharging judging unit is further suitable for judging whether the recharging detection loop is open-circuit or not, and if so, judging that the charging pole piece is separated from the charging pile;
the charge restoration event includes:
the recharge detection circuit is changed from an open circuit to a closed circuit.
B12, the device according to B10, wherein the charging pole piece is arranged at the rear of the sweeping robot;
the first traveling control unit is suitable for controlling the sweeping robot to rotate left and right according to a preset rotating frequency and move backwards at the same time.
B13, the device according to B9, wherein the first travel control unit is adapted to control the sweeping robot to finish the current travel if the travel time and/or the travel distance of the sweeping robot reach a corresponding preset value.
B14, the apparatus of B9, wherein the apparatus further comprises:
and the second traveling control unit is suitable for controlling the sweeping robot to travel to the charging pile according to a second preset logic if no charging recovery event occurs until the traveling is finished.
B15, the device as B14, wherein the sweeping robot is provided with a laser radar;
the second advancing control unit is further suitable for controlling the laser radar to scan the charging pile and determine the position of the charging pile;
determining a travel track according to the position of the charging pile and the current position of the sweeping robot;
and controlling the sweeping robot to move to the position of the charging pile along the travelling track for charging.
B16, the device as B15, wherein bar code information is arranged on the charging pile;
the second traveling control unit is further suitable for controlling the laser radar to perform rotary scanning;
and when the bar code information acquired by scanning of the laser radar is matched with the bar code information on the charging pile, determining the scanning position of the laser radar as the position of the charging pile.
The invention also provides C17, 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-A8.
The present invention also provides D18, 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 8.
Claims (10)
1. A charging control method of a sweeping robot comprises the following steps:
judging whether a recharging condition is met or not according to a charging interruption event in the charging process of the sweeping robot;
if the recharging condition is met, controlling the sweeping robot to move according to a first preset logic;
and if a charging recovery event occurs in the traveling process, controlling the sweeping robot to finish the traveling.
2. The method according to claim 1, wherein a charging pole piece is arranged on the sweeping robot, and the charging pole piece is attached to a charging pile when the sweeping robot is charged;
the judging whether the recharging condition is met according to the charging interruption event comprises the following steps:
and judging whether the charging pole piece is separated from the charging pile or not, and if so, meeting the recharging condition.
3. The method of claim 2, wherein the charging pole piece forms a recharge detection loop when attached to a charging post;
judging whether the pole piece that charges breaks away from fill electric pile includes: judging whether the recharging detection loop is an open circuit or not, if so, judging that the charging pole piece is separated from the charging pile;
the charge restoration event includes:
the recharge detection circuit is changed from an open circuit to a closed circuit.
4. The method of claim 2, wherein the charging pole piece is disposed at a rear portion of the sweeping robot;
the controlling the sweeping robot to advance according to a first preset logic comprises:
and controlling the sweeping robot to rotate left and right according to a preset rotation frequency and move backwards at the same time.
5. The method of claim 1, wherein said controlling said sweeping robot to travel according to a first preset logic comprises:
and if the traveling time and/or the traveling distance of the sweeping robot reach corresponding preset values, controlling the sweeping robot to finish the traveling.
6. The method of claim 1, wherein the method further comprises:
and if the charging recovery event does not occur until the traveling is finished, controlling the sweeping robot to travel to the charging pile according to a second preset logic.
7. The method of claim 6, wherein the sweeping robot is provided with a laser radar thereon;
control the robot of sweeping the floor according to the second preset logic march to fill electric pile and include:
controlling the laser radar to scan the charging pile and determining the position of the charging pile;
determining a travel track according to the position of the charging pile and the current position of the sweeping robot;
and controlling the sweeping robot to move to the position of the charging pile along the travelling track for charging.
8. A charging control device of a sweeping robot, wherein the device comprises:
the recharging judging unit is suitable for judging whether recharging conditions are met or not according to the charging interruption events in the charging process of the sweeping robot;
the first traveling control unit is suitable for controlling the sweeping robot to travel according to a first preset logic if the recharging condition is met;
and the ending unit is used for controlling the sweeping robot to end the traveling if a charging recovery event occurs in the traveling process.
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 the method of any one of claims 1 to 7.
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 1-7.
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