CN112515537B - Walking ground recognition method and cleaning robot - Google Patents
Walking ground recognition method and cleaning robot Download PDFInfo
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- CN112515537B CN112515537B CN202011306661.9A CN202011306661A CN112515537B CN 112515537 B CN112515537 B CN 112515537B CN 202011306661 A CN202011306661 A CN 202011306661A CN 112515537 B CN112515537 B CN 112515537B
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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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
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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
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Abstract
The invention relates to the technical field of robots and discloses a walking ground identification method and a cleaning robot. The method comprises the following steps: determining the motion state of the cleaning robot when the cleaning robot walks on the ground, and configuring a coordinate system for the cleaning robot; acquiring an acceleration component set of the cleaning robot in the direction of a specified axis in a coordinate system according to the motion state; and identifying the ground type of the walking ground according to the acceleration component set. Therefore, compared with the prior art, the method can realize the identification of the walking ground without adopting an ultrasonic sensor, thereby reducing the ground identification cost, and reducing the design difficulty of the cleaning robot without excessively transforming the cleaning robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a walking ground identification method and a cleaning robot.
Background
Cleaning robots often need to adopt corresponding cleaning strategies for surfaces of different materials. In a general household environment, a general cleaning robot needs to distinguish a hard floor from a carpet so that the cleaning robot can take suction of different intensities for different types of walking floors.
The current common method for detecting the carpet adopts an ultrasonic sensor for detection, which can provide a more accurate and stable identification result, but the ultrasonic sensor has higher cost, and the whole structure of the cleaning robot needs to be specially designed for the installation of the ultrasonic sensor, thereby increasing the structural complexity of the cleaning robot.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a walking ground recognition method and a cleaning robot, which can reduce the ground recognition cost.
In a first aspect, an embodiment of the present invention provides a walking ground recognition method applied to a cleaning robot, where the method includes:
determining a motion state of the cleaning robot while walking on the ground, the cleaning robot configuring a coordinate system;
acquiring an acceleration component set of the cleaning robot in the direction of a specified axis in the coordinate system according to the motion state;
and identifying the ground type of the walking ground according to the acceleration component set.
Optionally, the motion state comprises a start state, and the determining the motion state of the cleaning robot while walking the floor comprises:
acquiring a motion starting instruction;
and determining that the motion state of the cleaning robot on the walking ground is the starting state according to the motion starting instruction, wherein the appointed shaft direction is the advancing direction of the cleaning robot in the starting state.
Optionally, the set of acceleration components includes a plurality of time-continuous acceleration components, and the identifying the ground type of the walking ground according to the set of acceleration components includes:
searching the maximum acceleration component from the acceleration component set in the starting state;
calculating a difference value between the maximum acceleration component and a standing acceleration component, wherein the standing acceleration component is an acceleration component of the cleaning robot in the specified axis direction in a standing state;
and identifying the ground type of the ground where the cleaning robot walks according to the difference value.
Optionally, the identifying the ground type of the walking ground according to the set of acceleration components comprises:
judging whether the difference value is smaller than a low threshold value;
if the walking ground is smaller than the low threshold, identifying that the ground type of the walking ground is a carpet type;
if the difference value is larger than or equal to a low threshold value, judging whether the difference value is larger than a high threshold value, wherein the high threshold value is larger than the low threshold value, and if the difference value is larger than the high threshold value, identifying that the ground type of the walking ground is a non-carpet type.
Optionally, the motion state includes a non-activated state in which the designated axis direction is a direction perpendicular to the walking ground.
Optionally, the identifying the ground type of the walking ground according to the set of acceleration components comprises:
under the non-starting state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum, wherein the frequency spectrum comprises a plurality of frequencies and amplitude values corresponding to the frequencies;
calculating the sum of all amplitudes of which the frequencies are in the high-frequency section to obtain a total amplitude;
and identifying the ground type of the walking ground according to the total amplitude.
Optionally, in the non-activated state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum includes:
and according to a fast Fourier transform algorithm, under the non-starting state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum.
Optionally, the non-activated state includes a low-speed straight-driving state, the floor types include a carpet type and a non-carpet type, and the identifying the floor type of the walking floor according to the total amplitude value includes:
judging whether the total amplitude is smaller than or equal to a first threshold value or not in the low-speed straight running state;
if the ground type of the walking ground is smaller than or equal to the first threshold, identifying that the ground type of the walking ground is a carpet type;
if the total amplitude is larger than the first threshold value, judging whether the total amplitude is larger than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value, and if the total amplitude is larger than or equal to the second threshold value, identifying that the ground type of the walking ground is a non-carpet type.
Optionally, the non-activated state includes a high-speed straight-driving state, the floor types include a carpet type and a non-carpet type, and the identifying the floor type of the walking floor according to the total amplitude value includes:
judging whether the total amplitude is smaller than or equal to a third threshold value or not in the high-speed straight-running state;
if so, identifying that the ground type of the walking ground is a carpet type;
and if not, identifying that the ground type of the walking ground is a non-carpet type.
In a second aspect, a non-transitory readable storage medium stores computer-executable instructions for causing a cleaning robot to perform any one of the walking floor recognition methods.
In a third aspect, embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by a cleaning robot, cause the cleaning robot to perform the above-described walking floor recognition method.
In a fourth aspect, an embodiment of the present invention provides a cleaning robot including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the walking ground identification methods.
Compared with the prior art, the invention at least has the following beneficial effects: in the walking ground identification method provided by the embodiment of the invention, firstly, the motion state of the robot is determined, and the robot is configured with a coordinate system; secondly, acquiring an acceleration component set of the robot in the direction of a specified axis in a coordinate system according to the motion state; finally, the ground type of the walking ground of the robot is identified according to the acceleration component set, so that compared with the prior art, the method can identify the walking ground without adopting an ultrasonic sensor, thereby reducing the ground identification cost, and the cleaning robot is not required to be excessively transformed, thereby reducing the design difficulty of the cleaning robot.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a coordinate system of the inertial measurement unit of FIG. 1 in a cleaning robot;
fig. 3 is a schematic view of communication between a cleaning robot and an external terminal according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of walking ground identification according to an embodiment of the present invention;
FIG. 5a is a schematic flow chart of S41 shown in FIG. 4;
FIG. 5b is a graph showing the acceleration curve of the cleaning robot in the traveling direction from the stationary state to the moving state on the hard floor type walking floor according to the embodiment of the present invention;
FIG. 5c is a graph showing the acceleration profile of a cleaning robot in the traveling direction from a stationary state to a moving state on a carpet type walking floor according to an embodiment of the present invention;
FIG. 5d is a schematic flow chart of S43 shown in FIG. 4;
FIG. 5e is a schematic diagram of the process of S433 shown in FIG. 5 d;
fig. 6a is an acceleration curve in the Z-axis direction of the cleaning robot, which starts to walk from a stationary state to a carpet on a hard floor and then returns from the carpet to the hard floor, wherein the Z-axis direction is perpendicular to the walking floor, and the Y-axis direction is a traveling direction;
FIG. 6b is another schematic flow chart of S43 shown in FIG. 4;
fig. 7a is a frequency spectrum in the Z-axis direction when the cleaning robot provided by the embodiment of the present invention performs a low-speed motion on a hard floor type walking floor;
FIG. 7b is a frequency spectrum in the Z-axis direction of a cleaning robot according to an embodiment of the present invention when the cleaning robot performs a low-speed movement on a carpet type walking floor;
FIG. 7c is a schematic diagram of a process of S436 shown in FIG. 6 b;
fig. 8a is a frequency spectrum in the Z-axis direction when the cleaning robot according to the embodiment of the present invention performs a high-speed motion on a hard floor type walking floor;
FIG. 8b is a frequency spectrum in the Z-axis direction of a cleaning robot according to an embodiment of the present invention when the cleaning robot performs a high-speed motion on a carpet type walking floor;
FIG. 8c is another schematic flow chart of S436 shown in FIG. 6 b;
fig. 8d is a schematic view of a cleaning robot in an indoor space according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a walking ground recognition device according to an embodiment of the present invention;
fig. 10 is a schematic circuit structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
The walking ground identification method provided by the embodiment of the invention is applied to the cleaning robot. The cleaning robot according to the embodiments of the present invention may be configured in any suitable shape to implement a specific service function operation, for example, the cleaning robot according to the embodiments of the present invention includes, but is not limited to, a floor sweeping robot, a dust collecting robot, a floor mopping robot, or a floor washing robot.
The walking ground recognition device of the embodiment of the invention can be used as one of software or hardware functional units and independently arranged on the cleaning robot, and also can be used as one of functional modules integrated in a processor of the cleaning robot to execute the walking ground recognition method of the embodiment of the invention.
Referring to fig. 1, in some embodiments, the cleaning robot 100 includes a control unit 11, an inertial measurement unit 12, a laser radar 13, a camera 14, a wireless communication unit 15, a cleaning unit 16, and a driving unit 17. It should be noted that the above-mentioned component composition of the cleaning robot is only an example, and the components may be wholly or partially configured in one cleaning robot, and is not a limitation of the present solution. For example, one of the laser radar 13 and the camera 14 may be retained and arranged in the cleaning robot.
The control unit 11 serves as a control core of the cleaning robot 100, and may employ various path planning algorithms to control the robot to perform the traversal work.
In some embodiments, the control unit 11 employs SLAM (simultaneous localization and mapping) technology to construct maps and locations from environmental data. The control unit 11 instructs the robot to completely traverse an environmental space by means of a full coverage path planning algorithm based on the established map and the position of the robot.
In some embodiments, during the cleaning robot 100 traversal, the camera 14 acquires an image of the traversal region, wherein the image of the traversal region may be an image of the entire traversal region or an image of a local traversal region in the entire traversal region. The control unit 11 generates a map indicating an area that the cleaning robot 100 needs to traverse and a coordinate position where an obstacle located in the traversed area is located, from the image of the traversed area. After each location or area traversed by the cleaning robot 100, the cleaning robot 100 marks that the location or area has been traversed based on the map. In addition, as the obstacle is marked in a coordinate mode in the map, when the robot passes, the distance between the robot and the obstacle can be judged according to the coordinate point corresponding to the current position and the coordinate point related to the obstacle, and therefore the robot can pass around the obstacle. Similarly, after the position or the area is marked by traversal, when the next position of the cleaning robot 100 moves to the position or the area, the cleaning robot 100 makes a turn around or stops traversal strategies based on the map and the mark of the position or the area.
In some embodiments, the control unit 11 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, an arm (acorn RISC machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the control unit 11 may be any conventional processor, controller, microcontroller, or state machine. The control unit 11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP, and/or any other such configuration.
An Inertial Measurement Unit (IMU) 12 is mounted to the cleaning robot 100 for detecting an acceleration or an angular velocity of the cleaning robot 100.
Referring to fig. 2, in the coordinate system of the inertial measurement unit 12, the positive Y-axis is a traveling direction of the cleaning robot 100, the positive Z-axis is perpendicular to a traveling floor on which the cleaning robot 100 is located, and the positive X-axis is directed to a side of the cleaning robot 100, so that the cleaning robot 100 can measure an acceleration or an angular velocity in the X-axis, Y-axis, or Z-axis direction.
It is understood that in some embodiments, the user may define the coordinate system of the inertial measurement unit 12 according to business needs, for example, the positive Z axis is the walking direction of the cleaning robot, the positive X axis is perpendicular to the walking floor where the cleaning robot 100 is located, and the positive Y axis is directed to the side of the cleaning robot 100, or the positive X axis is the walking direction of the cleaning robot, the positive Z axis is perpendicular to the walking floor where the cleaning robot 100 is located, and the positive Y axis is directed to the side of the cleaning robot 100.
The laser radar 13 is used to detect the external environment of the cleaning robot 100, and obtain a point cloud image. The cleaning robot performs corresponding business logic according to the point cloud image, for example, measuring the distance to an obstacle, identifying the obstacle, avoiding the obstacle or constructing a map and positioning, and the like.
In some embodiments, the laser radar 13 may be omitted in the cleaning robot 100.
The camera 14 is used for collecting an environment image of an environment outside the cleaning robot 100, and the cleaning robot performs corresponding business logic according to the environment image, for example, recognizing obstacles or constructing an environment map, and the like.
In some embodiments, the camera 14 may be omitted in the cleaning robot 100.
The wireless communication unit 15 is used for communication with an external device. Referring to fig. 3, in some embodiments, the cleaning robot 100 wirelessly communicates with an external terminal 200 through a wireless communication unit 15, and the wireless communication unit 15 is electrically connected with the control unit 11. During the traversal, the user sends a control instruction to the cleaning robot 100 through the external terminal 200, the wireless communication unit 15 receives the control instruction and sends the control instruction to the control unit 11, and the control unit 11 controls the cleaning robot 100 to complete the traversal work according to the control instruction. In some embodiments, the external terminal 200 includes, but is not limited to, a smartphone, a remote control, a smart tablet, and the like terminal.
In some embodiments, the wireless communication unit 15 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless internet module, a short-range communication module, and a location information module.
The cleaning unit 16 is used for cleaning the floor, and the cleaning unit 16 may be configured in any cleaning structure, for example, in some embodiments, the cleaning unit 16 includes a cleaning motor and a roller brush, the surface of the roller brush is provided with a cleaning portion, the roller brush is connected with the cleaning motor through a driving mechanism, the cleaning motor is connected with a control unit, and the control unit can send instructions to the cleaning motor to control the cleaning motor to drive the roller brush to rotate, so that the cleaning portion thereof can effectively clean the floor.
The driving unit 17 is used for driving the cleaning robot 100 to move forward or backward, when cleaning, the control unit 11 sends a control instruction to the driving unit 17, and the driving unit 17 drives the cleaning unit 16 to complete cleaning according to the control instruction.
In some embodiments, the drive unit 17 is divided into a left wheel drive unit and a right wheel drive unit. Taking a left wheel driving unit as an example, the left wheel driving unit comprises a motor, a wheel driving mechanism and a left wheel, wherein a rotating shaft of the motor is connected with the wheel driving mechanism, the left wheel is connected with the wheel driving mechanism, the motor is connected with a control unit, the motor receives a control instruction sent by the control unit 11 to rotate the rotating shaft of the motor, and torque is transmitted to the left wheel through the wheel driving mechanism to realize rotation of the left wheel; and at the same time, a right driving unit is combined, thereby driving the cleaning robot 100 to travel or retreat.
An embodiment of the present invention provides a method for identifying a walking ground, please refer to fig. 4, in which the method for identifying a walking ground S400 includes:
s41, determining the motion state of the cleaning robot when walking on the ground, and configuring a coordinate system for the cleaning robot;
the walking floor is a floor on which the cleaning robot walks, and the motion state is a state when the cleaning robot moves, wherein the walking floor includes any suitable type of floor, such as a flat cement floor, a wooden floor, a flat tile, an uneven tile, a playground gum floor, a thin carpet, a thick carpet, a soft carpet, and the like.
The coordinate system is used for assisting in detecting an acceleration component of the cleaning robot in a designated direction, wherein the coordinate system may be a two-dimensional coordinate system or a three-dimensional coordinate system, and when the coordinate system is the two-dimensional coordinate system, the positive X axis may be disposed toward a traveling direction of the cleaning robot, and the positive Y axis may be disposed perpendicular to a traveling floor of the cleaning robot. When the coordinate system is a three-dimensional coordinate system, as described above, the positive Y-axis is the traveling direction of the cleaning robot, the positive Z-axis is perpendicular to the traveling floor where the cleaning robot is located, and the positive X-axis points to the side of the cleaning robot.
It can be understood that the user can define the directions of the axes in the coordinate system according to the business requirements.
It will also be understood that the coordinate system can be determined from a coordinate system configured for a given device in the cleaning robot, for example, the coordinate system of the inertial measurement unit of the cleaning robot, or can be obtained by user-defining the coordinate system of the cleaning robot, for example, user-defined: the center of the cleaning robot is used as an original point, the positive Y axis is the walking direction of the cleaning robot, the positive Z axis is perpendicular to the walking ground where the cleaning robot is located, and the positive X axis points to the side of the cleaning robot, so that a coordinate system is obtained.
In this embodiment, since the motion state of the cleaning robot is switched by the control unit according to the preset service logic, the motion state of the cleaning robot can be determined by calling the execution state of the relevant service logic, or the speed or angular velocity of the cleaning robot in different motion states are different, so that the cleaning robot collects the relevant motion parameters and can also determine the motion state of the cleaning robot.
S42, acquiring an acceleration component set of the cleaning robot in the direction of a specified axis in a coordinate system according to the motion state;
the designated axis direction is a coordinate axis corresponding to the motion state in the coordinate system, and in the embodiment, each motion state corresponds to the corresponding designated axis direction.
The set of acceleration components includes a plurality of time-continuous acceleration components, each of which is detectable by a detection device, such as an inertial meter or an accelerometer.
In this embodiment, after the cleaning robot determines the motion state, the cleaning robot may determine a designated axis direction corresponding to the motion state, and then, after obtaining each acceleration component, the cleaning robot may calculate an acceleration component set in the designated axis direction, for example, when the acceleration direction is parallel to the designated axis direction, then, the cleaning robot may select the acceleration component in the acceleration direction as the acceleration component in the designated axis direction, and continuously acquire a plurality of time-continuous acceleration components as the acceleration component set. When the acceleration direction is not parallel to the designated axis direction, that is, the acceleration direction and the designated axis direction have an included angle, the cleaning robot calculates an acceleration component in the designated axis direction according to the trigonometric function principle, and continuously acquires a plurality of time-continuous acceleration components as an acceleration component set.
And S43, identifying the ground type of the walking ground according to the acceleration component set.
The ground type is a material type or a state type of a walking ground, wherein the material type comprises a cement ground type, a wood ground type, a ceramic tile ground type, a colloid ground type or a carpet type, and the state type comprises a flat hard ground type, an uneven hard ground type, a thick carpet, a thin carpet or a soft carpet, and the like.
Because the acceleration components of the cleaning robot are differentiated when the cleaning robot walks on the walking grounds of different ground types, the cleaning robot can intercept the acceleration components within a certain time period as an acceleration component set and reliably identify the ground types of the walking grounds.
Therefore, compared with the prior art, the method can realize the identification of the walking ground without adopting an ultrasonic sensor, thereby reducing the ground identification cost, and reducing the design difficulty of the cleaning robot without excessively transforming the cleaning robot.
In some embodiments, the motion state includes a start state, which is a state when the cleaning robot enters the motion state from a stationary state. Generally, when the cleaning robot starts moving, the speed of the cleaning robot is gradually increased, that is, the speed of the cleaning robot is changed at the beginning of moving, and after a certain period of time, the speed tends to be stable.
In some embodiments, the manner of controlling the cleaning robot to enter the start state may be triggered by a motion start command, referring to fig. 5a, S41 includes:
s411, acquiring a motion starting instruction;
and S412, determining the motion state of the cleaning robot in the walking ground as a starting state according to the motion starting instruction, and in the starting state, designating the axial direction as the walking direction of the cleaning robot.
In this embodiment, the motion start command is used to trigger the cleaning robot to enter a motion state from a static state, for example, after the cleaning robot is powered on, the cleaning robot completes initialization. After the initialization is finished, the control unit sends a motion starting instruction to the driving unit, so that the driving unit starts to work and drives the cleaning robot to enter a motion state from a static state.
In this embodiment, the cleaning robot enters the corresponding start logic operation according to the motion start instruction, and at the same time, the cleaning robot may also determine that the cleaning robot enters the start state, that is, the motion state of the cleaning robot when walking on the ground may be determined as the start state.
It can be understood that, after the cleaning robot receives the motion start command, it may take the state within the following preset time period as the start state, for example, after the cleaning robot receives the motion start command at time point t1, the cleaning robot records the time period Δ t1 (corresponding to time point t 2) by using a timer, and the cleaning robot may take the motion state corresponding to the time period t1-t2 as the start state.
It is also understood that the cleaning robot may take the motion state corresponding to the time between the two commands as the start state after receiving the motion start command and before receiving the motion state switching command. Those skilled in the art may select any suitable manner to determine the starting state according to the specific service requirement, which is not described herein.
In the starting state, when the cleaning robot walks on walking grounds of different ground types, the acceleration components of the cleaning robot in the direction of the designated axis can be differentiated.
Referring to fig. 5b and 5c, fig. 5b is a graph showing an acceleration curve in a traveling direction of the cleaning robot in a stationary state on a hard floor type walking floor. Fig. 5c is an acceleration curve in a traveling direction of the cleaning robot starting from a stationary state to a moving state on a carpet type walking floor according to the embodiment of the present invention. As shown in fig. 5b and 5c, in the starting state, the resistance of the carpet surface to the cleaning robot is much larger than the resistance of the smooth and hard floor to the cleaning robot, when the cleaning robot enters the moving state from the stationary state with the same motion starting command, the acceleration of the traveling direction on the smooth and hard floor is larger than the acceleration of the traveling direction on the carpet, and the time required to obtain the same speed on the smooth and hard floor is shorter than the time required on the carpet.
Accordingly, the cleaning robot can recognize the floor type of the walking floor from the set of acceleration components in the traveling direction, and thus, in the activated state, the method can select the designated axis direction as the traveling direction of the cleaning robot so as to recognize the floor type of the walking floor.
As described above, in the activated state, when the cleaning robot walks on the walking floors of different floor types, the acceleration components of the traveling directions thereof are differentiated, so that the cleaning robot can identify the floor type of the walking floor on which the cleaning robot is in the activated state according to the set of acceleration components, referring to fig. 5d, in some embodiments, S43 includes:
s431, searching the maximum acceleration component from the acceleration component set in the starting state;
s432, calculating a difference value between the maximum acceleration component and the standing acceleration component, wherein the standing acceleration component is an acceleration component of the cleaning robot in a standing state in a specified axis direction;
and S433, identifying the ground type of the walking ground of the cleaning robot according to the difference.
In this embodiment, when the cleaning robot enters the moving state from the static state, if the default floor type is not reserved or is set in front, the cleaning robot may regard the floor type of the currently walking floor as a non-carpet type, for example, regard the currently walking floor as a hard floor.
In the present embodiment, assuming that the acceleration component set is { a1, a2, a3, … …, a99, a100}, the cleaning robot searches for the maximum acceleration component from the acceleration component set, assuming that a40 is the maximum acceleration component. For example, in the standing state, the cleaning robot detects the standing acceleration component corresponding to each time point in the preset time duration, then calculates an average value of all the standing acceleration components in the preset time duration, and uses the average value as a final standing acceleration component, for example, in the standing state, the cleaning robot takes 1 second to obtain 100 standing acceleration components, and then calculates an average value of 100 standing acceleration components, thereby obtaining a final standing acceleration component.
Here, assuming that the stationary acceleration component is K, the cleaning robot calculates the difference Δ a is a40-K, and thus the cleaning robot can recognize the floor type of the walking floor from the difference Δ a.
Referring to fig. 5e, in some embodiments, in the activation state, when the ground type of the walking ground is identified, S433 includes:
s4331, judging whether the difference is smaller than a low threshold value, if so, executing S4332, and if not, executing S4333;
s4332, if the floor type of the walking ground is smaller than the low threshold value, identifying the floor type of the walking ground as a carpet type;
s4333, if the difference is larger than or equal to the low threshold, judging whether the difference is larger than a high threshold, wherein the high threshold is larger than the low threshold, if so, executing S4334, otherwise, executing S4335;
s4334, if the height is larger than the high threshold value, identifying the ground type of the walking ground as a non-carpet type;
s4335, executing a preset operation.
In the present embodiment, the low threshold and the high threshold are calculated by the user according to experience and experiment, wherein the low threshold is smaller than the high threshold, for example, the low threshold is 0.2g, and the high threshold is 0.3 g.
In the present embodiment, the non-carpet type includes a hard floor type or the like as a suitable floor type.
In this embodiment, in step S4335, the specific preset operation is defined by the user according to the service requirement, for example, if the preset operation is less than or equal to the high threshold, the cleaning robot takes the floor type determined last time as the current floor type, or returns to step S4331 to repeat the determination, or suspends the determination, and resumes the determination when the motion state change is detected, and so on.
By adopting the method, the ground type of the current walking ground can be judged when the cleaning robot enters the motion state from the static state, so that the requirement of judging the ground type of the current walking ground in an all-around and dead-angle-free manner in the whole time period by the cleaning robot can be met, the advancing efficiency of the cleaning robot is improved, and the user experience is enhanced.
Generally, when a cleaning robot walks on walking floors of different floor types after the cleaning robot transits from a state of unstable speed to a state of stable speed in a starting state, the set of acceleration components in a given axis direction of the cleaning robot is differentiated.
Referring to fig. 6a, fig. 6a is an acceleration curve in a Z-axis direction of the cleaning robot according to the embodiment of the present invention, wherein the Z-axis direction is perpendicular to a walking floor, and the Y-axis direction is a traveling direction. As shown in fig. 6a, it can be seen that: when the cleaning robot moves, the machine body can generate vibration to a certain degree, and the acceleration component in the Z-axis direction can effectively reflect the vibration condition. When the cleaning robot moves on the carpet, the carpet can effectively absorb most high-frequency vibration, so that the waveform of the acceleration component in the Z-axis direction is obviously changed.
In fig. 6a, the low speed motion on the hard floor is started in about 8.9 seconds, the rotation is changed to the normal speed motion in about 11 seconds, the carpet enters and moves at the low speed in about 13.5 seconds, the carpet moves at the normal speed in about 16 seconds, and the carpet returns to the hard floor in about 18.5 seconds.
Accordingly, in some embodiments, the motion state includes a non-activated state, which is a state in which the cleaning robot enters the normal motion state from the activated state, wherein the non-activated state includes a low-speed straight state, a high-speed straight state, or a turning state. In the non-starting state, the designated axis direction is a direction perpendicular to the walking ground.
Since there is a difference in acceleration components between the activated state and the non-activated state, the cleaning robot can identify the floor type of the floor where the cleaning robot is walking in the non-activated state according to the set of acceleration components, please refer to fig. 6b, in some embodiments, S43 includes:
s434, in a non-starting state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum, wherein the frequency spectrum comprises a plurality of frequencies and an amplitude corresponding to each frequency;
s435, calculating the sum of all amplitude values with the frequency in the high-frequency section to obtain a total amplitude value;
and S436, identifying the ground type of the walking ground according to the total amplitude.
In some embodiments, the frequency domain conversion process includes a frequency domain conversion algorithm such as a fourier transform algorithm or a fast fourier transform algorithm.
The frequency spectrum is used to indicate the corresponding characteristics of the acceleration component in the frequency domain dimension in the non-activated state, which is different from the way of analyzing the acceleration component in the activated state in the time domain dimension. In the frequency spectrum, the horizontal axis represents frequency and the vertical axis represents amplitude.
The high frequency section is a section with a frequency higher than a preset frequency threshold, wherein the preset frequency threshold is determined by a user according to business or experience, for example, the preset frequency threshold is 80Hz, and the high frequency section is composed of frequencies higher than or equal to 80 Hz. In this embodiment, when calculating the total amplitude, the cleaning robot adds the corresponding ordinates of the abscissa of the frequency higher than or equal to 80Hz in the spectral line to obtain the total amplitude, so that the type of the ground on which the floor is walking can be identified based on the total amplitude.
As described above, the non-activated state includes a low-speed straight-driving state, a high-speed straight-driving state or a turning state, wherein the speed of the cleaning robot may be a constant speed or a variable speed in the low-speed straight-driving state and the high-speed straight-driving state, and the speed in the low-speed straight-driving state is lower than the speed in the high-speed straight-driving state.
In a non-starting state, the cleaning robot adopts different speeds, and when the cleaning robot walks on walking grounds of different ground types, the acceleration components of the cleaning robot in the direction of the designated axis are also differentiated.
Referring to fig. 7a and 7b together, fig. 7a is a frequency spectrum in the Z-axis direction when the cleaning robot provided by the embodiment of the present invention performs a low-speed movement on a hard floor type walking floor, and fig. 7b is a frequency spectrum in the Z-axis direction when the cleaning robot provided by the embodiment of the present invention performs a low-speed movement on a carpet type walking floor. In the low-speed straight traveling state, the vibration of the body of the cleaning robot is small, and as can be seen from fig. 7a and 7b, the difference between the total amplitude under the hard floor type walking floor and the total amplitude under the carpet type walking floor is significant in the high frequency range (e.g., 80 Hz).
Therefore, the cleaning robot can recognize the floor type of the current walking floor according to the differentiation even in different non-activated states. In some embodiments, the inactive state includes a low speed straight-driving state, the floor type includes a carpet type and a non-carpet type, and referring to fig. 7c, S436 includes:
s4361, in a low-speed straight-ahead state, judging whether the total amplitude is less than or equal to a first threshold, if so, executing S4362, and if not, executing S4363;
s4362, if the ground type of the walking ground is less than or equal to the first threshold, identifying the ground type of the walking ground as a carpet type;
s4363, if the total amplitude is greater than the first threshold, determining whether the total amplitude is greater than or equal to a second threshold, wherein the second threshold is greater than the first threshold, if so, executing S4364, and if not, executing S4365;
s4364, if the ground type of the walking ground is larger than or equal to the second threshold, identifying that the ground type of the walking ground is a non-carpet type;
s4365, if the threshold is less than the second threshold, executing a preset operation.
In this embodiment, the low-speed straight-driving state is a state when the speed of the cleaning robot is low, and generally, when the cleaning robot transits from the start state to the next motion state, the speed of the cleaning robot is low at this time, and the motion state at this time is the low-speed straight-driving state, for example, as described above, when the cleaning robot counts time to t2, time is continuously counted for Δ t2 time (which corresponds to time to t 3), and the cleaning robot may use the motion state corresponding to the time from t2 to t3 as the low-speed straight-driving state. For another example, after the cleaning robot counts the time point t2, the cleaning robot receives the high-speed switching command at the time point t4, and then the cleaning robot may set the motion state corresponding to the time period t2-t4 as the low-speed straight-moving state.
It is understood that the movement state corresponding to the preset time period before the cleaning robot stops moving is the low-speed straight-moving state, for example, the cleaning robot starts to enter the low-speed straight-moving state when receiving the preparatory stop movement instruction.
It can also be understood that, a person skilled in the art can define the entry timing of the low-speed straight-going state by himself or herself according to business needs, which is not described herein.
In this embodiment, the first threshold and the second threshold are calculated by the user according to experience and experiment, for example, the first threshold is 3, and the second threshold is 5.
In this embodiment, in step S4365, the specific preset operation is defined by the user according to the service requirement, for example, if the specific preset operation is smaller than the second threshold, the cleaning robot takes the floor type determined last time as the current floor type, or returns to step S4361 to repeat the determination, or suspends the determination, and resumes the determination when the motion state change is detected, and so on.
By adopting the method, the ground type of the current walking ground can be reliably and finely judged according to the acceleration component change condition of the cleaning robot on the Z axis caused in the low-speed straight-running state.
In some embodiments, when the cleaning robot moves at a high speed, the vibration of the body of the cleaning robot is more obvious, and the acceleration component of the cleaning robot when the cleaning robot moves on walking floors of different floor types is also more obvious.
Referring to fig. 8a and 8b together, fig. 8a is a frequency spectrum in the Z-axis direction when the cleaning robot provided by the embodiment of the present invention performs a high-speed movement on a hard floor type walking floor, and fig. 8b is a frequency spectrum in the Z-axis direction when the cleaning robot provided by the embodiment of the present invention performs a high-speed movement on a carpet type walking floor. As can be seen from fig. 8a and 8b, the difference between the total amplitude under a hard floor type walking floor and the total amplitude under a carpet type walking floor is significant in a high frequency region (e.g., 80 Hz).
In some embodiments, the inactive state includes a high-speed inline state, referring to fig. 8c, S436 includes:
s4366, in a high-speed straight-ahead state, judging whether the total amplitude is less than or equal to a third threshold value, if so, executing S4367, and if not, executing S4368;
s4367, if yes, identifying the ground type of the walking ground as a carpet type;
s4368, if not, identifying the type of the ground on the walking ground as a non-carpet type.
In this embodiment, the high-speed straight-moving state is a state when the speed of the cleaning robot is high, and usually, when the cleaning robot starts to perform the cleaning operation, the speed is high, and the moving state is the high-speed straight-moving state, for example, when the cleaning robot receives the cleaning instruction, the cleaning robot starts to enter the high-speed straight-moving state.
In the present embodiment, the third threshold is calculated by the user according to experience and experiment, for example, the third threshold is 10.
By adopting the method, the ground type of the current walking ground can be reliably and finely judged according to the acceleration component change condition of the cleaning robot on the Z axis caused in the high-speed straight-ahead state.
In some embodiments, when the motion state is a turning state, since the body vibration of the cleaning robot when turning is weak, the cleaning robot may regard the last judged floor type as the current floor type.
Generally, the walking ground identification method provided by the invention covers the judgment and determination of the ground type of the walking ground in a starting state, a low-speed straight-going state, a high-speed straight-going state and a turning state when the walking ground enters a moving state from a static state, and has the advantages of accurate and reliable identification result, wide compatibility and good expansibility.
To illustrate the method in detail, the method is described in more detail in conjunction with table 1, wherein table 1 is a table of inspection data when the cleaning robot walks on walking floors of different floor types. As shown in table 1:
TABLE 1
As can be seen from Table 1, for the same motion state, the acceleration or the total amplitude has a significant difference when walking on different walking floors, such as the acceleration is not more than 0.2g when walking in a carpet in the starting state, and the acceleration is more than 0.3g when walking on a hard floor.
In the low-speed straight-running state, the total amplitude of the walking stick is almost less than 3g when the walking stick walks in a carpet, and the acceleration of the walking stick is more than 5g when the walking stick walks on a hard ground.
In the high-speed straight-running state, the total amplitude of the walking stick is almost less than 10g when the walking stick walks in a carpet, and the acceleration of the walking stick is more than 10g when the walking stick walks on a hard ground.
It can also be known from table 1 that if the judgment threshold of the total amplitude or the acceleration is divided and defined more finely, when the cleaning robot identifies the floor type of the floor on which the cleaning robot travels according to the total amplitude or the difference, the cleaning robot can identify not only the carpet type and the non-carpet type, but also the floor on which the cleaning robot travels of the more specific material floor type in the non-carpet type, such as a smoother wooden surface, a rougher wooden surface, a softer foam floor tile, an outdoor pebble floor, an outdoor irregular slab splicing floor, etc., which is not described herein again.
To explain the method in more detail, the method is further explained in detail with reference to the application scenario provided in fig. 8d, which is as follows:
the cleaning robot 50 is located in the indoor space 51, the indoor space 51 is paved with wood floors 52, and partial areas of the wood floors 52 are paved with carpets 53.
If the cleaning robot 500 enters the moving state from the stationary state at the point S1, it can recognize that the current walking floor is the wood floor using the method provided herein.
If the cleaning robot 500 enters the moving state from the stationary state at the point S2, it can also recognize that the currently walking floor is a carpet using the method provided herein.
If the cleaning robot 500 moves from the location S1 at a low speed or a high speed to the location S2, it can recognize that the hard type wood flooring is switched to the carpet type carpet using the method provided herein.
If the cleaning robot 500 moves from the location S2 at a low speed or a high speed to the location S1, it can recognize that the carpet type carpet is switched to the hard type wood floor using the method provided herein.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and those skilled in the art can understand, according to the description of the embodiments of the present invention, that in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed interchangeably, and the like.
As another aspect of the embodiments of the present invention, the embodiments of the present invention provide a walking surface recognition device. The walking ground recognition device can be a software module, the software module comprises a plurality of instructions which are stored in a memory, and the processor can access the memory and call the instructions to execute the instructions so as to complete the walking ground recognition method set forth in each embodiment.
In some embodiments, the walking ground recognition device may also be built by hardware devices, for example, the walking ground recognition device may be built by one or more than two chips, and each chip may work in coordination with each other to complete the walking ground recognition method described in each of the above embodiments. For another example, the walking ground recognition device may also be constructed by various logic devices, such as a general processor, a Digital Signal Processor (DSP), an application specific integrated circuit (ASI C), a Field Programmable Gate Array (FPGA), a single chip, an arm (acorn RI SC machine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
Referring to fig. 9, the walking ground recognition device 600 includes a state determination module 61, an acceleration acquisition module 62, and a ground recognition module 63.
The state determination module 61 is configured to determine a motion state of the cleaning robot when the cleaning robot is walking on the floor, and the cleaning robot configures a coordinate system.
The acceleration obtaining module 62 is configured to obtain a set of acceleration components of the cleaning robot in a specified axial direction in the coordinate system according to the motion state.
The ground identification module 63 is configured to identify a ground type of the walking ground according to the acceleration component set.
Therefore, compared with the prior art, the device can realize the identification of the walking ground without adopting an ultrasonic sensor, thereby reducing the ground identification cost, and also avoiding excessively transforming the cleaning robot, thereby reducing the design difficulty of the cleaning robot.
In some embodiments, the motion state includes a start state, and the state determining module 61 is specifically configured to obtain a motion start instruction, determine, according to the motion start instruction, that the motion state of the cleaning robot when walking on the ground is the start state, and in the start state, specify that the axial direction is the traveling direction of the cleaning robot.
In some embodiments, the acceleration component set includes a plurality of time-continuous acceleration components, and the ground identification module 63 is configured to search, in the start state, for a maximum acceleration component from the acceleration component set, calculate a stationary acceleration component in a designated axis direction when the cleaning robot is in the stationary state, and a difference between the maximum acceleration component and the stationary acceleration component, and identify the ground type of the ground on which the cleaning robot travels according to the difference.
In some embodiments, the ground identification module 63 is specifically configured to determine whether the difference is smaller than a low threshold, identify the ground type of the walking ground as the carpet type if the difference is smaller than the low threshold, determine whether the difference is greater than a high threshold if the difference is greater than or equal to the low threshold, wherein the high threshold is greater than the low threshold, and identify the ground type of the walking ground as the non-carpet type if the difference is greater than the high threshold.
In some embodiments, the motion state includes a non-activated state in which the designated axis direction is a direction perpendicular to the walking ground.
In some embodiments, the ground identification module 63 is configured to, in the non-activated state, perform frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum, where the frequency spectrum includes a plurality of frequencies and amplitudes corresponding to each of the frequencies, calculate a sum of amplitudes of the frequencies in the high frequency range to obtain a total amplitude, and identify the ground type of the walking ground according to the total amplitude.
In some embodiments, the ground identification module 63 is specifically configured to perform frequency domain conversion processing on the acceleration component sets in the non-activated state according to a fast fourier transform algorithm to obtain a frequency spectrum.
In some embodiments, the inactive state includes a low speed straight travel state, the floor types include carpet type and non-carpet type, and the floor identification module 63 is further specifically configured to: and under the low-speed straight-driving state, judging whether the total amplitude is less than or equal to a first threshold value, if so, identifying that the ground type of the walking ground is a carpet type, if so, judging whether the total amplitude is greater than or equal to a second threshold value, wherein the second threshold value is greater than the first threshold value, and if so, identifying that the ground type of the walking ground is a non-carpet type.
In some embodiments, the inactive state comprises a high speed straight-through state, the floor types comprise carpet type and non-carpet type, and the floor identification module 63 is further specifically configured to: and under the high-speed straight-running state, judging whether the total amplitude is less than or equal to a third threshold value, if so, identifying that the ground type of the walking ground is a carpet type, and if not, identifying that the ground type of the walking ground is a non-carpet type.
It should be noted that the walking ground recognition device can execute the walking ground recognition method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the walking surface recognition device, reference may be made to the walking surface recognition method provided by the embodiment of the present invention.
Referring to fig. 10, fig. 10 is a schematic circuit structure diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 10, the electronic device 700 includes one or more processors 71 and memory 72. In fig. 10, one processor 71 is taken as an example.
The processor 71 and the memory 72 may be connected by a bus or other means, such as the bus connection shown in fig. 10.
The memory 72, which is a non-volatile computer-readable storage medium, may be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the walking ground recognition method in the embodiment of the present invention. The processor 71 executes various functional applications and data processing of the walking surface recognition device by running the nonvolatile software programs, instructions and modules stored in the memory 72, that is, the functions of the walking surface recognition method provided by the above method embodiment and the various modules or units of the above device embodiment are realized.
The memory 72 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 72 may optionally include memory located remotely from the processor 71, and such remote memory may be connected to the processor 71 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 72 and, when executed by the one or more processors 71, perform the walking floor recognition method of any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as a processor 71 in fig. 7, so that the one or more processors can execute the walking surface identification method in any of the above method embodiments.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a cleaning robot, cause the cleaning robot to perform a walking floor recognition method of any of the above-mentioned method embodiments.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A walking ground recognition method is applied to a cleaning robot, and is characterized by comprising the following steps:
determining a motion state of the cleaning robot while walking on the ground, the cleaning robot configuring a coordinate system;
acquiring an acceleration component set of the cleaning robot in the direction of a specified axis in the coordinate system according to the motion state;
and identifying the ground type of the walking ground according to the acceleration component set.
2. The method of claim 1, wherein the motion state comprises a startup state, and wherein the determining the motion state of the cleaning robot while walking the floor comprises:
acquiring a motion starting instruction;
and determining that the motion state of the cleaning robot on the walking ground is the starting state according to the motion starting instruction, wherein the appointed shaft direction is the advancing direction of the cleaning robot in the starting state.
3. The method of claim 2, wherein the set of acceleration components comprises a plurality of time-continuous acceleration components, and wherein identifying the ground type of the walking surface from the set of acceleration components comprises:
searching the maximum acceleration component from the acceleration component set in the starting state;
calculating a difference value between the maximum acceleration component and a standing acceleration component, wherein the standing acceleration component is an acceleration component of the cleaning robot in the specified axis direction in a standing state;
and identifying the ground type of the ground where the cleaning robot walks according to the difference value.
4. The method of claim 3, wherein identifying the ground type of the walking surface from the set of acceleration components comprises:
judging whether the difference value is smaller than a low threshold value;
if the walking ground is smaller than the low threshold, identifying that the ground type of the walking ground is a carpet type;
if the difference value is larger than or equal to a low threshold value, judging whether the difference value is larger than a high threshold value, wherein the high threshold value is larger than the low threshold value, and if the difference value is larger than the high threshold value, identifying that the ground type of the walking ground is a non-carpet type.
5. The method of claim 1, wherein the motion state comprises a non-activated state in which the designated axis direction is a direction perpendicular to the walking ground.
6. The method of claim 5, wherein identifying the ground type of the walking surface from the set of acceleration components comprises:
under the non-starting state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum, wherein the frequency spectrum comprises a plurality of frequencies and amplitude values corresponding to the frequencies;
calculating the sum of all amplitudes of which the frequencies are in the high-frequency section to obtain a total amplitude;
and identifying the ground type of the walking ground according to the total amplitude.
7. The method according to claim 6, wherein said performing a frequency domain transform on said set of acceleration components in said inactive state to obtain a frequency spectrum comprises:
and according to a fast Fourier transform algorithm, under the non-starting state, performing frequency domain conversion processing on the acceleration component set to obtain a frequency spectrum.
8. The method of claim 6, wherein the inactive state comprises a low speed straight-through state, the floor types comprise a carpet type and a non-carpet type, and identifying the floor type of the walking floor from the total amplitude comprises:
judging whether the total amplitude is smaller than or equal to a first threshold value or not in the low-speed straight running state;
if the ground type of the walking ground is smaller than or equal to the first threshold, identifying that the ground type of the walking ground is a carpet type;
if the total amplitude is larger than the first threshold value, judging whether the total amplitude is larger than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value, and if the total amplitude is larger than or equal to the second threshold value, identifying that the ground type of the walking ground is a non-carpet type.
9. The method of claim 6, wherein the inactive state comprises a high speed walk-through state, the floor types comprise carpet type and non-carpet type, and identifying the floor type of the walking floor from the total amplitude comprises:
judging whether the total amplitude is smaller than or equal to a third threshold value or not in the high-speed straight-running state;
if so, identifying that the ground type of the walking ground is a carpet type;
and if not, identifying that the ground type of the walking ground is a non-carpet type.
10. A cleaning robot, characterized by comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a walking surface identification method as claimed in any one of claims 1 to 9.
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