CN113031596A - Obstacle avoidance adjusting method and device of sweeper and computer equipment - Google Patents
Obstacle avoidance adjusting method and device of sweeper and computer equipment Download PDFInfo
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Abstract
The application provides an obstacle avoidance adjusting method and device of a sweeper and computer equipment. The sweeper judges whether the sweeper is in an open environment at present according to the discrete degree among the AD values. And if the sweeper is in an open environment, updating the AD initial threshold value according to each AD value to obtain a first AD updating threshold value. And subsequently, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action. In the application, the sweeper detects and obtains each AD value (namely each AD value in an open environment) with credibility on the basis of interference conditions such as current ambient light or lens abrasion, and updates the AD initial threshold value accordingly, so that the influence of various interference conditions can be offset by the updated first AD updating threshold value, the accurate identification of the position of the environmental obstacle is realized, and the accuracy of obstacle avoidance is improved.
Description
Technical Field
The application relates to the technical field of sweeper, in particular to a method and a device for adjusting obstacle avoidance of a sweeper and computer equipment.
Background
The sweeper is used as a household intelligent cleaning robot, and the intelligent development is faster and faster. The main and basic characteristics of the method include automatically sensing the environments such as obstacles, cliffs and the like and then avoiding. No matter the type is random, IMU type, or vision laser type, avoid the infrared distance measuring device that the barrier all adopted, utilize the sending lamp to launch infrared light promptly, then convert the analog quantity that receives with the receiving lamp into the digital quantity and judge, the ad value is judged promptly to learn the distance from the barrier. Most of the conventional obstacle deceleration turning principles set by sweeper companies are to set a fixed threshold, compare and judge a received ad value with the fixed threshold, and perform turning to avoid collision when the received ad value reaches the threshold. However, when the sweeper is used for a long time, the lens of the infrared distance measuring device is worn or is affected by ambient light in different environments, the receiving effect of the infrared distance measuring device is affected, so that the converted ad value is different from the actual ad value, the sweeper misjudges the position of an obstacle or a turning position, and the obstacle is turned in advance or collides with the obstacle.
Disclosure of Invention
The application mainly aims to provide an obstacle avoidance adjusting method and device of a sweeper and computer equipment, and aims to overcome the defect that the existing sweeper cannot accurately identify the position of an obstacle or a turning.
In order to achieve the above object, the present application provides an obstacle avoidance adjusting method for a sweeper, including:
collecting a plurality of AD values, wherein the AD values represent the distance between the sweeper and an environmental obstacle;
judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
if the sweeper is in an open environment, updating an AD initial threshold according to the AD values to obtain a first AD updating threshold, wherein the AD initial threshold is an updated threshold after the sweeper is started last time, and the first AD updating threshold is an updated threshold based on the AD values and the AD initial threshold;
and when detecting that the current AD value is consistent with the first AD updating threshold value, executing an obstacle avoidance action.
Further, the step of judging whether the sweeper is in an open environment at present according to the discrete degree between the AD values includes:
calculating the average value of the AD values to obtain an AD average value;
calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
judging whether the AD standard deviation is larger than a standard deviation threshold value;
and if the AD standard deviation is not larger than the standard deviation threshold value, judging that the sweeper is in an open environment currently.
Further, the step of updating the AD initial threshold according to each AD value to obtain a first AD update threshold includes:
a fixed variable is called, and the AD average value is used as an AD reference value;
adding the fixed variable and the AD reference value to obtain the first AD updating threshold value;
and replacing the AD initial threshold value by the first AD updating threshold value, and finishing updating.
Further, the step of acquiring a plurality of AD values includes:
collecting the AD values according to a preset frequency;
and sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
Further, after the step of judging whether the sweeper is currently in an open environment, the method includes:
and if the sweeper is not in the open environment currently, calling a second AD updating threshold, and not changing the second AD updating threshold before the sweeper enters the open environment, wherein the second AD updating threshold is the last threshold updated by the sweeper in the open environment.
Further, after the step of updating the AD initial threshold according to each AD value to obtain the first AD updated threshold, the method includes:
judging whether the first AD updating threshold value and the AD initial threshold value are the same;
if the first AD updating threshold value is different from the AD initial threshold value, acquiring the service time of the sweeper, wherein the service time is the total working time of the sweeper from initial starting to the current time;
judging whether the use duration is greater than a time threshold;
and if the service life is longer than a time threshold, outputting first prompt information, wherein the first prompt information is used for reminding a user to detect the abrasion degree of the infrared distance measuring device of the sweeper.
Further, after the step of performing an obstacle avoidance action when it is detected that the current AD value is consistent with the first AD update threshold, the method includes:
judging whether the sweeper collides after executing obstacle avoidance action;
and if the sweeper collides, controlling the sweeper to stop moving and outputting second prompt information, wherein the second prompt information is used for reminding a user to manually correct the fixed variable.
The application still provides a machine of sweeping floor keeps away barrier adjusting device, includes:
the acquisition module is used for acquiring a plurality of AD values, and the AD values represent the distance between the sweeper and an environmental barrier;
the first judgment module is used for judging whether the sweeper is in an open environment or not according to the dispersion degree among the AD values;
the first updating module is used for updating an AD initial threshold value according to each AD value to obtain a first AD updating threshold value if the sweeper is in an open environment currently, wherein the AD initial threshold value is an updated threshold value after the sweeper is started last time, and the first AD updating threshold value is an updated threshold value based on each AD value and the AD initial threshold value;
and the obstacle avoidance module is used for executing obstacle avoidance action when the current AD value is detected to be consistent with the first AD updating threshold value.
Further, the first determining module includes:
the first calculating unit is used for carrying out average calculation on the AD values to obtain an AD average value;
the second calculating unit is used for calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
a judging unit, configured to judge whether the AD standard deviation is greater than a standard deviation threshold;
and the judging unit is used for judging that the sweeper is in an open environment currently if the AD standard deviation is not larger than the standard deviation threshold.
Further, the first updating module includes:
the calling unit is used for calling a fixed variable and taking the AD average value as an AD reference value;
the third calculating unit is used for performing summation calculation on the fixed variable and the AD reference value to obtain the first AD updating threshold value;
and the replacing unit is used for replacing the AD initial threshold value by using the first AD updating threshold value and finishing updating.
Further, the acquisition module includes:
the acquisition unit is used for acquiring the AD values according to a preset frequency;
and the arrangement unit is used for sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
Further, the obstacle avoidance adjusting device further includes:
and the calling module is used for calling a second AD updating threshold value if the sweeper is not in the open environment currently, and the second AD updating threshold value is not changed before the sweeper enters the open environment, wherein the second AD updating threshold value is the last threshold value updated by the sweeper in the open environment.
Further, the obstacle avoidance adjusting device further includes:
the second judging module is used for judging whether the first AD updating threshold value is the same as the AD initial threshold value;
the acquisition module is used for acquiring the service time of the sweeper if the first AD updating threshold is different from the AD initial threshold, wherein the service time is the total working time of the sweeper from initial starting to the current time;
the third judging module is used for judging whether the service time length is greater than a time threshold value;
and the first prompt module is used for outputting first prompt information if the service life is longer than a time threshold, and the first prompt information is used for reminding a user of detecting the abrasion degree of the infrared distance measuring device of the sweeper.
Further, the obstacle avoidance adjusting device further includes:
the fourth judgment module is used for judging whether the sweeper collides after executing the obstacle avoidance action;
and the second prompt module is used for controlling the sweeper to stop moving if the sweeper collides, and outputting second prompt information, wherein the second prompt information is used for reminding a user of manually correcting the fixed variable.
The present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of any of the above.
According to the obstacle avoidance adjusting method and device for the sweeper and the computer equipment, the sweeper collects a plurality of AD values in real time in the moving process, wherein the AD values represent the distance between the sweeper and an environmental obstacle. The sweeper judges whether the sweeper is in an open environment at present according to the discrete degree among the AD values. And if the sweeper is in an open environment, updating the AD initial threshold value according to each AD value to obtain a first AD updating threshold value. And subsequently, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action. In the application, the sweeper detects and obtains each AD value (namely each real-time AD value in the open environment) which has credibility and contains the current interference condition and can be used for representing the open environment on the basis of the interference conditions such as current ambient light or lens abrasion, updates the AD initial threshold value accordingly to obtain a first AD updating threshold value, realizes the data translation of threshold data carrying interference conditions, and changes the angle, wherein the first AD updating threshold value utilizes the real-time translation of data to offset the influence of various interference conditions which are already possessed when the AD value is obtained in the open environment, thereby realizing the accurate identification of the position of the environmental obstacle and improving the accuracy of obstacle avoidance.
Drawings
Fig. 1 is a schematic step diagram of an obstacle avoidance adjustment method of a sweeper in an embodiment of the present application;
fig. 2 is a block diagram of an overall structure of an obstacle avoidance adjusting device of a sweeper in an embodiment of the present application;
fig. 3 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
Referring to fig. 1, an embodiment of the present application provides an obstacle avoidance adjustment method for a sweeper, including:
s1, collecting a plurality of AD values, wherein the AD values represent the distance between the sweeper and the environmental barrier;
s2, judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
s3, if the sweeper is in an open environment, updating an AD initial threshold according to the AD values to obtain a first AD updating threshold, wherein the AD initial threshold is the threshold updated after the sweeper is started last time, and the first AD updating threshold is the threshold updated based on the AD values and the AD initial threshold;
and S4, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action.
In this embodiment, the deployment has infrared distance measuring device on the machine of sweeping the floor, and infrared distance measuring device's range finding principle is: the emitting lamp is used for emitting infrared rays, the infrared rays are reflected when contacting with the obstacles, the receiving lamp receives the reflected infrared rays, analog quantity of the infrared rays is subjected to digital-to-analog conversion, and corresponding digital quantity, namely an AD value, is obtained, the AD value represents the distance between the sweeper and the environmental obstacles (the environmental obstacles can be objects such as tables and chairs and the like and can also be walls), and the larger the AD value is, the closer the distance between the sweeper and the environmental obstacles is indicated. The sweeper measures the distance in real time through the infrared distance measuring device in the moving process, so that a plurality of AD values are obtained (the AD values are updated in real time along with the movement of the sweeper). The sweeper obtains AD values in the environment in real time, calculates the average value of each AD value in real time, and calculates the AD standard deviation of the group of AD values according to the average value and each AD value. The sweeper compares the AD standard deviation obtained by calculation with a preset standard deviation threshold value, so that the discrete degree between the AD values is identified. If the AD standard deviation is not greater than the standard deviation threshold, it is indicated that the group of AD value data is relatively stable, the dispersion degree of the group of AD value data is relatively low, that is, the surrounding obstacle environments are consistent, that is, the sweeper is currently in an open environment (if the distance between the obstacle and the sweeper changes along with the movement of the sweeper, the dispersion degree of the data is relatively high), the group of AD value data is obtained or calculated in real time in the current environmental interference, the representation of the open environment has confidence in data representation, and the current AD threshold of the sweeper, that is, the AD initial threshold, can be updated based on the current AD threshold, that is, the AD initial threshold, wherein the AD initial threshold is an updated threshold after the sweeper is started last time, for example, a default value set by a factory, a threshold manually changed by a user, or a threshold automatically updated by the sweeper. Specifically, the sweeper calls a fixed variable, then takes the calculated average value as a reference value (namely an AD reference value), and sums the reference value and the fixed variable to obtain a first AD update threshold, and replaces the AD initial threshold with the first AD update threshold, thereby completing the update of the AD initial threshold. In the embodiment, the AD threshold value of the sweeper can be updated in real time (namely the AD threshold value is updated once when one or a preset number of new AD values are measured), or can be updated once when a new working environment is entered (for example, the AD threshold value is updated once when the sweeper enters a kitchen for cleaning, and the updated AD threshold value is used as the AD threshold value according to the sweeper when the sweeper moves in the kitchen; the AD threshold value is updated again when the sweeper comes out of the kitchen and enters a living room, and the updated AD threshold value is used as the AD threshold value according to the sweeper when the sweeper moves in the living room, so that the influence of ambient light on infrared distance measurement is realized, meanwhile, repeated updating is not needed all the time, and the energy consumption is reduced). After the sweeper obtains the first AD updating threshold, the current AD value obtained through the infrared distance measuring device is compared with the first AD updating threshold in real time. And if the current AD value is the same as the first AD threshold value, the sweeper executes obstacle avoidance actions (actions such as bypassing or turning) so as to avoid the environmental obstacles.
In this embodiment, the sweeper detects, on the basis of the interference conditions such as current ambient light or lens abrasion, each AD value (that is, each real-time AD value in the open environment) which has a credibility and contains the current interference condition and can be used for representing the open environment, and updates the AD initial threshold value accordingly to obtain a first AD update threshold value, so that data translation of the threshold value data carrying the interference condition is realized, in other words, the first AD update threshold value utilizes real-time translation of data, so that the influence of various interference conditions which are already possessed when the AD value is obtained in the open environment can be offset, the accurate identification of the position of the environmental obstacle is realized, the accuracy of obstacle avoidance is improved, and accidents such as turning in advance or collision with the environmental obstacle are avoided.
Further, the step of judging whether the sweeper is in an open environment at present according to the discrete degree between the AD values includes:
s201, carrying out average calculation on the AD values to obtain an AD average value;
s202, calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
s203, judging whether the AD standard deviation is larger than a standard deviation threshold value;
and S204, if the AD standard deviation is not larger than the standard deviation threshold value, judging that the sweeper is in an open environment currently.
In this embodiment, the sweeper first calculates the average of each AD value to obtain an AD average value. Then, standard deviation calculation is performed according to the average AD value and each AD value, so that the AD standard deviation is obtained. The standard deviation of AD characterizes the degree of dispersion between the set of AD values, such as (95, 85, 75, 65, 55, 45) for group a and (73, 72, 71, 69, 68, 67) for group B; although the mean values of the group A data and the group B data were 70, the standard deviation of the group A data was 17.078, and the standard deviation of the group B data was 2.16. The standard deviation of the group B data is much smaller than that of the group A data, so that the dispersion degree (or the difference degree among the data) among the group B data is smaller, and the stability is higher. The system calls a preset standard deviation threshold value and judges whether the AD standard deviation is larger than the standard deviation threshold value. If the AD standard deviation is not larger than the standard deviation threshold value, the dispersion degree among the AD values is small, and the sweeper is currently in an open environment (when the sweeper is in the open environment, no environmental barrier exists in the distance measuring range of the infrared distance measuring device, so that the measured AD values are approximately the same, for example, the distance measuring range is 500, and when the sweeper is currently in the open environment, the measured AD values are closer values such as 499, 500 and 501). If the AD standard deviation is larger than the standard deviation threshold value, the dispersion degree among the AD values is larger, the sweeper is probably in an environment close to an obstacle or more obstacles exist around the sweeper, the stable open environment is difficult to represent by the group of AD values, and data processing without credibility is performed on the aspect of representing the open environment.
Further, the step of updating the AD initial threshold according to each AD value to obtain a first AD update threshold includes:
s301, taking a fixed variable, and taking the AD average value as an AD reference value;
s302, adding the fixed variable and the AD reference value to obtain a first AD updating threshold value;
s303, replacing the AD initial threshold value by the first AD updating threshold value to finish updating.
In this embodiment, the sweeper retrieves a fixed variable, which represents the difference of a fixed variation trend, i.e. the AD data variation data from the edge of the open environment to the accurate turning point near the obstacle, it can be understood that the lens wear or the change of the illumination condition will change the perception of the lens to the whole environment, but the perception trend of the environment change is not changed, which is equivalent to that the data variation trend/variation quantity representing the environment is basically not changed, for example, the AD of the open environment obtained at the component standard is 500, the AD of the turning point facing the obstacle before collision should be 800, then the AD difference (i.e. the fixed variable) between the two points is 300, and the change is changed according to the aforementioned AD data itself, but the variation trend of the feedback environment perception is not changed, so that even after the component wear, the AD sensed by the open environment becomes 400, then 400 superimposes the fixed variable 300 as 700, and the AD "700" means that the current position with AD 700 is the position point with the original AD 800, and the turn can be made.
The fixed variable can be preset by the designer of the sweeper or can be measured in actual use. Specifically, when the sweeper is used for the first time, the sweeper collects the AD value of the sweeper in an open environment according to the method, and the AD initial threshold value is adjusted. And subtracting the AD value measured in the first use from the AD initial threshold value used by the sweeper, and calculating to obtain a fixed variable. The sweeper takes the calculated AD average value as an AD reference value, then a first AD updating threshold value is calculated by adding a fixed variable to the AD reference value, and a new threshold value corresponding to the current environmental condition (including various interference conditions) where the sweeper is located is formed, so that the influence of various interference conditions such as lens abrasion and ambient light is avoided. The sweeper replaces the original AD initial threshold value with the first AD updating threshold value, so that the sweeper finishes updating according to the first AD updating threshold value in the subsequent obstacle avoidance movement.
Further, the step of acquiring a plurality of AD values includes:
s101, collecting the AD values according to a preset frequency;
and S102, sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
In this embodiment, the machine of sweeping the floor passes through infrared distance measuring device, according to presetting a plurality of AD values of frequency collection to arrange each AD value according to the collection moment that corresponds separately, make the AD value after arranging have the chronogenesis nature, be convenient for analyze each AD value along with the change that the increase of time takes place. Preferably, when the sweeper calculates the degree of dispersion between the AD values, a preset number of AD values may be selected as one group (for example, 5 AD values may be selected as one group) according to the increase of time, and the AD values in the group may be updated in real time. When the sweeper acquires a new AD value, removing the group from the AD value with the earliest acquisition time in the group, and adding the new AD value into the group; therefore, the real-time performance of the data can be guaranteed, and the data processing amount during calculation can be reduced.
Further, after the step of judging whether the sweeper is currently in an open environment, the method includes:
s5, if the sweeper is not in the open environment currently, calling a second AD updating threshold, and not changing the second AD updating threshold before the sweeper enters the open environment, wherein the second AD updating threshold is the last threshold updated by the sweeper in the open environment.
In this embodiment, during the movement of the sweeper, the AD values are collected according to the preset frequency, and a recursion mode is adopted when the discrete degree among a plurality of AD values is calculated. When the sweeper collects a latest AD value and judges whether the sweeper is in an open environment or not according to the AD value and a plurality of AD values adjacent to the AD value, the fact that the AD value collected latest currently does not have credibility for the characterization of the open environment is shown, the AD initial threshold value cannot be updated on the basis of the latest collected AD value, and the sweeper just moves from the open environment to the non-open environment at the current moment. At this time, the sweeper can stop updating the AD initial threshold, and directly use the AD initial threshold as the AD threshold according to the current obstacle avoidance action. Or the sweeper eliminates the newly collected AD values, and a plurality of first AD values before the current moment are taken as a group of data from the previously collected AD values. The acquisition time of the first AD value ranked as the last in the group of first AD values is adjacent to the current time (i.e., the acquisition time of the latest acquired AD value). Because the sweeper is still in an open environment at the moment before the latest acquired AD value, the first AD values are stable and have reliability. The sweeper updates the AD initial threshold according to the method on the basis of each first AD value to obtain a second AD updating threshold, wherein the second AD updating threshold is the latest AD threshold of the sweeper in the current movement, and represents the last threshold updated by the sweeper in an open environment, or the last threshold updated by the sweeper before entering a non-open environment. And before the sweeper moves to an open environment, the second updating threshold value is not changed any more, so that the obstacle avoidance accuracy is guaranteed.
Further, after the step of updating the AD initial threshold according to each AD value to obtain the first AD updated threshold, the method includes:
s6, judging whether the first AD updating threshold value and the AD initial threshold value are the same;
s7, if the first AD updating threshold value is different from the AD initial threshold value, acquiring the service life of the sweeper, wherein the service life is the total working time of the sweeper from initial starting to the current time;
s8, judging whether the use duration is greater than a time threshold;
and S9, outputting first prompt information if the service life is longer than a time threshold, wherein the first prompt information is used for reminding a user to detect the abrasion degree of the infrared distance measuring device of the sweeper.
In this embodiment, after obtaining the first AD update threshold, the sweeper compares the first AD update threshold with the AD initial threshold, and determines whether the first AD update threshold and the AD initial threshold are the same. If the two are consistent, the current sweeper is not influenced by interference conditions such as abrasion of elements of the infrared distance measuring device and ambient light of different environments. If the first AD updating threshold value is not the same as the AD initial threshold value, the influence of the interference condition on the sweeper is shown, but the specific interference condition needs to be further judged. Specifically, the service life of the sweeper is obtained from the use history of the sweeper. The service life is the total working time of the sweeper from the initial start to the current time, and the total working time only includes the working time of the sweeper, for example, if the sweeper is started for the first time for 2 hours and is started for the second time for 1 hour, the corresponding total working time is 3 hours. And (4) calling a time threshold value by the sweeper, and judging whether the service time of the sweeper is longer than the time threshold value. The time threshold is set by a designer and generally corresponds to the wear time of the components of the infrared distance measuring device, for example, if the wear time of the lens of the infrared distance measuring device is generally 500 hours after the designer tests, the time threshold is set to 500 hours. If the sweeper judges that the using time is longer than the time threshold, the possibility of the element abrasion of the infrared distance measuring device is far larger than other conditions such as the influence of ambient light under the interference condition of the sweeper. Therefore, the sweeper outputs first prompt information which can be directly sent by the sweeper or sent to a pre-associated mobile terminal by the sweeper, such as a mobile phone of a user, so that the user is reminded of detecting the abrasion degree of the infrared distance measuring device of the sweeper in time, and the interference of element abrasion on obstacle avoidance accuracy is eliminated.
Further, after the step of performing an obstacle avoidance action when it is detected that the current AD value is consistent with the first AD update threshold, the method includes:
s10, judging whether the sweeper collides after executing the obstacle avoidance action;
and S11, if the sweeper collides, controlling the sweeper to stop moving and outputting second prompt information, wherein the second prompt information is used for reminding a user to manually correct the fixed variable.
In this embodiment, the sweeper is provided with the collision detection module, and after the first AD update threshold is obtained through updating, the sweeper monitors whether the sweeper still collides with the obstacle after the obstacle avoidance action is executed according to the first AD update threshold in real time through the collision detection module. If the sweeper still collides with the obstacle after the obstacle avoidance action is performed, it indicates that the first AD update threshold updated according to the method is inaccurate, and the reason may be that the value of the fixed variable changes, or the update algorithm of the AD initial threshold is wrong, and the sweeper cannot automatically adjust itself, and needs manual intervention. The sweeper controls the sweeper to stop moving, so that the sweeper is prevented from colliding with the obstacle again. And then, outputting second prompt information by the sweeper, manually correcting the fixed variable or the updating algorithm through the second prompt information, and adjusting obstacle avoidance datum data of the sweeper in time.
Referring to fig. 2, an embodiment of the present application further provides an obstacle avoidance adjustment device of a sweeper, including:
the system comprises an acquisition module 1, a control module and a display module, wherein the acquisition module is used for acquiring a plurality of AD values, and the AD values represent the distance between the sweeper and an environmental barrier;
the first judging module 2 is used for judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
the first updating module 3 is configured to update an AD initial threshold according to each AD value if the sweeper is currently in an open environment, so as to obtain a first AD updating threshold, where the AD initial threshold is an updated threshold after the sweeper is started last time, and the first AD updating threshold is an updated threshold based on each AD value and the AD initial threshold;
and the obstacle avoidance module 4 is used for executing an obstacle avoidance action when the current AD value is detected to be consistent with the first AD updating threshold value.
Further, the first determining module 2 includes:
the first calculating unit is used for carrying out average calculation on the AD values to obtain an AD average value;
the second calculating unit is used for calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
a judging unit, configured to judge whether the AD standard deviation is greater than a standard deviation threshold;
and the judging unit is used for judging that the sweeper is in an open environment currently if the AD standard deviation is not larger than the standard deviation threshold.
Further, the first updating module 3 includes:
the calling unit is used for calling a fixed variable and taking the AD average value as an AD reference value;
the third calculating unit is used for performing summation calculation on the fixed variable and the AD reference value to obtain the first AD updating threshold value;
and the replacing unit is used for replacing the AD initial threshold value by using the first AD updating threshold value and finishing updating.
Further, the acquisition module 1 includes:
the acquisition unit is used for acquiring the AD values according to a preset frequency;
and the arrangement unit is used for sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
Further, the obstacle avoidance adjusting device further includes:
and the invoking module 5 is configured to invoke a second AD update threshold if the sweeper is not currently in an open environment, and the second AD update threshold is not changed before the sweeper enters the open environment, where the second AD update threshold is a last threshold updated by the sweeper in the open environment.
Further, the obstacle avoidance adjusting device further includes:
a second judging module 6, configured to judge whether the first AD update threshold and the AD initial threshold are the same;
the obtaining module 7 is configured to obtain a use duration of the sweeper if the first AD update threshold is different from the AD initial threshold, where the use duration is a total work duration of the sweeper from initial start to a current time;
a third judging module 8, configured to judge whether the duration of use is greater than a time threshold;
and the first prompt module 9 is used for outputting first prompt information if the service life is longer than a time threshold, wherein the first prompt information is used for reminding a user of detecting the wear degree of the infrared distance measuring device of the sweeper.
Further, the obstacle avoidance adjusting device further includes:
the fourth judging module 10 is configured to judge whether the sweeper collides after performing the obstacle avoidance operation;
and the second prompt module 11 is used for controlling the sweeper to stop moving if the sweeper collides, and outputting second prompt information, wherein the second prompt information is used for reminding a user of manually correcting the fixed variable.
In this embodiment, each module and unit of the obstacle avoidance adjusting device are used to correspondingly execute each step in the obstacle avoidance adjusting method of the sweeper, and the specific implementation process thereof is not described in detail herein.
The obstacle avoidance adjusting device of the sweeper provided by the embodiment is characterized in that the sweeper collects a plurality of AD values in real time in the movement process, wherein the AD values represent the distance between the sweeper and an environmental obstacle. The sweeper judges whether the sweeper is in an open environment at present according to the discrete degree among the AD values. And if the sweeper is in an open environment, updating the AD initial threshold value according to each AD value to obtain a first AD updating threshold value. And subsequently, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action. In the application, the sweeper detects and obtains each AD value (namely each real-time AD value in the open environment) which has credibility and contains the current interference condition and can be used for representing the open environment on the basis of the interference conditions such as current ambient light or lens abrasion, updates the AD initial threshold value accordingly to obtain a first AD updating threshold value, realizes data translation of threshold data carrying interference conditions, and changes the angle, wherein the first AD updating threshold value utilizes the real-time translation of data, so that the influence of various interference conditions which are already possessed when the AD value is obtained in the open environment can be offset, the accurate identification of the position of the environmental obstacle is realized, and the accuracy of obstacle avoidance is improved.
Referring to fig. 3, a computer device, which may be a server and whose internal structure may be as shown in fig. 3, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as AD initial threshold values. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize the obstacle avoidance adjusting method of the sweeper.
The processor executes the steps of the obstacle avoidance adjusting method of the sweeper:
s1, collecting a plurality of AD values, wherein the AD values represent the distance between the sweeper and the environmental barrier;
s2, judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
s3, if the sweeper is in an open environment, updating an AD initial threshold according to the AD values to obtain a first AD updating threshold, wherein the AD initial threshold is the threshold updated after the sweeper is started last time, and the first AD updating threshold is the threshold updated based on the AD values and the AD initial threshold;
and S4, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action.
Further, the step of judging whether the sweeper is in an open environment at present according to the discrete degree between the AD values includes:
s201, carrying out average calculation on the AD values to obtain an AD average value;
s202, calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
s203, judging whether the AD standard deviation is larger than a standard deviation threshold value;
and S204, if the AD standard deviation is not larger than the standard deviation threshold value, judging that the sweeper is in an open environment currently.
Further, the step of updating the AD initial threshold according to each AD value to obtain a first AD update threshold includes:
s301, taking a fixed variable, and taking the AD average value as an AD reference value;
s302, adding the fixed variable and the AD reference value to obtain a first AD updating threshold value;
s303, replacing the AD initial threshold value by the first AD updating threshold value to finish updating.
Further, the step of acquiring a plurality of AD values includes:
s101, collecting the AD values according to a preset frequency;
and S102, sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
Further, after the step of judging whether the sweeper is currently in an open environment, the method includes:
s5, if the sweeper is not in the open environment currently, calling a second AD updating threshold, and not changing the second AD updating threshold before the sweeper enters the open environment, wherein the second AD updating threshold is the last threshold updated by the sweeper in the open environment.
Further, after the step of updating the AD initial threshold according to each AD value to obtain the first AD updated threshold, the method includes:
s6, judging whether the first AD updating threshold value and the AD initial threshold value are the same;
s7, if the first AD updating threshold value is different from the AD initial threshold value, acquiring the service life of the sweeper, wherein the service life is the total working time of the sweeper from initial starting to the current time;
s8, judging whether the use duration is greater than a time threshold;
and S9, outputting first prompt information if the service life is longer than a time threshold, wherein the first prompt information is used for reminding a user to detect the abrasion degree of the infrared distance measuring device of the sweeper.
Further, after the step of performing an obstacle avoidance action when it is detected that the current AD value is consistent with the first AD update threshold, the method includes:
s10, judging whether the sweeper collides after executing the obstacle avoidance action;
and S11, if the sweeper collides, controlling the sweeper to stop moving and outputting second prompt information, wherein the second prompt information is used for reminding a user to manually correct the fixed variable.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for adjusting obstacle avoidance of a sweeper specifically includes:
s1, collecting a plurality of AD values, wherein the AD values represent the distance between the sweeper and the environmental barrier;
s2, judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
s3, if the sweeper is in an open environment, updating an AD initial threshold according to the AD values to obtain a first AD updating threshold, wherein the AD initial threshold is the threshold updated after the sweeper is started last time, and the first AD updating threshold is the threshold updated based on the AD values and the AD initial threshold;
and S4, when the current AD value is detected to be consistent with the first AD updating threshold value, executing obstacle avoidance action.
Further, the step of judging whether the sweeper is in an open environment at present according to the discrete degree between the AD values includes:
s201, carrying out average calculation on the AD values to obtain an AD average value;
s202, calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
s203, judging whether the AD standard deviation is larger than a standard deviation threshold value;
and S204, if the AD standard deviation is not larger than the standard deviation threshold value, judging that the sweeper is in an open environment currently.
Further, the step of updating the AD initial threshold according to each AD value to obtain a first AD update threshold includes:
s301, taking a fixed variable, and taking the AD average value as an AD reference value;
s302, adding the fixed variable and the AD reference value to obtain a first AD updating threshold value;
s303, replacing the AD initial threshold value by the first AD updating threshold value to finish updating.
Further, the step of acquiring a plurality of AD values includes:
s101, collecting the AD values according to a preset frequency;
and S102, sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
Further, after the step of judging whether the sweeper is currently in an open environment, the method includes:
s5, if the sweeper is not in the open environment currently, calling a second AD updating threshold, and not changing the second AD updating threshold before the sweeper enters the open environment, wherein the second AD updating threshold is the last threshold updated by the sweeper in the open environment.
Further, after the step of updating the AD initial threshold according to each AD value to obtain the first AD updated threshold, the method includes:
s6, judging whether the first AD updating threshold value and the AD initial threshold value are the same;
s7, if the first AD updating threshold value is different from the AD initial threshold value, acquiring the service life of the sweeper, wherein the service life is the total working time of the sweeper from initial starting to the current time;
s8, judging whether the use duration is greater than a time threshold;
and S9, outputting first prompt information if the service life is longer than a time threshold, wherein the first prompt information is used for reminding a user to detect the abrasion degree of the infrared distance measuring device of the sweeper.
Further, after the step of performing an obstacle avoidance action when it is detected that the current AD value is consistent with the first AD update threshold, the method includes:
s10, judging whether the sweeper collides after executing the obstacle avoidance action;
and S11, if the sweeper collides, controlling the sweeper to stop moving and outputting second prompt information, wherein the second prompt information is used for reminding a user to manually correct the fixed variable.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware associated with instructions of a computer program, which may be stored on a non-volatile computer-readable storage medium, and when executed, may include processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only for the preferred embodiment of the present application and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. An obstacle avoidance adjusting method of a sweeper is characterized by comprising the following steps:
collecting a plurality of AD values, wherein the AD values represent the distance between the sweeper and an environmental obstacle;
judging whether the sweeper is in an open environment or not according to the discrete degree among the AD values;
if the sweeper is in an open environment, updating an AD initial threshold according to the AD values to obtain a first AD updating threshold, wherein the AD initial threshold is an updated threshold after the sweeper is started last time, and the first AD updating threshold is an updated threshold based on the AD values and the AD initial threshold;
and when detecting that the current AD value is consistent with the first AD updating threshold value, executing an obstacle avoidance action.
2. The obstacle avoidance adjusting method of the sweeper according to claim 1, wherein the step of determining whether the sweeper is currently in an open environment according to the degree of dispersion among the AD values includes:
calculating the average value of the AD values to obtain an AD average value;
calculating the standard deviation according to the AD average value and each AD value to obtain the AD standard deviation;
judging whether the AD standard deviation is larger than a standard deviation threshold value;
and if the AD standard deviation is not larger than the standard deviation threshold value, judging that the sweeper is in an open environment currently.
3. The obstacle avoidance adjusting method of the sweeper according to claim 2, wherein the step of updating the AD initial threshold according to each of the AD values to obtain a first AD updated threshold includes:
a fixed variable is called, and the AD average value is used as an AD reference value;
adding the fixed variable and the AD reference value to obtain the first AD updating threshold value;
and replacing the AD initial threshold value by the first AD updating threshold value, and finishing updating.
4. The obstacle avoidance adjusting method of a sweeper according to claim 1, wherein the step of collecting a plurality of AD values comprises:
collecting the AD values according to a preset frequency;
and sequentially arranging the AD values in a recursion mode according to the corresponding acquisition time.
5. The obstacle avoidance adjusting method of a sweeper according to claim 1, wherein after the step of determining whether the sweeper is currently in an open environment, the method comprises:
and if the sweeper is not in the open environment currently, calling a second AD updating threshold, and not changing the second AD updating threshold before the sweeper enters the open environment, wherein the second AD updating threshold is the last threshold updated by the sweeper in the open environment.
6. The obstacle avoidance adjusting method of a sweeper according to claim 1, wherein after the step of updating the AD initial threshold according to each of the AD values to obtain the first AD updated threshold, the method comprises:
judging whether the first AD updating threshold value and the AD initial threshold value are the same;
if the first AD updating threshold value is different from the AD initial threshold value, acquiring the service time of the sweeper, wherein the service time is the total working time of the sweeper from initial starting to the current time;
judging whether the use duration is greater than a time threshold;
and if the service life is longer than a time threshold, outputting first prompt information, wherein the first prompt information is used for reminding a user to detect the abrasion degree of the infrared distance measuring device of the sweeper.
7. The obstacle avoidance adjusting method of a sweeper according to claim 1, wherein the step of performing an obstacle avoidance action when it is detected that the current AD value is consistent with the first AD update threshold comprises:
judging whether the sweeper collides after executing obstacle avoidance action;
and if the sweeper collides, controlling the sweeper to stop moving and outputting second prompt information, wherein the second prompt information is used for reminding a user to manually correct the fixed variable.
8. The utility model provides a machine of sweeping floor keeps away barrier adjusting device which characterized in that includes:
the acquisition module is used for acquiring a plurality of AD values, and the AD values represent the distance between the sweeper and an environmental barrier;
the first judgment module is used for judging whether the sweeper is in an open environment or not according to the dispersion degree among the AD values;
the first updating module is used for updating an AD initial threshold value according to each AD value to obtain a first AD updating threshold value if the sweeper is in an open environment currently, wherein the AD initial threshold value is an updated threshold value after the sweeper is started last time, and the first AD updating threshold value is an updated threshold value based on each AD value and the AD initial threshold value;
and the obstacle avoidance module is used for executing obstacle avoidance action when the current AD value is detected to be consistent with the first AD updating threshold value.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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