CN112075891A - Recharging method and device for sweeping robot, sweeping robot and readable medium - Google Patents
Recharging method and device for sweeping robot, sweeping robot and readable medium Download PDFInfo
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- CN112075891A CN112075891A CN202010925428.2A CN202010925428A CN112075891A CN 112075891 A CN112075891 A CN 112075891A CN 202010925428 A CN202010925428 A CN 202010925428A CN 112075891 A CN112075891 A CN 112075891A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a recharging method and device for a sweeping robot, the sweeping robot and a readable storage medium, wherein the method comprises the following steps: judging whether the current sweeping robot detects a target signal emitted by a charging pile; if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal; the robot of sweeping the floor according to the mode of recharging that recharges regional matching returns and fills, from this, returns according to the mode of recharging that recharges regional matching returns and fills through the control robot of sweeping the floor, shortens the robot of sweeping the floor and seeks the time of filling the stake, improves and returns and fills efficiency.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a sweeping robot recharging method and device, a sweeping robot and a readable storage medium.
Background
The existing robot generally has an automatic recharging function. The automatic recharging function becomes an essential important function of the intelligent robot. The robot actively returns to the charging pile to automatically charge when the power is cut off. The automatic recharging function enables the robot to have the capability of automatically and continuously working for a long time under the unattended condition.
However, when the existing robot is recharging, the distance between the sweeper and the charging pile is far away, or the position of the charging pile is changed, so that the positioning is easy to deviate in the recharging process, and the charging pile is searched for too long time.
Disclosure of Invention
The invention mainly aims to provide a recharging method and device of a sweeping robot, the sweeping robot and a readable storage medium, and aims to solve the problem that the recharging efficiency is low in the recharging process of the sweeping robot at present.
In order to achieve the above object, the recharging method of the sweeping robot provided by the present invention comprises the following steps:
judging whether the current sweeping robot detects a target signal emitted by a charging pile;
if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
Preferably, the step of determining the recharging area where the current sweeping robot is located according to the target signal includes:
decoding the target signal to obtain a signal code of the target signal;
and determining a recharging area where the current sweeping robot is located according to the signal code of the target signal.
Preferably, the step of determining the recharging area where the current sweeping robot is located according to the signal code of the target signal comprises:
if the signal code of the target signal is a first code and/or a second code, determining a first recharging area where the current sweeping robot is located;
if the signal code of the target signal is a third code, determining a second recharging area where the current sweeping robot is located;
and if the signal code of the target signal is a fourth code, determining a third recharging area where the current sweeping robot is located.
Preferably, the recharging area is a first recharging area, the target signal in the first recharging area includes a first target signal corresponding to a first code and a second target signal corresponding to a second code, and the step of controlling the sweeping robot to recharge according to the recharging mode matched with the recharging area includes:
controlling the sweeping robot to move according to a preset motion rule, and judging whether the sweeping robot detects a first target signal and a second target signal in real time;
if the sweeping robot detects a first target signal and a second target signal, monitoring whether a charging pile is detected;
if the charging pile is detected, the pose of the sweeping robot is adjusted to carry out recharging.
Preferably, the recharging area is a second recharging area, and the step of controlling the sweeping robot to recharge according to the recharging mode matched with the recharging area comprises the following steps of:
determining a first target movement angle, and controlling the sweeping robot to move a first preset distance along the first target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Preferably, the recharging area is a third recharging area, and the step of controlling the sweeping robot to recharge according to the recharging mode matched with the recharging area comprises the following steps of:
determining a second target movement angle, and controlling the sweeping robot to move a second preset distance along the second target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Preferably, after the step of judging whether the current robot of sweeping the floor detects the target signal that fills electric pile transmission, still include:
if the current sweeping robot does not detect the target signal emitted by the charging pile, controlling the sweeping robot to move according to a preset rule;
returning to the step of judging whether the current sweeping robot detects the target signal emitted by the charging pile or not;
and continuing executing the step of determining a recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal transmitted by the charging pile.
In addition, the invention also provides a recharging device of the sweeping robot, which comprises:
the judging module is used for judging whether the current sweeping robot detects a target signal emitted by the charging pile;
the determining module is used for determining a recharging area where the current sweeping robot is located according to a target signal if the current sweeping robot detects the target signal transmitted by the charging pile;
and the control module is used for controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
In addition, the present invention also provides a sweeping robot, comprising: the recharging program of the sweeping robot is stored in the memory and can be operated on the processor, and when being executed by the processor, the recharging program of the sweeping robot realizes the steps of the recharging method of the sweeping robot.
In addition, the invention further provides a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the recharging method of the sweeping robot.
Compared with the prior art, the invention provides a floor sweeping robot recharging method, a floor sweeping robot recharging device, a floor sweeping robot and a readable storage medium, wherein the floor sweeping robot recharging method comprises the steps of judging whether a target signal emitted by a charging pile is detected by the current floor sweeping robot or not; if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal; the robot of sweeping the floor according to the mode of recharging that recharges regional matching returns and fills, from this, returns according to the mode of recharging that recharges regional matching returns and fills through the control robot of sweeping the floor, shortens the robot of sweeping the floor and seeks the time of filling the stake, improves and returns and fills efficiency.
Drawings
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a recharging method of the sweeping robot according to a first embodiment of the present invention;
fig. 3 is a schematic functional module diagram of a recharging device of a sweeping robot according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention is a sweeping robot.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that turns off the display screen and/or the backlight when the terminal device is moved to the ear. Of course, the terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a recharge program of the sweeping robot.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the recharge program of the sweeping robot stored in the memory 1005, and perform the following operations:
judging whether the current sweeping robot detects a target signal emitted by a charging pile;
if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
decoding the target signal to obtain a signal code of the target signal;
and determining a recharging area where the current sweeping robot is located according to the signal code of the target signal.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
if the signal code of the target signal is a first code and/or a second code, determining a first recharging area where the current sweeping robot is located;
if the signal code of the target signal is a third code, determining a second recharging area where the current sweeping robot is located;
and if the signal code of the target signal is a fourth code, determining a third recharging area where the current sweeping robot is located.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
controlling the sweeping robot to move according to a preset motion rule, and judging whether the sweeping robot detects a first target signal and a second target signal in real time;
if the sweeping robot detects a first target signal and a second target signal, monitoring whether a charging pile is detected;
if the charging pile is detected, the pose of the sweeping robot is adjusted to carry out recharging.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
determining a first target movement angle, and controlling the sweeping robot to move a first preset distance along the first target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
determining a second target movement angle, and controlling the sweeping robot to move a second preset distance along the second target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Further, the processor 1001 may be further configured to call a recharging program of the sweeping robot stored in the memory 1005, and execute the following steps:
if the current sweeping robot does not detect the target signal emitted by the charging pile, controlling the sweeping robot to move according to a preset rule;
returning to the step of judging whether the current sweeping robot detects the target signal emitted by the charging pile or not;
and continuing executing the step of determining a recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal transmitted by the charging pile.
Based on the above terminal hardware structure, various embodiments of the present invention are proposed.
Referring to fig. 2, fig. 2 is a schematic flow chart of a recharging method of the sweeping robot according to the first embodiment of the present invention.
In this embodiment, the recharging method of the sweeping robot includes:
step S10, judging whether the current sweeping robot detects a target signal emitted by a charging pile;
step S20, if the current sweeping robot detects a target signal emitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal;
in this embodiment, it should be noted that a plurality of infrared transmitting tubes are generally installed on a charging pile of the sweeping robot for transmitting infrared signals, an infrared receiving device is installed in front of the sweeping robot for receiving infrared signals transmitted by the charging pile, optionally, other types of signal transmitting tubes, such as radar transmitting tubes, may also be installed on the charging pile of the sweeping robot, and are not limited specifically, wherein the type of the signal receiving tube of the sweeping robot is consistent with the type of the signal transmitting tube of the charging pile, further, the plurality of infrared transmitting tubes on the charging pile carry respective infrared codes, and the infrared signal transmitted by each infrared transmitting tube is identified by an infrared code corresponding to each infrared transmitting tube, so that the sweeping robot can identify which infrared transmitting tube in the charging pile transmits the infrared signal according to the infrared code identified by the infrared signal when receiving the infrared signal, furthermore, a plurality of infrared transmitting tubes of the charging pile are symmetrically distributed on each position of the charging pile, preferably, four infrared transmitting tubes are provided, wherein the infrared transmitting tubes are not limited to four, and can be specifically arranged according to actual conditions.
In this embodiment, when the sweeping robot detects that the power is lower than the minimum preset power, the sweeping robot automatically triggers the recharging operation, or when a recharging instruction sent by user equipment associated with the sweeping robot is received, triggering recharging operation, specifically, firstly, determining whether the current sweeping robot detects a target signal emitted by the charging pile, for example, when the charging pile detects whether an infrared signal exists around the current sweeping robot, further it needs to be stated that, because other equipment can also emit infrared signals, in order to avoid the interference of the sweeping robot by other equipment capable of emitting infrared signals, the infrared signals emitted by the charging pile matched with the sweeping robot are marked with characteristic information, when charging pile detects that there is infrared signal around, further analyze this infrared signal to confirm whether this infrared signal is the infrared signal that fills electric pile transmission that matches with the robot of sweeping the floor.
If the robot of sweeping the floor detects the target signal who fills the electric pile transmission at present, can understand ground, because fill on the electric pile a plurality of infrared transmitting tubes distribute in the different position of filling the electric pile, fill on the electric pile a plurality of infrared transmitting tubes and carry respective infrared code, the infrared code that each infrared transmitting tube corresponds is marked in the infrared signal (being target signal) that each infrared transmitting tube launches, consequently fill the infrared region of covering around the electric pile and be divided into the different area of filling of a plurality of infrared signal, when the robot of sweeping the floor detects the infrared signal who fills the electric pile transmission, can resolve infrared signal, with the infrared code that obtains infrared signal sign, and then confirm the area of filling back that the robot of sweeping the floor located at present according to the infrared code of infrared signal sign.
Further, before step S10, the method further includes:
step S101, judging whether the historical records contain charging pile position information or not;
step S102, if the historical record does not contain the charging pile position information, a signal detector is started to detect a target signal emitted by the charging pile by the signal detector.
In this step, when the sweeping robot needs to perform recharging operation, it may be determined whether the history record includes the charging pile position information, optionally, when the sweeping robot performs cleaning operation, if an infrared signal is detected, it is determined that a charging pile exists around the position, and then the current position information is acquired and recorded, so as to calibrate the charging pile position information based on the current position information.
If the historical record does not contain the charging pile position information, the signal detector is started to detect the target signal transmitted by the charging pile by using the signal detector.
Further, after step S10, the method further includes:
step S103, if the current sweeping robot does not detect a target signal emitted by the charging pile, controlling the sweeping robot to move according to a preset rule;
step S103, returning to the step of judging whether the current sweeping robot detects a target signal emitted by the charging pile;
and S103, continuing to execute the step of determining a recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal emitted by the charging pile.
In this step, if the current sweeping robot does not detect the target signal emitted by the charging pile, the sweeping robot is controlled to move according to a preset rule, for example, the sweeping robot is controlled to move for a certain distance along a zigzag track and stop, and then if the current sweeping robot does not detect the target signal emitted by the charging pile, the sweeping robot is controlled to move according to the preset rule; returning to the step of judging whether the current sweeping robot detects the target signal emitted by the charging pile or not; and continuing executing the step of determining a recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal transmitted by the charging pile.
And step S30, controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
In this step, there are a plurality of recharging areas in this embodiment, for example, a recharging area directly facing a pile opening of a charging pile and a recharging area laterally facing the pile opening of the charging pile, it should be noted that, because the sweeping robot must be directly facing the pile opening of the charging pile to successfully charge, when the sweeping robot is located in the recharging area directly facing the pile opening of the charging pile, the sweeping robot can directly tend to the charging pile to charge, and when the sweeping robot is located in the recharging area laterally facing the pile opening of the charging pile, to ensure a success rate of charging, the sweeping robot needs to first move to the recharging area directly facing the pile opening of the charging pile, and then tends to the charging pile to charge, so that recharging modes of the recharging areas in this embodiment are different, and after determining the recharging area where the sweeping robot is located at present according to the target signal, the sweeping robot is controlled to recharge according to the recharging mode matched with the recharging area.
Based on the scheme, the embodiment judges whether the current sweeping robot detects a target signal emitted by the charging pile; if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal; the robot of sweeping the floor according to the mode of recharging that recharges regional matching returns and fills, from this, returns according to the mode of recharging that recharges regional matching returns and fills through the control robot of sweeping the floor, shortens the robot of sweeping the floor and seeks the time of filling the stake, improves and returns and fills efficiency.
Further, on the basis of the above embodiments of the recharging method for the sweeping robot, the second embodiment of the recharging method for the sweeping robot is provided, in which step S20 includes:
step S201, decoding a target signal to obtain a signal code of the target signal;
and S202, determining a recharging area where the current sweeping robot is located according to the signal code of the target signal.
In this step, preferably, the target signal of this implementation is an infrared signal, the signal code is an infrared code, it should be noted that, because a plurality of infrared transmitting tubes on the charging pile are distributed in different directions of the charging pile, a plurality of infrared transmitting tubes on the charging pile carry respective infrared codes, the infrared code corresponding to each infrared transmitting tube is identified in the infrared signal transmitted by each infrared transmitting tube, therefore, the infrared area covered around the charging pile is divided into recharging areas different from the infrared signal, when the robot that sweeps floor detects the infrared signal transmitted by the charging pile, the infrared signal can be analyzed to obtain the infrared code identified by the infrared signal, and then the recharging area where the robot that sweeps floor is currently located is determined according to the infrared code identified by the infrared signal.
Specifically, in this embodiment, the step of determining the recharging area where the current sweeping robot is located according to the signal code of the target signal includes:
if the signal code of the target signal is a first code and/or a second code, determining a first recharging area where the current sweeping robot is located;
if the signal code of the target signal is a third code, determining a second recharging area where the current sweeping robot is located;
and if the signal code of the target signal is a fourth code, determining a third recharging area where the current sweeping robot is located.
For example, if the signal code of the infrared signal is a middle left area code and/or a middle right area code, the middle recharging area where the current sweeping robot is located is determined, and if the signal code of the infrared signal is a left area code and/or a middle right area code, the left recharging area where the current sweeping robot is located is determined; and if the signal code of the infrared signal is the right area code, determining the right recharging area where the current sweeping robot is located.
Based on the scheme, the embodiment decodes the target signal to obtain the signal code of the target signal; and determining a recharging area where the current sweeping robot is located according to the signal code of the target signal, so that the positioning accuracy of the sweeping robot is improved, the time for searching for a charging pile by the sweeping robot is further shortened, and the recharging efficiency is improved.
Further, on the basis of the above embodiments of the recharging method for the sweeping robot, the third embodiment of the recharging method for the sweeping robot is provided, in which step S30 includes:
step S301, controlling the sweeping robot to move according to a preset motion rule, and judging whether the sweeping robot detects a first target signal and a second target signal in real time;
step S302, if the sweeping robot detects a first target signal and a second target signal, monitoring whether a charging pile is detected;
and step S303, if the charging pile is detected, adjusting the pose of the sweeping robot to carry out recharging.
In this embodiment, the recharging area is a first recharging area, the target signal in the first recharging area includes a first target signal corresponding to the first code and a second target signal corresponding to the second code, specifically, the first recharging area is divided into a first sub recharging area and a second sub recharging area, where the first sub recharging area is a first target signal corresponding to the first code, and the second sub recharging area is a second target signal corresponding to the second code, when the sweeping robot is in the first recharging area, optionally, the sweeping robot is controlled to move based on a PID algorithm, and whether the sweeping robot detects the first target signal and the second target signal is determined in real time, in this step, it should be noted that two infrared receiving tubes are provided right in front of the sweeping robot, and are correspondingly installed in a left receiving area and a right receiving area of the sweeping robot, preferably, each receiving tube is 45 degrees, in the process of controlling the sweeping robot to linearly move based on the PID algorithm, whether two infrared receiving tubes in front of the sweeping robot respectively detect a first target signal and a second target signal is judged in real time, if the two infrared receiving tubes in front of the sweeping robot respectively detect the first target signal and the second target signal, whether the current linear movement track of the sweeping robot is located in the central area of a first recharging area is judged, whether a charging pile is detected in the process of linear movement of the sweeping robot is monitored, if the charging pile is detected, the sweeping robot is controlled to stop moving, and the pose of the sweeping robot is adjusted to enable the interface of the sweeping robot to be aligned with the charging port of the charging pile so as to recharge.
Further, after step S301, the method further includes:
step S3011, if the sweeping robot does not detect the first target signal and the second target signal, adjusting the moving track of the sweeping robot according to a preset rule until the sweeping robot detects the first target signal and the second target signal;
step S3012, returning to the step of monitoring whether the charging pile is detected;
and step S3013, continuing to execute the step of adjusting the pose of the sweeping robot to carry out recharging if the charging pile is detected.
In this step, if the two infrared receiving tubes in front of the sweeping robot do not detect the first target signal and the second target signal, it is determined that the current linear movement track of the sweeping robot deviates from the central area of the first recharging area, the movement track of the sweeping robot is adjusted according to the signal detection results corresponding to the two infrared receiving tubes in front of the sweeping robot, specifically, if the two infrared receiving tubes in front of the sweeping robot both detect the first target signal, it is determined that the current sweeping robot is located in the first sub recharging area, it is controlled to move towards the second sub recharging area until the sweeping robot detects the first target signal and the second target signal, if the two infrared receiving tubes in front of the sweeping robot both detect the second target signal, it is determined that the current sweeping robot is located in the second sub recharging area, it is controlled to move towards the first sub recharging area, and adjusting the pose of the sweeping robot to carry out recharging if the charging pile is detected, and continuing to carry out the step of adjusting the pose of the sweeping robot to carry out recharging if the charging pile is detected, which is not described herein again.
Further, after step S302, the method further includes:
step S3021, if the charging pile is not detected, controlling the sweeping robot to enter a dormant state and sending abnormal prompt information to a user terminal corresponding to the sweeping robot.
It should be noted that the first recharging area is an area with the largest probability of charging piles, and if the robot for sweeping the floor is controlled to move along the recharging track according to the preset motion rule without detecting the charging piles, the robot for sweeping the floor is controlled to enter a dormant state and send abnormal prompt information to a user terminal corresponding to the robot for sweeping the floor, for example, "the electric quantity is about to be exhausted, and the charging piles are not found".
Based on the scheme, the sweeping robot is controlled to move according to a preset motion rule, and whether the sweeping robot detects a first target signal and a second target signal is judged in real time; if the sweeping robot detects a first target signal and a second target signal, monitoring whether a charging pile is detected; if the charging pile is detected, the pose of the sweeping robot is adjusted to carry out recharging, so that the time for searching the charging pile by the sweeping robot is shortened, and the recharging efficiency is improved.
Further, on the basis of the foregoing embodiments of the recharging method for the sweeping robot, a fourth embodiment of the recharging method for the sweeping robot is provided, in which step S30 further includes:
step S304, determining a first target movement angle, and controlling the sweeping robot to move a first preset distance along the first target movement angle;
step S305, judging whether the current sweeping robot detects a first target signal and/or a second target signal;
step S306, if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and S307, controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
In this embodiment, the recharging area is a second recharging area, and when the sweeping robot is located in the second recharging area, the sweeping robot needs to be controlled to move to the first recharging area for recharging, specifically, a first target moving angle of the sweeping robot in the second recharging area is determined, where the first target moving angle points to the first recharging area.
Specifically, the step of determining the first target movement angle includes:
step S3031, controlling the sweeping robot to do spinning motion along a preset rotation direction so as to obtain a first angle and a second angle;
specifically, step S3031 includes:
controlling the sweeping robot to do spinning motion along a preset rotation direction, and recording signal data of a third target signal in the spinning motion process;
and obtaining a first angle and a second angle based on the signal data of the third target signal in the spinning motion process.
Step S3032, determining a first average angle corresponding to the first angle and the second angle;
step S3033, obtaining a first target movement angle based on the first uniform division angle.
In the step, the sweeping robot is controlled to perform a spin motion along a preset rotation direction, for example, the sweeping robot is controlled to rotate for one turn along a counterclockwise direction, and signal data of a third target signal during the spin motion is recorded, specifically, the signal intensity of the third target signal during the spin motion is recorded, after the sweeping robot performs the spin motion along the preset rotation direction, a first angle corresponding to the time when the intensity of the third target signal changes from a minimum value to zero and a second angle corresponding to the time when the intensity of the third target signal changes from zero to a minimum value are determined, that is, the first angle and the second angle are boundary angles between an area corresponding to the third target signal that can be received by the sweeping robot and an area corresponding to the third target signal that cannot be received by the sweeping robot, and after the first signal angle and the second signal angle are obtained, a first equipartition angle corresponding to the first angle and the second angle is determined, specifically, a first division angle which takes the first angle as a starting angle and the second angle as an included angle between the ending angles is determined, and after the first division angle is obtained, the first division angle is continuously rotated by 90 degrees along a preset rotation direction, namely the first target movement angle is obtained.
After the first target movement angle is determined, the sweeping robot is controlled to move a first preset distance along the first target movement angle, then whether the current sweeping robot detects a first target signal and/or a second target signal is judged, namely whether the current sweeping robot is in a first recharging area is judged, if the current sweeping robot detects the first target signal and/or the second target signal, the current sweeping robot is judged to be in the first recharging area, and the sweeping robot is controlled to recharge according to a recharging mode matched with the first recharging area.
Further, if the current sweeping robot is detected to be still in the second recharging area after the sweeping robot is controlled to move the first preset distance along the first target moving angle, the step of determining the third target moving angle is executed, and the step of controlling the sweeping robot to move the third preset distance along the third target moving angle is continuously executed until the sweeping robot is detected to be in the first recharging area, and the sweeping robot is controlled to recharge according to the recharging mode matched with the first recharging area.
Further, if the current sweeping robot is detected to be in the third recharging area after the sweeping robot is controlled to move the first preset distance along the first target moving angle, the step of determining the fourth target moving angle is executed, and the step of controlling the sweeping robot to move the fourth preset distance along the fourth target moving angle is continuously executed until the sweeping robot is detected to be in the first recharging area, and the sweeping robot is controlled to recharge according to the recharging mode matched with the first recharging area, wherein preferably, the fourth preset distance is half of the first preset distance, it needs to be noted that the step of determining the fourth target moving angle, the step of controlling the sweeping robot to move the fourth preset distance along the fourth target moving angle are the same as the step of determining the first target moving angle, and the step of controlling the sweeping robot to move the first preset distance along the first target moving angle, and will not be described in detail herein.
Based on the scheme, the first target moving angle is determined, and the sweeping robot is controlled to move a first preset distance along the first target moving angle; judging whether the current sweeping robot detects a first target signal and/or a second target signal; if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area; the robot of sweeping the floor is controlled according to the mode of recharging that first recharging regional match recharges, from this, when the robot of sweeping the floor is in the second recharges the region, moves to first recharging region through the control robot of sweeping the floor to recharging, and then shorten the robot of sweeping the floor and look for the time of filling the stake, improve recharging efficiency.
Further, on the basis of the above embodiments of the recharging method for the sweeping robot, a fifth embodiment of the recharging method for the sweeping robot is provided, in which step S30 further includes:
step S307, determining a second target movement angle, and controlling the sweeping robot to move a second preset distance along the second target movement angle;
step S308, judging whether the current sweeping robot detects a first target signal and/or a second target signal;
step S309, if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and S3010, controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
In this step, it should be noted that the recharging area is a third recharging area, and when the sweeping robot is located in the third recharging area, the sweeping robot needs to be controlled to move to the first recharging area to recharge, specifically, a second target movement angle of the sweeping robot in the third recharging area is determined, where the second target movement angle points to the first recharging area, specifically, the sweeping robot is controlled to perform a spin motion along a preset rotation direction, signal data of a fourth target signal in the spin motion process is recorded, a third angle and a fourth angle are obtained based on the signal data of the fourth target signal in the spin motion process, a second averaging angle corresponding to the third angle and the fourth angle is determined, and a second target movement angle is obtained based on the second averaging angle.
After the second target movement angle is determined, the sweeping robot is controlled to move a second preset distance along the second target movement angle, whether the current sweeping robot detects a first target signal and/or a second target signal is judged, namely whether the current sweeping robot is in a first recharging area is judged, if the current sweeping robot detects the first target signal and/or the second target signal, the current sweeping robot is judged to be in the first recharging area, and the sweeping robot is controlled to recharge according to a recharging mode matched with the first recharging area.
Further, if it is detected that the current sweeping robot is still in the third recharging area after the sweeping robot is controlled to move the second preset distance along the second target moving angle, the step of determining the fifth target moving angle is executed, and the step of controlling the sweeping robot to move the fifth preset distance along the fifth target moving angle is continuously executed until the sweeping robot is detected to be in the first recharging area, and the sweeping robot is controlled to recharge according to the recharging mode matched with the first recharging area.
Further, if the current sweeping robot is detected to be in the second recharging area after the sweeping robot is controlled to move the second preset distance along the second target moving angle, the step of determining the sixth target moving angle is executed, and the step of controlling the sweeping robot to move the sixth preset distance along the sixth target moving angle is continuously executed until the sweeping robot is detected to be in the first recharging area, and the sweeping robot is controlled to recharge according to the recharging mode matched with the first recharging area, wherein preferably, the sixth preset distance is half of the second preset distance, it needs to be stated that the sixth target moving angle is determined, the step of controlling the sweeping robot to move the sixth preset distance along the sixth target moving angle is the same as the step of determining the second target moving angle, and the sweeping robot is controlled to move the second preset distance along the second target moving angle, and will not be described in detail herein.
Based on the scheme, the second target moving angle is determined, and the sweeping robot is controlled to move a second preset distance along the second target moving angle; judging whether the current sweeping robot detects a first target signal and/or a second target signal; if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area; the robot of sweeping the floor is controlled according to the mode of recharging that first recharging region matches recharges, from this, when the robot of sweeping the floor is in the third and recharges the region, moves to first recharging region through the control robot of sweeping the floor to recharging, and then shorten the robot of sweeping the floor and look for the time of filling the stake, improve and recharge efficiency.
In addition, referring to fig. 3, an embodiment of the present invention further provides a recharging device for a sweeping robot, where the recharging device for the sweeping robot includes:
the judging module 100 is used for judging whether the current sweeping robot detects a target signal emitted by the charging pile;
the determining module 200 is configured to determine, according to a target signal emitted by a charging pile, a recharging area where a current sweeping robot is located if the current sweeping robot detects the target signal;
and the control module 300 is used for controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
Preferably, the determining module comprises:
the decoding unit is used for decoding the target signal to obtain the signal code of the target signal;
and the first determining unit is used for determining the recharging area where the current sweeping robot is located according to the signal code of the target signal.
Preferably, the control module comprises:
the first control unit is used for controlling the sweeping robot to move according to a preset motion rule and judging whether the sweeping robot detects a first target signal and a second target signal in real time;
the monitoring module is used for monitoring whether the charging pile is detected or not if the sweeping robot detects a first target signal and a second target signal;
and the recharging module is used for adjusting the pose of the sweeping robot to recharge if the charging pile is detected.
Preferably, the control module further comprises:
the third determining unit is used for determining the first target moving angle and controlling the sweeping robot to move a first preset distance along the first target moving angle;
the first judging unit is used for judging whether the current sweeping robot detects a first target signal and/or a second target signal;
the first judging unit is used for judging that the current sweeping robot is in a first recharging area if the current sweeping robot detects a first target signal and/or a second target signal;
and the second control unit is used for controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Preferably, the control module further comprises:
the fourth determining unit is used for determining a second target moving angle and controlling the sweeping robot to move a second preset distance along the second target moving angle;
the second judging unit is used for judging whether the current sweeping robot detects the first target signal and/or the second target signal;
the second judging unit is used for judging that the current sweeping robot is in the first recharging area if the current sweeping robot detects the first target signal and/or the second target signal;
and the third control unit is used for controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
Preferably, the determining module further includes:
the fourth control unit is used for controlling the sweeping robot to move according to a preset rule if the current sweeping robot does not detect a target signal emitted by the charging pile;
the second judging unit is used for returning to the step of judging whether the current sweeping robot detects the target signal emitted by the charging pile;
and the fifth determining unit is used for continuously executing the step of determining the recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal transmitted by the charging pile.
The development content of the specific implementation of the sweeping robot and the readable storage medium (i.e., the computer readable storage medium) of the present invention is basically the same as that of the above-mentioned embodiments of the refilling method of the sweeping robot, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The recharging method of the sweeping robot is characterized by comprising the following steps of:
judging whether the current sweeping robot detects a target signal emitted by a charging pile;
if the current sweeping robot detects a target signal transmitted by a charging pile, determining a recharging area where the current sweeping robot is located according to the target signal;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
2. The recharging method for the sweeping robot according to claim 1, wherein the step of determining the recharging area where the current sweeping robot is located according to the target signal comprises the following steps:
decoding the target signal to obtain a signal code of the target signal;
and determining a recharging area where the current sweeping robot is located according to the signal code of the target signal.
3. The recharging method of the sweeping robot of claim 2, wherein the step of determining the recharging area where the sweeping robot is currently located according to the signal code of the target signal comprises:
if the signal code of the target signal is a first code and/or a second code, determining a first recharging area where the current sweeping robot is located;
if the signal code of the target signal is a third code, determining a second recharging area where the current sweeping robot is located;
and if the signal code of the target signal is a fourth code, determining a third recharging area where the current sweeping robot is located.
4. The recharging method of the sweeping robot of claim 1, wherein the recharging area is a first recharging area, the target signal in the first recharging area comprises a first target signal corresponding to a first code and a second target signal corresponding to a second code, and the step of controlling the sweeping robot to recharge according to the recharging method matched with the recharging area comprises:
controlling the sweeping robot to move according to a preset motion rule, and judging whether the sweeping robot detects a first target signal and a second target signal in real time;
if the sweeping robot detects a first target signal and a second target signal, monitoring whether a charging pile is detected;
if the charging pile is detected, the pose of the sweeping robot is adjusted to carry out recharging.
5. The recharging method of the sweeping robot according to claim 1, wherein the recharging area is a second recharging area, and the step of controlling the sweeping robot to recharge according to the recharging mode matched with the recharging area comprises the following steps:
determining a first target movement angle, and controlling the sweeping robot to move a first preset distance along the first target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
6. The recharging method of the sweeping robot according to claim 1, wherein the recharging area is a third recharging area, and the step of controlling the sweeping robot to recharge according to the recharging mode matched with the recharging area comprises the following steps:
determining a second target movement angle, and controlling the sweeping robot to move a second preset distance along the second target movement angle;
judging whether the current sweeping robot detects a first target signal and/or a second target signal;
if the current sweeping robot detects the first target signal and/or the second target signal, judging that the current sweeping robot is in a first recharging area;
and controlling the sweeping robot to carry out recharging according to the recharging mode matched with the first recharging area.
7. The recharging method for the sweeping robot according to any one of claims 1 to 6, wherein after the step of determining whether the current sweeping robot detects the target signal emitted by the charging pile, the recharging method further comprises:
if the current sweeping robot does not detect the target signal emitted by the charging pile, controlling the sweeping robot to move according to a preset rule;
returning to the step of judging whether the current sweeping robot detects the target signal emitted by the charging pile or not;
and continuing executing the step of determining a recharging area where the current sweeping robot is located according to the target signal if the current sweeping robot detects the target signal transmitted by the charging pile.
8. The utility model provides a backfill device of robot sweeps floor which characterized in that, the backfill device of robot sweeps floor includes:
the judging module is used for judging whether the current sweeping robot detects a target signal emitted by the charging pile;
the determining module is used for determining a recharging area where the current sweeping robot is located according to a target signal if the current sweeping robot detects the target signal transmitted by the charging pile;
and the control module is used for controlling the sweeping robot to carry out recharging according to the recharging mode matched with the recharging area.
9. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes: a memory, a processor and a recharging program of the sweeping robot stored on the memory and operable on the processor, the recharging program of the sweeping robot when executed by the processor implementing the steps of the recharging method of the sweeping robot as claimed in any one of claims 1 to 7.
10. A readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of recharging a sweeping robot according to any one of claims 1 to 7.
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Application publication date: 20201215 |