CN112294195B - Sweeper side brush detection method and device and sweeper - Google Patents
Sweeper side brush detection method and device and sweeper Download PDFInfo
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
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Abstract
The invention provides a sweeper side brush detection method and device and a sweeper, wherein an infrared sensor for detecting the distance between a sweeper body and the ground, a side brush rotating part and at least one side brush are arranged at the bottom of the sweeper, and the side brush is fixed on the side brush rotating part, and the method comprises the following steps: acquiring setting parameters corresponding to a side brush and an infrared sensor of the sweeper and the current rotating speed of the side brush; respectively calculating the first time when two adjacent side brushes pass through the induction positions of the infrared sensor according to the setting parameters and the current rotating speed; monitoring a feedback signal of an infrared signal emitted by an infrared sensor according to the current signal intensity; and obtaining the detection result of the side brush according to the feedback signal and the first time. Therefore, the infrared sensor is used for transmitting the feedback signal of the infrared signal, the edge brush is detected in place, an extra edge brush detection structure is not needed, whether the edge brush is detected in place or not can be automatically detected, the result accuracy is improved, the production cost is reduced, and the miniaturized design of the sweeper is facilitated.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a sweeper side brush detection method and device and a sweeper.
Background
In recent years, the intellectualization of household appliances is continuously improved, the sweeper is gradually popularized, for improving the sweeping effect, the sweeping area is enlarged by setting a plurality of side brushes on two sides of the front edge of the sweeper frequently in the industry, objects to be cleaned in the advancing direction are gathered together, meanwhile, the infrared sensor is arranged on one circle or two sides of the bottom of the front edge of the sweeper frequently for preventing the sweeper from mistakenly entering the low part with the preset height, the distance from the ground of the sweeper is detected in real time, and the phenomena that safety hazards cannot be brought back down and the like are avoided.
In the prior art, the edge brush has a special structure, so that the in-place detection structure is difficult to set, the cost is additionally increased when a related in-place detection sensor is arranged, the floor sweeping machine is not miniaturized, and a method for effectively detecting whether the edge brush is in place or not under the condition that a hardware detection structure is not increased does not exist at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for detecting a side brush of a sweeper, and a sweeper, so as to overcome the problems that in the prior art, a special detection structure needs to be added for detecting the side brush of the sweeper, and the volume and the manufacturing cost of the sweeper are increased.
According to a first aspect, an embodiment of the present invention provides a method for detecting an edge brush of a sweeper, where an infrared sensor for detecting a distance between a sweeper body and a ground, an edge brush rotating portion and at least one edge brush are arranged at a bottom of the sweeper, and the edge brush is fixed on the edge brush rotating portion, the method includes:
acquiring setting parameters corresponding to a side brush and an infrared sensor of the sweeper and the current rotating speed of the side brush;
respectively calculating the first time of reaching the sensing position of the infrared sensor by two adjacent edge brushes according to the setting parameters and the current rotating speed;
monitoring a feedback signal of an infrared signal emitted by the infrared sensor according to the current signal intensity;
and obtaining the detection result of the side brush according to the change time of the feedback signal and the first time.
Optionally, the setting parameters include: the limit brush width, the setting position information of limit brush, infrared sensor's induction position with the distance at limit brush rotation portion center, according to setting parameter reaches current rotational speed, calculate two adjacent limit brushes respectively through the very first time of induction position includes:
calculating second time for the side brush to pass through the induction position according to the width of the side brush, the distance and the current rotating speed;
respectively calculating the interval time of two adjacent side brushes passing through the induction position according to the set position information of the side brushes, the distance and the second time;
and respectively calculating first time of reaching the induction position by two adjacent edge brushes according to the second time and the interval time.
Optionally, the determining an in-place detection result of the edge brush according to the change time of the feedback signal and the first time includes:
acquiring a current rotation period, and judging whether the pulse amplitude of the feedback signal changes in the current rotation period;
when the pulse amplitude of the feedback signal changes in the current rotation period, judging whether the pulse amplitude change of the feedback signal exceeds a preset amplitude change threshold value;
when the pulse amplitude variation of the feedback signal exceeds a preset amplitude variation threshold, starting to count the pulse number of the feedback signal until the amplitude variation of the feedback signal is continuously monitored for three times and exceeds the preset amplitude variation threshold, and obtaining a first pulse number;
determining a third time according to the frequency of the transmitted infrared signals and the first pulse number;
judging whether the first time is matched with the third time or not;
and if the first time is matched with the third time, determining that the detection result of the side brush is that the side brush is in place.
Optionally, the method further comprises:
and if the first time is not matched with the third time, determining that the detection result of the side brush is that the side brush is in-place abnormal.
Optionally, the method further comprises:
when the pulse amplitude of the feedback signal is not changed in the current rotation period, adjusting the current signal intensity, and returning to the step of monitoring the infrared sensor to emit the feedback signal of the infrared signal according to the current signal intensity;
after the current signal intensity is adjusted, if the pulse amplitude of the feedback signal is not changed in the current rotation period, determining that the detection result of the side brush is that the side brush is in-place abnormal.
Optionally, the acquiring the current rotation cycle includes:
and determining the current rotation period according to the current rotation speed.
Optionally, the method further comprises:
and when the detection result of the side brush is determined to be that the side brush is abnormal in place, performing side brush abnormal in place alarm.
According to a second aspect, an embodiment of the present invention provides a side brush detection device for a sweeper, wherein an infrared sensor for detecting a distance between a sweeper body and the ground, a side brush rotating portion and at least one side brush are arranged at a bottom of the sweeper, the side brush is fixed on the side brush rotating portion, and the side brush detection device includes:
the acquisition module is used for acquiring the setting parameters corresponding to the side brush and the infrared sensor of the sweeper and the current rotating speed of the side brush;
the first processing module is used for respectively calculating first time when two adjacent side brushes pass through the induction positions of the infrared sensor according to the setting parameters and the current rotating speed;
the second processing module is used for monitoring a feedback signal of an infrared signal emitted by the infrared sensor according to the current signal intensity;
and the third processing module is used for obtaining the detection result of the side brush according to the feedback signal and the first time.
According to a third aspect, an embodiment of the present invention provides a sweeper, wherein an infrared sensor for detecting a distance between a sweeper body and a ground, a side brush rotating portion and at least one side brush are arranged at a bottom of the sweeper, the side brush is fixed to the side brush rotating portion, and the sweeper further includes:
a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor being configured to execute the computer instructions to perform the method of the first aspect and any one of the alternative embodiments thereof.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect, or any one of its alternative embodiments.
The technical scheme of the invention has the following advantages:
the embodiment of the invention provides a side brush detection method and a side brush detection device of a sweeper, wherein the bottom of the sweeper is provided with an infrared sensor for detecting the distance between a sweeper body and the ground, a side brush rotating part and at least one side brush, and the side brush is fixed on the side brush rotating part, and the side brush detection method specifically comprises the following steps: acquiring setting parameters corresponding to a side brush and an infrared sensor of the sweeper and the current rotating speed of the side brush; respectively calculating the first time when two adjacent side brushes pass through the induction positions of the infrared sensor according to the setting parameters and the current rotating speed; monitoring a feedback signal of an infrared signal emitted by an infrared sensor according to the current signal intensity; and obtaining the detection result of the side brush according to the feedback signal and the first time. Thereby through utilizing the rotational speed of the setting parameter of limit brush and infrared sensor self and current limit brush to calculate two adjacent limit brushes the very first time through the induction position of infrared inductor, then the relation of the feedback signal change time that sends infrared signal through infrared sensor and very first time determines the limit brush testing result in place, and then need not to increase extra limit brush and detect the structure, can realize the automated inspection whether the limit brush is in place, reduce manufacturing cost when improving the result accuracy, be favorable to the miniaturized design of machine of sweeping the floor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic bottom structure view of a sweeper according to an embodiment of the invention;
fig. 2 is a flowchart of a side brush detection method of a sweeper according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a positional relationship between an edge brush and a sensing area of an infrared sensor according to an embodiment of the present disclosure;
FIG. 4 is a waveform diagram illustrating a feedback signal of an infrared signal received in an embodiment of the present invention;
FIG. 5 is a diagram illustrating an exemplary operation of an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a detection data processing apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a sweeper according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
In recent years, the intellectualization of household appliances is continuously improved, the sweeper is gradually popularized, and in order to improve the sweeping effect, side brushes are arranged on two sides of the front edge of the sweeper in the industry to enlarge the sweeping area so as to gather objects to be cleaned in the advancing direction, but the side brushes are special in structure, so that the arrangement difficulty of an in-place detection structure is high, and the cost is additionally increased when a related in-place detection sensor is arranged; meanwhile, in order to prevent the sweeper from entering a low position exceeding a preset height by mistake, infrared sensors are often arranged on the front edge of the sweeper body in a circle at the bottom or on two sides of the bottom, the distance from the sweeper body to the ground is detected in real time, and the phenomena of safety hazard, incapability of getting back and the like are avoided; on the relative position problem between them, the overlap of limit brush and infrared sensor on the position is just avoided to conventional way, can avoid the limit brush to shelter from infrared signal like this, guarantees infrared signal's integrality, real-time and accuracy, and the quick-witted front edge ground clearance that also can accurately acquire the fuselage in real time of sweeping the floor, but this must sacrifice limit brush or infrared sensor's cover width, or influence the effect of cleaning or can't ensure safety, and user experience is not good.
Secondly, an effective side brush in-place detection method is not available in the industry at present, simple side brush current detection cannot accurately judge whether the side brush is installed, in order to guarantee the sweeping and gathering effect and the maximization of the infrared detection width, the side brush and an infrared sensor inevitably generate overlapping interference in the structural position, the conventional method is to filter interference signals brought by the side brush through software, only corresponding useful distance information is reserved, secondly, a brush bundle is installed on the edge of a circular light-transmitting piece through improving the side brush structure, so that the related infrared shielding and interference phenomena are avoided, although the two methods are feasible, the infrared distance signal loss can be caused, the judgment of whether the side brush is in place still cannot be realized, and the problems of structural cost increase and volume increase are further caused.
To the floor sweeper that above-mentioned limit brush and infrared sensor have overlap setting in the position, figure 1 floor sweeper bottom structure sketch map, the bottom of floor sweeper is provided with infrared sensor 01, limit brush rotation portion 02 and the three limit brush 03 that the even interval set up that are used for detecting fuselage and ground distance, and every limit brush 03 is fixed in on limit brush rotation portion 02, and limit brush 03 can constantly pass through infrared sensor 01's induction position (induction position is not shown in figure 1) according to the rotatory in-process of settlement rotational speed. It should be noted that, in the embodiment of the present invention, the three-arm side brush (that is, three side brushes are uniformly arranged) is taken as an example for description, in practical applications, the number of the side brushes and the arrangement interval between the side brushes may be flexibly arranged according to practical needs, and the present invention is not limited thereto.
The embodiment of the invention provides a side brush detection method of a sweeper, aiming at the sweeper of the type, and as shown in fig. 2, the side brush detection method of the sweeper specifically comprises the following steps:
step S101: and acquiring the setting parameters corresponding to the side brush and the infrared sensor of the sweeper and the current rotating speed of the side brush. Specifically, the setting parameters include: the width D of the side brush, the setting position information of the side brush, the distance R between the sensing position of the infrared sensor and the center of the rotating part of the side brush and the like. Wherein, the setting position information of the side brush includes: the number of the side brushes and the specific setting positions (angles) of the side brushes, for example: two adjacent arms are spaced apart by a distance d1 (i.e., the distance between two adjacent arms on a circle having a radius R as described above).
Step S102: and respectively calculating the first time T for the adjacent two side brushes to reach the induction position of the infrared sensor according to the setting parameters and the current rotating speed. In practical applications, as shown in fig. 1, assuming that the time required for the three-arm side brush to rotate for one circle is represented by T3, T1 is the time for the single-arm side brush body to pass through the sensing area of the infrared sensor when rotating, and the time is determined by the current rotation speed V (revolutions per second) of the side brush, the width D of the side brush of the single arm of the side brush, and the distance R from the infrared sensing area to the center of the side brush (the center of the rotating part of the side brush).
Specifically, in an embodiment, the step S102 specifically includes the following steps:
step S201: and calculating the second time T1 when the side brush passes through the sensing position according to the width D of the side brush, the distance R and the current rotating speed V.
Step S202: and respectively calculating the interval time T2 when two adjacent side brushes pass through the induction position according to the set position information of the side brushes, the distance R and the second time T1.
Specifically, fig. 3 is a schematic diagram of a relationship between the edge brush and the sensing region of the infrared sensor, according to a triangular relationship:
therefore, the method comprises the following steps:
according to the constant angular speed relation of one rotation cycle:
while the rotational speed
So as to derive
The time T2 is the interval time between two adjacent side brush arms passing through the infrared induction area successively, and taking the three-arm side brush with equal division as shown in FIG. 1 as an example, the time T2 can be deduced
If the brush is divided into 5-arm side brushes
In the case of the unequally divided edge brush, the distance d1 (i.e. the distance between two adjacent arm brushes on the circumference with the radius R) between two adjacent arms is used as the standard, and the formula is derived from T1
The interval time of the other adjacent brush arms passing through the infrared induction area is repeated.
Step S203: and calculating a first time T of reaching the sensing position by two adjacent edge brushes according to the second time T1 and the third time T2 respectively. Specifically, the first time T is the sum of the second time T1 and the third time T2, i.e., the sum of the time required for the side brush to pass through the sensing position and the time interval between two adjacent side brushes to pass through the infrared sensing area, i.e., T1+ T2. As the sweeper shown in fig. 1 is a three equal-arm side brush, the first time T of reaching the sensing position by all adjacent two side brushes is the same, and T is T3/3, in practical application, if the sweeper is an equal-arm side brush, the time T3 required for one rotation of the side brush can be directly determined according to the set number of the side brushes and the current rotating speed V of the side brush, so as to determine the first time T.
Step S103: and the monitoring infrared sensor transmits a feedback signal of an infrared signal according to the current signal intensity.
Specifically, fig. 4 is a waveform diagram of a feedback signal of the monitored infrared signal, T3 in fig. 4 represents a time required for the three-arm-side brush shown in fig. 1 to rotate for one circle, and m and n are respectively the corresponding received times in T2 and T1 described aboveThe number of infrared pulses, m and n between each adjacent brush arms are equal when the brush arms normally run at a constant speed, is determined by the emission period time t of a single infrared pulse, so that
In the same way
It should be noted that, for any sweeper, the emission period of the infrared sensor is set during production, so that the emission frequency of the infrared signal can be directly obtained (i.e., the receiving period of the feedback signal is also fixed).
Step S104: and obtaining the detection result of the side brush according to the change time of the feedback signal and the first time.
Specifically, in an embodiment, the step S104 specifically includes the following steps:
step S401: and acquiring the current rotation period, and judging whether the pulse amplitude of the feedback signal changes in the current rotation period. In practical applications, the current rotation period can be determined according to the current rotation speed of the side brush set by the sweeper, and assuming that the current rotation speed is V (revolutions per second), the current rotation period can be represented by 1/V (i.e., T3 described above). Because the side brush and the infrared sensor can generate overlapping interference on the structure position, the infrared signal emitted by the infrared sensor can be applied to the ground and also can be applied to the side brush, the pulse amplitude of the infrared signal received by the infrared sensor applied to the side brush and the infrared sensor applied to the ground can be obviously changed due to the influence of different distances and media, and the change has periodicity, so that the side brush can be detected according to the change.
Step S402: and when the pulse amplitude of the feedback signal changes in the current rotation period, judging whether the pulse amplitude change of the feedback signal exceeds a preset amplitude change threshold value. In practical application, when the sweeper walks on an uneven ground, the pulse amplitude of the feedback signal also changes, but the pulse amplitude change caused by the infrared signal hitting the side brush is in a fixed range, so that whether the change is caused by the side brush or not can be determined by judging the relation between the pulse amplitude change of the feedback signal and a preset amplitude change threshold value, and then the side brush detection is completed.
Step S403: when the pulse amplitude variation of the feedback signal exceeds a preset amplitude variation threshold, counting the number of pulses of the feedback signal is started until the amplitude variation of the feedback signal is continuously monitored for three times and exceeds the preset amplitude variation threshold, and obtaining a first number of pulses. In practical applications, as shown in fig. 4, the first number of pulses is m + n.
Step S404: and determining the third time according to the frequency of the transmitted infrared signal and the first pulse number. In practical application, because the time difference between the infrared signal emitted by the infrared sensor and the infrared signal fed back by the infrared sensor can be ignored, the frequency of the infrared signal emitted by the infrared sensor is used as the frequency of the feedback signal received by the infrared sensor. Because the frequency of the infrared signal emitted by the infrared sensor is fixed during sweeping and production, the total time corresponding to all the pulse numbers, namely the third time, can be directly obtained according to the frequency and the pulse numbers.
Step S405: and judging whether the first time is matched with the third time. Specifically, the third time is the time required by two adjacent side brushes to reach the sensing position of the infrared sensor in practice, and the first time is the time required by two adjacent side brushes to reach the sensing position of the infrared sensor theoretically when the side brushes are normally installed, that is, the side brushes are in place, and if the side brushes are not uniformly installed, the time required by two adjacent side brushes to reach the sensing position of the infrared sensor is different, so that whether the side brushes are in place can be judged by judging whether the currently calculated third time is consistent with any one of the first times, and as for the three equal-arm side brushes shown in fig. 1, whether the first time is consistent with the third time, that is, whether the side brushes are in place can be judged directly.
Step S406: and if the first time is matched with the third time, determining that the detection result of the side brush is that the side brush is in place.
Step S407: and if the first time is not matched with the third time, determining that the detection result of the side brush is that the side brush is in-place abnormal.
Step S408: and when the pulse amplitude of the feedback signal is not changed in the current rotation period, adjusting the current signal intensity, and returning to the step of monitoring the infrared sensor to emit the feedback signal of the infrared signal according to the current signal intensity. In practical application, a ground medium with the same reflection amplitude as that of the side brush arm may appear, and even if the side brush is in place, the amplitude of the received pulse signal will not change, so that in order to further improve the accuracy of the in-place detection of the side brush and avoid the misjudgment of the in-place abnormality of the side brush in the above situation, the current signal intensity is readjusted by using the characteristic that the infrared reflectivities of the side brush and the ground medium at different light intensities and at different distances are in a non-equal proportion relation, so as to accurately judge whether the side brush is in place.
Step S409: after the current signal intensity is adjusted, if the pulse amplitude of the feedback signal is not changed in the current rotation period, determining that the detection result of the side brush is that the side brush is in-place abnormal. Specifically, if the pulse amplitude of the feedback signal is still unchanged after the current signal strength is adjusted, which indicates that the side brush may fall off, a detection result of the side brush in-place abnormality is generated.
Specifically, in an embodiment, the method for detecting the edge brush of the sweeper further includes: and when the detection result of the side brush is determined to be that the side brush is abnormal in place, performing side brush abnormal in place alarm. In practical application, whether the side brush is in place or not can be continuously detected according to the current rotation period of the side brush, once the side brush is detected to be in place abnormally, the side brush falling condition is indicated, and the side brush in-place abnormal alarm can be given out in a sound prompt mode or an indicator light prompt mode, but the invention is not limited to this.
The method for detecting the edge brush of the sweeper provided by the embodiment of the invention is described in detail below with reference to specific application examples.
When the sweeper shown in fig. 1 starts to work, the infrared sensor emits an infrared signal with a specific frequency, corresponding edge brush arm identification threshold values are set by software according to the infrared emission characteristics of different edge brush materials, an edge brush identification band is set for ensuring the identification accuracy and the identification rate, and the edge brush identification band can be identified as an edge brush in a corresponding infrared pulse amplitude range; the side brush arm, the floor and the lower part exceeding the preset height are distinguished by reading the infrared pulse amplitude, as shown in fig. 5, after the sweeper is electrified and initialized, the change of the amplitude of the front infrared pulse and the amplitude of the rear infrared pulse is firstly judged, if the received infrared pulse amplitude is unchanged all the time, the infrared emission intensity is switched, whether the received infrared amplitude has periodic change or not is detected again, if the received infrared amplitude still does not have change, the side brush missing installation is indicated, and then the side brush missing installation reminding is carried out. In fig. 5, an amplitude X1 is an average value in reading a single infrared pulse, X2 represents an amplitude of a previous pulse, C is an infrared pulse quantity value when the side brush is judged to be missed and fall off, Ct1 is a pulse quantity of a single side brush arm hitting the side brush arm when the single side brush arm passes through an infrared sensing area, an initial value is 0, T1 and T2 are the same as T1 and T2 in fig. 1, Ct2 is an infrared pulse quantity of two adjacent side brush arms passing through the infrared sensing area in sequence, the initial value is 0, a represents an absolute difference between a previous infrared pulse and a current infrared pulse amplitude, B and E are allowed error values set to avoid fluctuation of the side brush rotation speed, corresponding times T1 and T2 are calculated according to the counted infrared pulse amplitudes, and times T1 and T2 corresponding to a theoretical rotation speed are compared, and whether the side brush is in place or falls off (in place is abnormal) is further calculated.
When the change of the infrared pulse amplitude value exceeds a is detected, namely the change of the infrared pulse amplitude value for the first time exceeds a, the infrared pulse classification counting process is started, the pulse on the side brush arm and the pulse on the ground are mainly distinguished, meanwhile, the corresponding t1 and t2 time is calculated, in order to ensure that t1+ t2 is just the time when the two adjacent side brush arms pass through the induction area, therefore, the side brush can be determined to be in place only when the change of the amplitude values of the front and back infrared pulses is larger than a and Ct1 and Ct2 are both larger than 2, because the amplitude values of the infrared pulses on the side brush arm and the ground can have obvious difference, and the difference can be ensured to be two times by combining Ct1 and Ct2 which are both larger than 2, namely the counted pulse number is the number of the two adjacent side brush arms passing through the infrared induction area. The counted total number of pulses of the brush arms on the two adjacent sides is Ct1+ Ct2, all the time is t1+ t2, namely the time for rotating for one third of a circle, so the time is about, and Ct1 and Ct2 are cleared by 0 after the counting is completed, so that the counting of the next period is started conveniently. If the amplitude of the infrared receiving pulse is unchanged all the time and exceeds a preset threshold value in the counting process, the side brush can be judged to enter the ground medium with the reflection amplitude being the same as that of the side brush arm.
When the side brush is in the situation, the infrared emission intensity is adjusted, Ct1, Ct2, t1 and t2 are compared with 0, the infrared reflectivity of the side brush and the ground medium under different light intensities and different distances is in an unequal proportional relation, so that the brush arm can be distinguished from the ground medium with the same reflection amplitude by switching the infrared emission intensity, if the switching infrared emission intensity still detects that the received infrared amplitude is unchanged, the side brush is abnormal in position, and then corresponding side brush in position or falling abnormal alarm is given. According to the embodiment of the invention, the amplitude of the infrared signal reflected by the side brush is fixed, the time of the adjacent side brush arm passing through the cliff infrared sensing area is also fixed under the fixed rotating speed, and whether the side brush is in place or falls off is detected in real time by detecting the change of the infrared signal amplitude and the corresponding pulse time in the corresponding time, so that the cleaning effect is ensured and improved.
By implementing the invention, the layout of the side brush and the infrared sensor of the sweeper is not limited any more, the design freedom of the sweeper is improved, the gathering effect and the infrared distance measurement effect of the side brush sweeping are fully exerted, and the real-time on-site detection can be realized. The invention carries out software processing on the infrared signals reflected by the side brush, and the side brush moves at a plurality of fixed rotating speeds in the normal running state, therefore, the infrared signal reflected by the side brush has periodicity matched with the rotating speed of the side brush, and the amplitude of the infrared signal is fixed in a certain range, according to the rotating speed set by the current state of the sweeper, when the infrared signal pulse amplitude with the corresponding amplitude is detected to change within a certain time, the fact that the side brush is in place is indicated, and can mark whether the infrared ray received at present is reflected by the ground or the side brush arm, solves the contradiction between the maximization of the respective functions of the side brush and the infrared sensor of the sweeper and the restriction of the relative structure position, and moreover, whether the received infrared signals are reflected by the ground or the side brush can be accurately distinguished, so that convenience is provided for subsequent software processing of the infrared signals of the cliff and guarantee that the sweeper runs at a safe position.
By executing the steps, the method for detecting the side brush of the sweeper provided by the embodiment of the invention calculates the first time when the two adjacent side brushes pass through the sensing position of the infrared sensor by utilizing the self setting parameters of the side brush and the infrared sensor and the rotating speed of the current side brush, and then determines the in-place detection result of the side brush according to the relation between the change time of the feedback signal of the infrared signal sent by the infrared sensor and the first time, so that the automatic detection of whether the side brush is in place can be realized without adding an additional side brush detection structure, the result accuracy is improved, the production cost is reduced, and the miniaturized design of the sweeper is facilitated.
The embodiment of the invention also provides a side brush detection device of a sweeper, wherein the bottom of the sweeper is provided with an infrared sensor for detecting the distance between a sweeper body and the ground, a side brush rotating part and at least one side brush, and the side brush is fixed on the side brush rotating part, as shown in fig. 6, the side brush detection device of the sweeper specifically comprises:
the acquisition module 101 is used for acquiring the setting parameters corresponding to the side brush and the infrared sensor of the sweeper and the current rotating speed of the side brush. For details, refer to the related description of step S101 in the above method embodiment, and no further description is provided here.
The first processing module 102 is configured to calculate first times when two adjacent edge brushes pass through the sensing positions of the infrared sensor respectively according to the setting parameter and the current rotation speed. For details, refer to the related description of step S102 in the above method embodiment, and no further description is provided here.
And the second processing module 103 is configured to monitor a feedback signal of the infrared sensor emitting the infrared signal according to the current signal strength. For details, refer to the related description of step S103 in the above method embodiment, and no further description is provided here.
And the third processing module 104 is configured to obtain a detection result of the side brush according to the change time of the feedback signal and the first time. For details, refer to the related description of step S104 in the above method embodiment, and no further description is provided here.
The edge brush detection device of the sweeper provided by the embodiment of the invention is used for executing the edge brush detection method of the sweeper provided by the embodiment, the implementation mode and the principle are the same, the detailed content refers to the relevant description of the embodiment of the method, and the detailed description is omitted.
Through the cooperative cooperation of the above components, the detection data processing device provided by the embodiment of the invention calculates the first time when the two adjacent side brushes pass through the sensing position of the infrared sensor by using the self setting parameters of the side brushes and the infrared sensor and the rotating speed of the current side brush, and then determines the in-place detection result of the side brushes according to the relation between the change time of the feedback signals of the infrared signals sent by the infrared sensor and the first time, so that the automatic detection of whether the side brushes are in place can be realized without adding an additional side brush detection structure, the production cost is reduced while the result accuracy is improved, and the miniaturized design of the sweeper is facilitated.
Fig. 7 shows a sweeper according to an embodiment of the present invention, and as shown in fig. 7, the sweeper includes: a processor 901 and a memory 902, wherein the processor 901 and the memory 902 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The memory 902, 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 methods in the above-described method embodiments. The processor 901 executes various functional applications and data processing of the processor by executing non-transitory software programs, instructions and modules stored in the memory 902, that is, implements the methods in the above-described method embodiments.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 901, and the like. Further, the memory 902 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 902 may optionally include memory located remotely from the processor 901, which may be connected to the processor 901 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.
One or more modules are stored in the memory 902, which when executed by the processor 901 performs the methods in the above-described method embodiments.
The specific details of the sweeper can be understood by referring to the corresponding related description and effects in the method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, and the implemented program can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. The side brush detection method of the sweeper is characterized in that an infrared sensor used for detecting the distance between a sweeper body and the ground, a side brush rotating portion and at least one side brush are arranged at the bottom of the sweeper, and the side brush is fixed on the side brush rotating portion, and comprises the following steps:
acquiring setting parameters corresponding to a side brush and an infrared sensor of the sweeper and the current rotating speed of the side brush;
respectively calculating the first time of reaching the sensing position of the infrared sensor by two adjacent edge brushes according to the setting parameters and the current rotating speed;
monitoring a feedback signal of an infrared signal emitted by the infrared sensor according to the current signal intensity;
obtaining a detection result of the side brush according to the change time of the feedback signal and the first time;
the determining the in-place detection result of the side brush according to the change time of the feedback signal and the first time comprises:
acquiring a current rotation period, and judging whether the pulse amplitude of the feedback signal changes in the current rotation period;
when the pulse amplitude of the feedback signal is not changed in the current rotation period, adjusting the current signal intensity, and returning to the step of monitoring the infrared sensor to emit the feedback signal of the infrared signal according to the current signal intensity;
after the current signal intensity is adjusted, if the pulse amplitude of the feedback signal is not changed in the current rotation period, determining that the detection result of the side brush is that the side brush is in-place abnormal.
2. The method of claim 1, wherein setting the parameters comprises: the limit brush width, the setting position information of limit brush, infrared sensor's induction position with the distance at limit brush rotating part center, according to setting parameter and current rotational speed, calculate respectively two adjacent limits brush and brush the very first time that reaches the induction position, include:
calculating second time when the side brush passes through the induction position according to the width of the side brush, the distance and the current rotating speed;
respectively calculating the interval time of two adjacent side brushes passing through the induction position according to the set position information of the side brushes, the distance and the second time;
and respectively calculating first time of reaching the induction position by two adjacent edge brushes according to the second time and the interval time.
3. The method according to claim 1, wherein when the pulse amplitude of the feedback signal changes in the current rotation period, determining whether the pulse amplitude change of the feedback signal exceeds a preset amplitude change threshold;
when the pulse amplitude variation of the feedback signal exceeds a preset amplitude variation threshold, starting to count the pulse number of the feedback signal until the amplitude variation of the feedback signal is continuously monitored for three times and exceeds the preset amplitude variation threshold, and obtaining a first pulse number;
determining a third time according to the frequency of the transmitted infrared signals and the first pulse number;
judging whether the first time is matched with the third time or not;
and if the first time is matched with the third time, determining that the detection result of the side brush is that the side brush is in place.
4. The method of claim 3, further comprising:
and if the first time is not matched with the third time, determining that the detection result of the side brush is that the side brush is in-place abnormal.
5. The method of claim 1, wherein said obtaining a current rotation cycle comprises:
and determining the current rotation period according to the current rotation speed.
6. The method of claim 1, further comprising:
and when the detection result of the side brush is determined to be that the side brush is abnormal in place, performing side brush abnormal in place alarm.
7. The utility model provides a quick-witted limit brush detection device sweeps floor, the bottom of machine of sweeping floor is provided with infrared sensor, limit brush rotation portion and at least one side brush that is used for detecting fuselage and ground distance, the limit brush is fixed in on the limit brush rotation portion, its characterized in that, the device includes:
the acquisition module is used for acquiring the setting parameters corresponding to the side brush and the infrared sensor of the sweeper and the current rotating speed of the side brush;
the first processing module is used for respectively calculating first time for reaching the sensing position of the infrared sensor by two adjacent edge brushes according to the setting parameters and the current rotating speed;
the second processing module is used for monitoring a feedback signal of an infrared signal emitted by the infrared sensor according to the current signal intensity;
a third processing module, configured to obtain a detection result of the edge brush according to the change time of the feedback signal and the first time, and determine an in-place detection result of the edge brush according to the change time of the feedback signal and the first time, where the third processing module includes: acquiring a current rotation period, and judging whether the pulse amplitude of the feedback signal changes in the current rotation period; when the pulse amplitude of the feedback signal is not changed in the current rotation period, adjusting the current signal intensity, and returning to the step of monitoring the infrared sensor to emit the feedback signal of the infrared signal according to the current signal intensity; after the current signal intensity is adjusted, if the pulse amplitude of the feedback signal is not changed in the current rotation period, determining that the detection result of the side brush is that the side brush is in-place abnormal.
8. The utility model provides a sweeper, sweeper's bottom is provided with infrared sensor, limit brush rotation portion and at least one side brush that is used for detecting fuselage and ground distance, the limit brush is fixed in on the limit brush rotation portion, its characterized in that, sweeper still includes:
a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-6.
9. A computer-readable storage medium having stored thereon computer instructions for causing a computer to thereby perform the method of any one of claims 1-6.
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| CN114947626B (en) * | 2022-07-08 | 2023-08-18 | 深圳市优必选科技股份有限公司 | Side brush state determining method and device, sweeper and computer readable storage medium |
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| JP2017038768A (en) * | 2015-08-19 | 2017-02-23 | シャープ株式会社 | Self-travelling type vacuum cleaner |
| CN207412122U (en) * | 2017-04-14 | 2018-05-29 | 科沃斯机器人股份有限公司 | Clean robot |
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