CN111802967B

CN111802967B - Sweeper and obstacle avoidance method thereof

Info

Publication number: CN111802967B
Application number: CN202010727986.8A
Authority: CN
Inventors: 王文浩
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2022-05-20
Anticipated expiration: 2040-07-23
Also published as: CN111802967A

Abstract

The embodiment of the application provides a sweeper and an obstacle avoidance method of the sweeper, wherein the sweeper comprises a sweeper body, a polar plate and a control device; the polar plate is arranged on the side wall of the sweeper body and generates an electromagnetic field in a working state; the control device is electrically connected with the polar plate and used for acquiring the capacitance of the polar plate according to the electromagnetic field change of the polar plate and determining whether the barrier exists in the environment area corresponding to the polar plate according to the capacitance of the polar plate. The sweeper provided by the embodiment of the application can not be influenced by the ambient environment and light factors due to the fact that the polar plate generating the electromagnetic field is used for detecting the obstacle, can also avoid the interference of signals sent by other sensors, and improves the detection accuracy of the obstacle. And because the polar plate sets up on the lateral wall of machine body of sweeping the floor, therefore the electromagnetic field that the polar plate produced can not receive the interference of machine of sweeping the floor self, can be used for detecting the barrier completely to guarantee that the testing process does not have the detection blind area, improved the reliability of machine of sweeping the floor.

Description

Sweeper and obstacle avoidance method thereof

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a sweeper and a barrier avoiding method of the sweeper.

Background

The obstacle detection device of the existing sweeper is influenced by the characteristics and the installation position, a detection blind area often appears when the obstacle detection device is used for detecting, and a detection signal is easily influenced by the surrounding environment and light factors in the detection process, so that the problem of inaccurate detection result appears.

This section is intended to provide a background or context to the embodiments of the application that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.

Disclosure of Invention

The embodiment of the application provides a sweeper and an obstacle avoidance method of the sweeper, which aim to solve or relieve one or more technical problems in the prior art.

As a first aspect of an embodiment of the present application, an embodiment of the present application provides a sweeper, including:

a sweeper body;

the polar plate is arranged on the side wall of the sweeper body and generates an electromagnetic field in a working state;

and the control device is electrically connected with the polar plate and used for acquiring the capacitance of the polar plate according to the electromagnetic field change of the polar plate and determining whether an obstacle exists in the environment area corresponding to the polar plate according to the capacitance of the polar plate.

In one embodiment, the pole plate is attached to at least the front half side wall of the sweeper body along the advancing direction.

In one embodiment, the polar plates are multiple, and each polar plate is combined to cover at least a right front area and an oblique front area of the side wall of the front half part of the sweeper body.

In one embodiment, the combined length of the pole plates is not less than one third of the circumference of the sweeper body.

In one embodiment, the height of the pole plate is no less than half of the height of the sweeper body.

In one embodiment, the plates are made of a metallic material.

In one embodiment, the pole plate is arranged on the inner side wall of the shell of the sweeper body; or

The polar plate sets up on the lateral wall of the casing of machine body of sweeping the floor, and the safety cover is established to the outside cover of polar plate.

In one embodiment, the sweeper further comprises:

the detector is arranged on the sweeper body and used for detecting a running state signal of the sweeper, the detector is electrically connected with the control device, and the control device is used for determining whether to filter the acquired capacitance of the polar plate according to the running state signal of the sweeper body.

In one embodiment, the detector is an acceleration sensor or a distance measuring sensor.

As a second aspect of the embodiments of the present application, an embodiment of the present application provides an obstacle avoidance method for a sweeper, including:

in the working process of the sweeper, the capacitance of the polar plate is obtained according to the electromagnetic field change of the polar plate;

determining that an obstacle exists in an environment area corresponding to the polar plate under the condition that the capacitance of the polar plate exceeds a first threshold range;

determining the relative position of the obstacle and the sweeper based on the setting position of the polar plate on the sweeper;

and controlling the sweeper to avoid the obstacle according to the relative position.

In one embodiment, in the case that the capacitance of the plate exceeds a preset first threshold range, determining that an obstacle exists in an environment region corresponding to the plate includes:

under the condition that the capacitance of the polar plate exceeds a first threshold value range, acquiring a driving state signal of the sweeper, which is detected by a detector;

and under the condition that the amplitude of the driving state signal of the sweeper meets the second threshold range, determining that the obstacle exists in the environment area corresponding to the polar plate.

In one embodiment, the obstacle avoidance method of the sweeper further comprises the following steps:

and under the condition that the amplitude of the running state signal of the sweeper does not meet the second threshold range, filtering the acquired capacitance of the polar plate exceeding the first threshold range.

In one embodiment, the detector uses an acceleration sensor, and in the case that the capacitance of the pole plate exceeds a preset first threshold range, the determining that an obstacle exists in the environment region corresponding to the pole plate includes:

under the condition that the capacitance of the polar plate exceeds a first threshold range, acquiring an acceleration signal of the sweeper, which is detected by an acceleration sensor;

and under the condition that the amplitude of the acceleration signal of the sweeper meets the second threshold range, determining that the obstacle exists in the environment area corresponding to the polar plate.

and under the condition that the amplitude of the acceleration signal of the sweeper does not meet the second threshold range, filtering the acquired capacitance of the polar plate exceeding the first threshold range.

As a third aspect of the embodiments of the present application, an embodiment of the present application provides an obstacle avoidance device of a sweeper, including:

the acquisition module is used for acquiring the capacitance of the polar plate according to the electromagnetic field change of the polar plate in the working process of the sweeper;

the first determining module is used for determining that an obstacle exists in an environment area corresponding to the polar plate under the condition that the capacitance of the polar plate exceeds a first threshold range;

the second determination module is used for determining the relative position of the obstacle and the sweeper based on the setting position of the polar plate on the sweeper;

and the control module is used for controlling the sweeper to avoid the barrier according to the relative position.

In one embodiment, the first determining module comprises:

the acquisition submodule is used for acquiring a driving state signal of the sweeper, which is detected by the detector, under the condition that the capacitance of the polar plate exceeds a first threshold range;

and the first determining submodule is used for determining that the obstacle exists in the environment area corresponding to the polar plate under the condition that the amplitude of the driving state signal of the sweeper meets the second threshold range.

In one embodiment, the first determining module further comprises:

and the filtering submodule is used for filtering the acquired capacitor of the polar plate exceeding the first threshold range under the condition that the amplitude of the running state signal of the sweeper does not meet the second threshold range.

As a fourth aspect of the embodiments of the present application, an electronic device is provided in the embodiments of the present application, where functions of the electronic device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the electronic device includes a processor and a memory, the memory is used for storing a program for supporting the electronic device to execute the obstacle avoidance method of the sweeper, and the processor is configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.

As a fifth aspect of the embodiments of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, which is used for storing an electronic device and computer software instructions used by the electronic device, and includes a program for executing the obstacle avoidance method of the sweeper.

The sweeper provided by the embodiment of the application can not be influenced by the ambient environment and light factors due to the fact that the polar plate generating the electromagnetic field is used for detecting the obstacle, can also avoid the interference of signals sent by other sensors, and improves the detection accuracy of the obstacle. And because the polar plate sets up on the lateral wall of machine body of sweeping the floor, the electromagnetic field that consequently the polar plate produced can not receive the interference of machine of sweeping the floor self, can be used for detecting the barrier completely to guarantee that the testing process does not have the detection blind area, improved the reliability of machine of sweeping the floor.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

Fig. 1 shows a block diagram of a sweeper according to an embodiment of the present application.

Fig. 2 shows a top view structure of a sweeper according to an embodiment of the application.

Fig. 3 shows a top view structure of a sweeper according to another embodiment of the present application.

Fig. 4 shows a top view structure of a sweeper according to another embodiment of the application.

Fig. 5 shows a flowchart of an obstacle avoidance method of a sweeper according to an embodiment of the present application.

Fig. 6 shows a schematic diagram of an obstacle avoidance device of a sweeper according to an embodiment of the present application.

Fig. 7 is a block diagram of an electronic device for implementing an obstacle avoidance method of a sweeper according to an embodiment of the present application.

Description of reference numerals:

1-sweeper body; 2-pole plate; 11-side wall.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

As shown in fig. 1, as an aspect of the embodiment of the present application, the embodiment provides a sweeper, which at least includes a sweeper body 1, a pole plate 2 and a control device (not shown in the figure). The polar plate 2 is arranged on the side wall 11 of the sweeper body 1, and the polar plate 2 can generate an electromagnetic field in a working state. The control device is electrically connected with the polar plate 2 and is used for acquiring the capacitance of the polar plate 2 according to the electromagnetic field change of the polar plate 2 and determining whether an obstacle exists in the corresponding environment area in front of the polar plate 2 according to the capacitance of the polar plate 2.

The sweeper body 1 can be understood as any sweeper in the prior art, and is not particularly limited herein. For example, the shape, material, etc. of the housing of the sweeper body 1 can be selected and adjusted according to the prior sweeper. The number and arrangement mode of the wheels of the sweeper body 1 can be selected and adjusted according to the sweeper in the prior art. The structure in the sweeper body 1, the sensor arranged on the sweeper body 1 and the like can be selected and adjusted according to the sweeper in the prior art.

The shape and the size of the polar plate 2 can be adjusted adaptively according to the shape and the size of the side wall 11 of the sweeper body 1. For example, when the side wall 11 of the sweeper body 1 is annular, the pole plate 2 may have a strip-shaped structure, so that the pole plate 2 can cover a part of the area of the side wall 11 along the circumferential direction of the side wall 11 of the sweeper body 1. The material of the polar plate 2 can be selected according to the requirement, and the polar plate 2 can generate an electromagnetic field after alternating current is supplied. For example, the plate 2 may be a flexible circuit board or a metal foil. The polar plate 2 is arranged on the side wall 11 of the sweeper body 1, and it can be understood that the polar plate 2 is attached to the side wall 11 of the sweeper body 1 and is fixedly connected with the side wall 11, or the polar plate 2 is attached to the side wall 11 of the sweeper body 1 and is detachably connected with the side wall 11. In order to adapt to the shape of the side wall 11 of the sweeper body 1, the pole plate 2 can be a flexible plate so as to be better attached to the side wall 11 of the sweeper body 1. The number of the polar plates 2 and the arrangement positions on the side wall 11 of the sweeper body 1 can be selected and adjusted according to the detection requirement of the obstacles. For example, in order to accurately position an obstacle, a plurality of pole plates 2 may be provided on the side wall 11 of the sweeper body 1 to perform obstacle detection. For another example, in order to perform non-blind-zone detection on obstacles in the surrounding environment during the walking process of the sweeper, the pole plates 2 may be fully distributed on the front half portion of the side wall 11 of the sweeper body 1 or the whole side wall 11.

The polar plate 2 can generate an electromagnetic field under the condition of alternating current, and the detection of the obstacles in the surrounding environment of the sweeper can be realized through the electromagnetic field of the polar plate 2. The principle is that the resonance frequency of the electromagnetic field is constant without external interference, and obvious fluctuation can not occur, so that when the resonance frequency of the electromagnetic field changes, an object possibly enters the electromagnetic field, and the electromagnetic field changes.

The control device may be a controller or processor of the sweeper itself. The control device utilizes the capacitance measuring chip to detect the change of the resonant frequency of the electromagnetic field of the polar plate 2, and then the current capacitance of the polar plate 2 can be calculated. Whether the electromagnetic field change of the plate 2 is caused by the obstacle can be determined according to the capacitance change condition of the plate 2, namely, the controller can determine whether the obstacle exists in the front area of the plate 2 according to the capacitance of the plate 2. The capacitance mentioned in the embodiments of the present application is understood to be the capacitance of a capacitor formed by the plate 2 and the ground.

The sweeper provided by the embodiment of the application can not be influenced by the ambient environment and light factors due to the fact that the polar plate 2 capable of generating the electromagnetic field is used for detecting the obstacle, can also avoid the interference of signals sent by other sensors, and improves the detection accuracy of the obstacle. And because the polar plate 2 is arranged on the side wall 11 of the sweeper body 1, the electromagnetic field generated by the polar plate 2 cannot be interfered by the sweeper and can be completely used for detecting obstacles, so that a detection blind area does not exist in the detection process, and the reliability of the sweeper is improved. On the other hand, the divergence range of the electromagnetic field is limited, so that the obstacle detection distance of the sweeper can be shortened, the sweeper can avoid under the condition that the sweeper is close to the obstacle, the sweeping range of the sweeper is improved, the avoiding action can not be started at a position far away from the obstacle, and the sweeping performance of the sweeper is improved.

In one embodiment, the control device may also be electrically connected to the driving device of the sweeper body 1. Therefore, when the control device confirms that the obstacle exists in the corresponding area of the polar plate 2 according to the capacitance of the polar plate 2, the driving device can be controlled to drive the sweeper body 1 to execute the action of avoiding the obstacle. The driving device can be understood as a mechanism capable of driving the sweeper to move.

In one embodiment, as shown in fig. 2 and 3, the pole plate 2 is attached to at least the front half side wall 11 of the sweeper body 1 along the advancing direction.

The front half side wall 11 can be understood as one half side wall 11 of the annular side wall 11 of the sweeper body 1, and the partial side wall 11 is the side wall 11 corresponding to the front end body of the sweeper body 1 in the advancing direction. In this embodiment, the front half body of the sweeper body 1 along the forward direction is defined as the front end body of the sweeper body 1 (the upper half region of the sweeper body 1 in fig. 2 and 3), and the rear half body of the sweeper body 1 along the forward direction is defined as the rear end body of the sweeper body 1 (the lower half region of the sweeper body 1 in fig. 2 and 3).

The pole plate 2 is attached to at least the front half side wall 11 of the sweeper body 1, and the pole plate 2 is arranged at any position in the area of the front half side wall 11 of the sweeper body 1. For example, on the front half side wall 11 area corresponding to the front right of the sweeper body 1, and/or on the front half side wall 11 area corresponding to the front oblique of the sweeper body 1.

In the embodiment, since the pole plate 2 is arranged on the front half side wall 11 of the sweeper along the advancing direction, the obstacles around the advancing direction of the sweeper can be effectively detected. The sweeper is prevented from colliding with surrounding obstacles in the moving process.

In one embodiment, the plurality of pole plates 2 are combined to cover at least a front area and a slant front area of the front half side wall 11 of the sweeper body 1.

In one embodiment, the combined length of the pole plates 2 is not less than one third of the circumference of the sweeper body 1. That is, each pole plate 2 is disposed at least in a region corresponding to one third of the circumference of the sweeper body 1. The length of the polar plates 2 determines the range of the electromagnetic field generated by the polar plates 2, so that the length of the combined polar plates 2 is not less than one third of the circumference of the sweeper body 1, and the purpose of effectively detecting obstacles around the sweeper is ensured. The area corresponding to one third of the circumference of the sweeper body 1 can include a side wall 11 corresponding to the front of the sweeper along the advancing direction, and can also include a side wall 11 corresponding to the left oblique front and the right oblique front.

In one example, each pole plate 2 is combined to cover the area of the side wall 11 corresponding to one half of the circumference of the sweeper body 1.

In one embodiment, in the case where only one pole plate 2 is provided on the side wall 11 of the sweeper body 1, the length of the pole plate 2 is not less than one third of the circumference of the sweeper body 1. The area corresponding to one third of the circumference of the sweeper body 1 can include a side wall 11 corresponding to the front of the sweeper along the advancing direction, and can also include a side wall 11 corresponding to the left oblique front and the right oblique front.

In one example, as shown in fig. 1 and fig. 2, the sweeper includes two strip-shaped pole plates 2, the two pole plates 2 are symmetrically arranged on the front half side wall 11 of the sweeper body 1, and the two pole plates 2 are combined to cover the whole front half side wall 11 of the sweeper body 1. The two polar plates 2 can detect obstacles in the front area of the sweeper body 1, obstacles in the left front area and obstacles in the right front area.

In one example, as shown in fig. 3, the sweeper includes three pads 2, and the three pads 2 cover a front area, a left front area, and a right front area of the front half sidewall 11 of the sweeper body 1, respectively.

In one example, as shown in fig. 4, the sweeper includes four pads 2, and the four pads 2 cover a left front area, a left side area, a right front area, and a right side area of a front half sidewall 11 of the sweeper body 1.

In one embodiment, the height of the pole plate 2 is no less than half the height of the sweeper body 1. Because the height of the polar plate 2 is not less than half of the height of the sweeper body 1, the polar plate 2 can detect the environment areas obliquely above, obliquely below and right ahead of the sweeper body 1 by utilizing an electromagnetic field.

In one embodiment, the plate 2 is made of a metal material. For example, the plate 2 is made of metal foil or a flexible circuit board.

In one embodiment, the pole plate 2 is disposed on an inner side wall 11 of the housing of the sweeper body 1.

In another embodiment, the pole plate 2 is disposed on the outer side wall 11 of the housing of the sweeper body 1, and a protective cover (not shown) is covered outside the pole plate 2 and connected with the outer side wall 11 of the housing of the sweeper body 1. In order to avoid the influence of the protective cover on the electromagnetic field of the polar plate 2, the protective cover can adopt a plastic cover body with the thickness not exceeding 2 mm.

In one embodiment, the sweeper further comprises a detector (not shown in the figure) disposed on the sweeper body 1, and the detector is configured to detect a driving state signal of the sweeper. The detector is also electrically connected with the control device, and the control device can determine whether to filter the acquired capacitance of the polar plate 2 according to the driving state signal of the sweeper body 1.

The obtained capacitance of the pole plate 2 is filtered, and whether the obtained capacitance is reserved as reference data or not can be understood, because the electromagnetic field of the pole plate 2 can be interfered to a certain extent when the sweeper vibrates during moving, so that the electromagnetic field is changed.

The detector may be any sensor on the sweeper, for example, an acceleration sensor or a distance measuring sensor. As long as the driving state signal of the sweeper in the moving process can be detected. The driving state signal can be understood as a signal related to the moving state of the sweeper, including but not limited to an acceleration detection signal of the sweeper, a driving speed detection signal of the sweeper, a distance detection signal between a base plate of the sweeper and the ground, and the like. Whether the moving state of the sweeper changes or not can be accurately detected through the signals. For example, whether the body of the sweeper vibrates in the moving process can be judged according to the amplitude of the acceleration signal detected by the acceleration sensor. For another example, whether the sweeper crosses an obstacle or climbs over a step in the moving process can be judged through the sudden change of the distance between the sweeper bottom plate and the ground detected by the distance measuring sensor. When the body of the sweeper vibrates, crosses an obstacle or turns over a step, the electromagnetic field of the pole plate 2 is possibly influenced by sudden change of the driving state of the sweeper, so that the detection result of the detector needs to be used for auxiliary judgment in order to avoid misjudgment of the change of the electromagnetic field.

In one embodiment, the sweeper can be further provided with a detection device for detecting the environmental distance, such as an ultrasonic sensor, an infrared sensor, a proximity sensor, a time-of-flight sensor, a structured light sensor, a camera, or the like. Distance detection may be understood as detecting the relative distance between the sweeper and the surrounding object or environment.

In one embodiment, the sweeper can be further provided with a detection device for detecting the environment, such as a laser sensor, a time-of-flight sensor, an infrared sensor, a structured light sensor, a camera, or the like. The environment detection can be understood as detecting the middle and long distance environment around the sweeper body 1, so that the map construction of the spatial area and the positioning of the sweeper body 1 in the spatial area are further realized.

As shown in fig. 5, as an aspect of the embodiment of the present application, the embodiment provides an obstacle avoidance method for a sweeper, including:

s10: and in the working process of the sweeper, the capacitance of the polar plate is obtained according to the change of the resonant frequency of the electromagnetic field of the polar plate.

The working process of the sweeper can be understood as a moving process of the sweeper, a cleaning process of the sweeper staying in place, a standby process of the sweeper in place and the like. Obtaining the capacitance of the plate may be understood as obtaining the capacitance between the plate and ground.

S20: and determining that the obstacle exists in the environment area of the corresponding direction of the plate under the condition that the capacitance of the plate exceeds the first threshold range.

The first threshold range may be adjusted as desired. An obstacle is understood to be any object in the area of space in which the sweeper is located. For example, the obstacle may be any low object such as table and chair legs, shoes, books, walls, etc. that may affect the motion of the sweeper.

S30: and determining the relative position of the obstacle and the sweeper based on the setting position of the pole plate on the sweeper.

Determining the relative position of the obstacle to the sweeper based on the location of the pole plate on the sweeper may be understood as determining that the obstacle is located in the forward environmental region of the sweeper when the pole plate is located on the forward sidewall of the sweeper. When the pole plate is arranged on the left side oblique front side wall of the sweeper, the obstacle can be determined to be positioned in the left side oblique front environment area of the sweeper.

The relative position between the sweeper and the obstacle can be understood as the position coordinates of the sweeper and the obstacle in a map of the pre-constructed spatial area. It can also be understood as the position of the obstacle determined by the sweeper with the sweeper as a coordinate center.

S40: and controlling the sweeper to avoid the obstacle according to the relative position.

The sweeper provided by the embodiment of the application can not be influenced by the surrounding environment and light factors due to the fact that the polar plate capable of generating the electromagnetic field is used for detecting the obstacle, can also avoid the interference of signals sent by other sensors, and improves the detection accuracy of the obstacle. And because the polar plate sets up on the lateral wall of machine body of sweeping the floor, the electromagnetic field that consequently the polar plate produced can not receive the interference of machine of sweeping the floor self, can be used for detecting the barrier completely to guarantee that the testing process does not have the detection blind area, improved the reliability of machine of sweeping the floor. On the other hand, the divergence range of the electromagnetic field is limited, so that the obstacle detection distance of the sweeper can be shortened, the sweeper can avoid under the condition that the sweeper is close to the obstacle, the sweeping range of the sweeper is improved, the avoiding action can not be started at a position far away from the obstacle, and the sweeping performance of the sweeper is improved.

and acquiring a driving state signal of the sweeper, which is detected by the detector, under the condition that the capacitance of the polar plate exceeds a first threshold range.

The detector may be any sensor on the sweeper, for example, an acceleration sensor or a distance measuring sensor. As long as the driving state signal of the sweeper in the moving process can be detected. The driving state signal can be understood as a signal related to the moving state of the sweeper, including but not limited to an acceleration detection signal of the sweeper, a driving speed detection signal of the sweeper, a distance detection signal between a base plate of the sweeper and the ground, and the like. Whether the moving state of the sweeper changes or not can be accurately detected through the signals. For example, whether the body of the sweeper vibrates in the moving process can be judged through the amplitude of the acceleration signal detected by the acceleration sensor. For another example, whether the sweeper crosses an obstacle or steps over in the moving process can be judged through the sudden change of the distance between the sweeper bottom plate and the ground detected by the distance measuring sensor. When the body of the sweeper vibrates, crosses an obstacle or turns over a step, the electromagnetic field of the pole plate can be influenced by sudden changes of the driving state of the sweeper, so that in order to avoid misjudgment of the change of the electromagnetic field, auxiliary judgment needs to be carried out through the detection result of the detector.

The second threshold range may be adjusted as desired. The condition that the amplitude of the running state signal of the sweeper meets the second threshold range can be understood as that the sweeper is in a stable running state, and the running state of the sweeper is not suddenly changed.

In this embodiment, whether the capacitance of the pole plate exceeds the first threshold range is determined in an auxiliary manner by using the detection result of the detector, so that misdetermination of the capacitance caused by electromagnetic field variation of the pole plate due to sudden change of the driving state of the sweeper can be effectively avoided.

The fact that the amplitude of the running state signal of the sweeper does not meet the second threshold range can be understood that the running state of the sweeper changes suddenly, and therefore the amplitude of the running state signal fluctuates abnormally.

In one embodiment, the detector may employ an acceleration sensor, and in the case that the capacitance of the plate exceeds a preset first threshold range, the determining that an obstacle exists in the environment region corresponding to the plate includes:

and acquiring an acceleration signal of the sweeper, which is detected by the acceleration sensor, under the condition that the capacitance of the polar plate exceeds a first threshold range.

As shown in fig. 6, as an aspect of the embodiment of the present application, an obstacle avoidance device of a sweeper provided in the embodiment of the present application includes:

the obtaining module 10 is configured to obtain the capacitance of the pole plate according to the electromagnetic field variation of the pole plate during the working process of the sweeper.

The first determining module 20 is configured to determine that an obstacle exists in the environment region corresponding to the plate if the capacitance of the plate exceeds a first threshold range.

And the second determining module 30 is used for determining the relative position of the obstacle and the sweeper based on the arrangement position of the pole plate on the sweeper.

And the control module 40 is used for controlling the sweeper to avoid the obstacle according to the relative position.

In one embodiment, the first determining module comprises:

and the acquisition submodule is used for acquiring the driving state signal of the sweeper, which is detected by the detector, under the condition that the capacitance of the polar plate exceeds the first threshold range.

In one embodiment, the first determining module further comprises:

The function of the obstacle avoidance device of the sweeper can refer to each embodiment of the obstacle avoidance method of the sweeper.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 7 is a block diagram of an electronic device of a method for avoiding an obstacle of a sweeper according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 7, one processor 701 is taken as an example.

The memory 702 is a non-transitory computer readable storage medium as provided herein. The memory stores instructions executable by at least one processor, so that the at least one processor executes the obstacle avoidance method of the sweeper provided by the application. A non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method of obstacle avoidance for a sweeper provided by the present application.

The memory 702, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method for avoiding obstacles of a sweeper in the embodiments of the present application. The processor 701 executes various functional applications and data processing of the server by running the non-transitory software program, instructions and modules stored in the memory 702, that is, the method for avoiding obstacles of the sweeper in the above method embodiment is implemented.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the obstacle avoidance electronic device of the sweeper, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 702 optionally includes memory located remotely from the processor 701, which may be connected to the obstacle avoidance electronics of the sweeper via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the obstacle avoidance method of the sweeper may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.

The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of the obstacle avoidance electronics of the sweeper, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, etc. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

In the description of the present specification, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A sweeper is characterized by comprising:

a sweeper body;

the polar plate is of a strip-shaped structure, a part of side wall area is covered on the polar plate along the circumferential direction of the side wall of the sweeper body, an electromagnetic field is generated when the polar plate is in a working state, and the height of the polar plate is not less than half of the height of the sweeper body;

the control device is electrically connected with the polar plate and used for acquiring the capacitance of the polar plate according to the electromagnetic field change of the polar plate and determining whether an obstacle exists in an environment area corresponding to the polar plate according to the capacitance of the polar plate;

2. The sweeper of claim 1, wherein the pole plate is affixed to at least a front half sidewall of the sweeper body in the forward direction.

3. The sweeper of claim 2, wherein the plurality of pole plates are combined to cover at least a forward region and a diagonally forward region of the side wall of the front half of the sweeper body.

4. The sweeper of claim 3, wherein the combined length of each pole plate is no less than one third of the circumference of the sweeper body.

5. The sweeper of claim 1, wherein the pole plate is made of a metal material.

6. The sweeper of claim 1, wherein the pole plate is disposed on an inner side wall of a housing of the sweeper body; or

The polar plate sets up on the lateral wall of the casing of machine body of sweeping the floor, the safety cover is established to the outside cover of polar plate.

7. The sweeper of claim 1, wherein the detector is an acceleration sensor or a distance measuring sensor.

8. An obstacle avoidance method of a sweeper, which is applied to the sweeper of any one of claims 1 to 7, is characterized by comprising the following steps:

in the working process of the sweeper, acquiring the capacitance of the polar plate according to the electromagnetic field change of the polar plate;

determining that an obstacle exists in an environment area corresponding to the polar plate under the condition that the capacitance of the polar plate exceeds a capacitance threshold range;

and controlling the sweeper to avoid the barrier according to the relative position.

9. The method of claim 8, wherein determining that an obstacle exists in the environmental region corresponding to the plate if the capacitance of the plate exceeds a preset first threshold range comprises:

and under the condition that the amplitude of the driving state signal of the sweeper meets a second threshold range, determining that the obstacle exists in the environment area corresponding to the polar plate.

10. The method of claim 9, further comprising:

and under the condition that the amplitude of the running state signal of the sweeper does not meet the range of a second threshold value, filtering the acquired capacitance of the polar plate exceeding the range of the first threshold value.

11. The method of claim 9, wherein the detector employs an acceleration sensor, and the determining that an obstacle exists in the environmental region corresponding to the plate if the capacitance of the plate exceeds a preset first threshold range comprises:

under the condition that the capacitance of the polar plate exceeds a first threshold range, acquiring an acceleration signal of the sweeper, which is detected by the acceleration sensor;

and under the condition that the amplitude of the acceleration signal of the sweeper meets a second threshold range, determining that an obstacle exists in the environment area corresponding to the polar plate.

12. The method of claim 11, further comprising:

and under the condition that the amplitude of the acceleration signal of the sweeper does not meet the range of a second threshold value, filtering the acquired capacitance of the polar plate exceeding the range of the first threshold value.

13. An obstacle avoidance device of a sweeper, applied to the sweeper of any one of claims 1 to 7, characterized by comprising:

the second determination module is used for determining the relative position of the obstacle and the sweeper based on the arrangement position of the polar plate on the sweeper;

14. The apparatus of claim 13, wherein the first determining module comprises:

the first determining submodule is used for determining that the obstacle exists in the environment area corresponding to the polar plate under the condition that the amplitude of the driving state signal of the sweeper meets a second threshold range.

15. The apparatus of claim 14, wherein the first determining module further comprises:

and the filtering submodule is used for filtering the acquired capacitance of the polar plate exceeding the first threshold range under the condition that the amplitude of the driving state signal of the sweeper does not meet the second threshold range.

16. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 8 to 12.

17. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 8 to 12.