CN113080792B - Sweeping robot and working scene judgment method thereof - Google Patents
Sweeping robot and working scene judgment method thereof Download PDFInfo
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- CN113080792B CN113080792B CN202110362217.7A CN202110362217A CN113080792B CN 113080792 B CN113080792 B CN 113080792B CN 202110362217 A CN202110362217 A CN 202110362217A CN 113080792 B CN113080792 B CN 113080792B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention relates to a method for judging a working scene of a sweeping robot, wherein a computer executes the following steps under configuration: controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by using a PWM signal; calculating a time ratio of high/low level signals of the PWM signals within a period; obtaining the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed; and determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation, wherein the matching accuracy of the time ratio and the working scene of the high/low level signal of the PWM signal in the period when the sweeping motor maintains the preset rotating speed is higher than the matching accuracy of the light reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a robot, in particular to a sweeping robot and a working scene judging method thereof.
[ background of the invention ]
In the traditional technology, the floor sweeping robot moves in a working area by means of rollers arranged on the floor sweeping robot. The sweeping robot can work on smooth floors, such as tiled floors, wooden floors, and rough floors, such as carpeted floors. The sweeping robot can have the function of mopping the floor. Mopping is divided into dry mopping and wet mopping. The floor sweeping robot moves to the carpet work, and particularly when wet mopping is carried out, the carpet can be damaged.
In implementing the conventional technique, the inventors found that the following technical problems exist:
generally, the sweeping robot can determine a working scene of the sweeping robot through a light reflection rate of the ground and a working current of the sweeping robot during walking, for example, determine that the sweeping robot is located in a working scene of paving a wood board ground, or determine that the sweeping robot is located in a working scene of paving a carpet ground. However, the difference between the light reflection rate of the matte smooth floor and the light reflection rate of the floor paved with the carpet is small, which easily causes the misjudgment of the working scene of the sweeping robot. When the obstacle which is difficult to pass through exists on the smooth ground, the working current of the sweeping robot during walking is greatly increased, the difference between the working current of the sweeping robot during walking and the working current of the sweeping robot during walking of a carpet is not large, and misjudgment of the working scene of the sweeping robot is easily caused.
Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.
[ summary of the invention ]
Therefore, it is necessary to provide a solution to the technical problem that the working scenario is prone to misjudgment.
A working scene judgment method of a sweeping robot is characterized in that a computer executes the following steps under configuration:
controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by using a PWM signal;
calculating a time ratio of high/low level signals of the PWM signals within a period;
obtaining the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed;
and determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the light reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
In one embodiment, the step of obtaining a corresponding relationship between a time ratio of a high/low level signal of the PWM signal in a period and a working scenario at the preset rotation speed specifically includes:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
The accurate corresponding relation between the working scene and the time ratio interval can be obtained, so that the accuracy of judging the working scene of the sweeping robot is improved.
In one embodiment, the step of obtaining a corresponding relationship between a time ratio of a high/low level signal of the PWM signal in a period and a working scenario at the preset rotation speed specifically includes:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
The historical data of the corresponding relation between the working scene and the time ratio interval can be directly imported. Therefore, the corresponding relation between the work scene accumulated in the history and the time ratio interval can be utilized, data of the work scene and the time ratio interval do not need to be collected again, and the execution efficiency of the execution work scene judgment method is improved.
In one embodiment, the step of determining the working scenario of the sweeping robot specifically includes:
searching the time ratio in the corresponding relation;
and determining a working scene according to the time ratio in the corresponding relation.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
The application still provides a robot of sweeping the floor, includes:
the driving module is used for controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by utilizing the PWM signal;
the calculating module is used for calculating the time ratio of high/low level signals of the PWM signals in a period;
the acquisition module is used for acquiring the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed;
and the matching module is used for determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
In one embodiment, the obtaining module is specifically configured to:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
The accurate corresponding relation between the working scene and the time ratio interval can be obtained, so that the accuracy of judging the working scene of the sweeping robot is improved.
In one embodiment, the obtaining module is specifically configured to:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
The corresponding relation between the work scene accumulated in history and the time ratio interval can be utilized, data of the work scene and the time ratio interval do not need to be collected again, and the execution efficiency of the execution work scene judging method is improved.
In one embodiment, the matching module is specifically configured to:
searching the time ratio in the corresponding relation;
and determining a working scene according to the time ratio in the corresponding relation.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the light reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
[ description of the drawings ]
Fig. 1 is a flowchart of a method for determining a working scene of a sweeping robot according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a sweeping robot provided in the embodiment of the present application.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Fig. 1 is a flowchart of a method for determining a working scene of a sweeping robot according to an embodiment of the present application, which specifically includes the following steps:
s100: and controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by utilizing the PWM signal.
PWM (Pulse Width Modulation) equivalently obtains a desired waveform by modulating the Width of a series of pulses. The PWM control technique can be applied to the fields of measurement, communication, power control and conversion, etc. In the embodiment provided by the application, the PWM signal is used for controlling the rotating speed of the cleaning motor of the cleaning robot. The preset rotating speed can be set, and the pulse width is further modulated to realize that the sweeping motor works at the preset rotating speed. The preset rotating speed can be reasonably set according to the actual working condition of the sweeping robot.
S200: and calculating the time ratio of the high/low level signals of the PWM signals in the period.
It will be appreciated that the pulse width of the PWM signal is related to the output power, the output voltage or here the preset rotational speed. The pulse width is represented in a specific waveform as the duration of a high signal, or the time ratio of a high signal within a period or the time ratio of a low signal within a period.
S300: and obtaining the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed.
In the application, the defined work scene is related to the material of the ground surface where the sweeping robot walks or works. For example, a work scene in which a carpet is laid on the floor or the floor surface is a carpet, a work scene in which a wood board is laid on the floor or the floor surface is a wood board, a work scene in which tiles are laid on the floor or the floor surface is tiles, and the like.
When the sweeping robot works on ground surfaces made of different materials, on the basis of maintaining the sweeping motor at a preset rotating speed, the time ratios of high/low level signals of the PWM signals in a period are different. It is conceivable that, for a material with a large friction coefficient, on the basis of maintaining the cleaning motor at a preset rotation speed, the time ratio of the high-level signal in the period is large; on the contrary, for the material with small friction coefficient, on the basis of maintaining the cleaning motor at the preset rotating speed, the time ratio of the high-level signal in the period is smaller. On the contrary, for the material with a large friction coefficient, on the basis of maintaining the cleaning motor at the preset rotating speed, the time ratio of the low-level signal in the period is smaller; on the contrary, for the material with small friction coefficient, on the basis of maintaining the cleaning motor at the preset rotating speed, the time ratio of the low-level signal in the period is larger.
Further, in another embodiment provided by the present application, the step of obtaining the corresponding relationship between the working scenario and the rotation speed of the motor specifically includes:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
In an experiment or an actual using process, the time ratio of high/low level signals of the sweeping robot working on the ground with different materials in a period under a preset rotating speed is counted, and different working scenes are formed by distinguishing according to different materials. Thereby, the correspondence of the operation scene to the time ratio is determined. The ground material or the ground surface material can be subdivided into cement ground surfaces, ceramic tile ground surfaces, solid wood ground surfaces, pressed wood board ground surfaces and ground surfaces paved with carpets. The time ratio intervals of the earth surfaces with different materials can be counted. For example, a two-dimensional table may be formed with time-rate columns, material rows, and time-rate intervals as contents. Therefore, the accurate corresponding relation between the working scene and the time ratio interval can be obtained, and the accuracy of judging the working scene of the sweeping robot is improved.
Further, in another embodiment provided by the present application, the step of obtaining a corresponding relationship between a time ratio of a high/low level signal of the PWM signal in a period and a working scenario at the preset rotation speed specifically includes:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
In addition, in practice, the correspondence of the operation scenario to the time ratio interval may form historical data. Therefore, the history data of the correspondence relationship between the operation scene and the time ratio section may be directly introduced. Therefore, the corresponding relation between the work scene accumulated in the history and the time ratio interval can be utilized, data of the work scene and the time ratio interval do not need to be collected again, and the execution efficiency of the work scene judging method is improved.
S400: and determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation.
Further, in another embodiment provided by the present application, the step of determining the working scenario of the sweeping robot specifically includes:
searching the time ratio in the corresponding relation;
and determining a working scene according to the time ratio in the corresponding relation.
The upper and lower limits of the time ratio interval are looked up. The calculated time ratio, that is, the time ratio in S200 is compared with the upper limit value and the lower limit value of the time ratio section, and the time ratio section in which the time ratio falls is determined. And then, according to the corresponding relation between the time ratio interval and the working scene, determining the working scene corresponding to the time ratio and determining the working scene of the sweeping robot.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the light reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
The method provided by the embodiment of the present application is based on the same idea, and please refer to fig. 2, which is a sweeping robot provided by the embodiment of the present application.
The application still provides a robot of sweeping floor, includes:
the driving module 11 is used for controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by using the PWM signal;
a calculating module 12, configured to calculate a time ratio of high/low level signals of the PWM signal in a period;
the obtaining module 13 is configured to obtain a corresponding relationship between a time ratio of a high/low level signal of the PWM signal in a period and a working scene at the preset rotation speed;
and the matching module 14 is used for determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
Further, in another embodiment provided in the present application, the obtaining module 13 is specifically configured to:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
In an experiment or an actual using process, the time ratio of high/low level signals of the sweeping robot working on the ground with different materials in a period under a preset rotating speed is counted, and different working scenes are formed by distinguishing according to different materials. Thereby, the correspondence of the work scene to the time ratio is determined. The ground material or the ground surface material can be subdivided into cement ground surfaces, ceramic tile ground surfaces, solid wood ground surfaces, pressed wood board ground surfaces and ground surfaces paved with carpets. The time ratio intervals of the earth surfaces of different materials can be counted. For example, a two-dimensional table may be formed with time-rate columns, material rows, and time-rate intervals as contents. Therefore, the accurate corresponding relation between the working scene and the time ratio interval can be obtained, and the accuracy of judging the working scene of the sweeping robot is improved.
Further, in another embodiment provided in the present application, the obtaining module 13 is specifically configured to:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
In addition, in practice, the correspondence of the operation scenario to the time ratio interval may form historical data. Therefore, the history data of the correspondence relationship between the operation scene and the time ratio section may be directly introduced. Therefore, the corresponding relation between the work scene accumulated in the history and the time ratio interval can be utilized, data of the work scene and the time ratio interval do not need to be collected again, and the execution efficiency of the execution work scene judgment method is improved.
Further, in another embodiment provided in the present application, the matching module 14 is specifically configured to:
searching the time ratio in the corresponding relation;
and determining a working scene according to the time ratio in the corresponding relation.
The upper and lower limits of the time ratio interval are looked up. The calculated time ratio is compared with the upper limit value and the lower limit value of the time ratio interval, and the time ratio interval in which the time ratio falls is determined. And then, according to the corresponding relation between the time ratio interval and the working scene, determining the working scene corresponding to the time ratio and determining the working scene of the sweeping robot.
The time ratio of the high/low level signal of the PWM signal in the period and the matching accuracy of the working scene are higher than the matching accuracy of the reflection rate and the working scene and the matching accuracy of the current of the walking motor and the working scene in the background technology when the cleaning motor maintains the preset rotating speed, so that the judgment accuracy of the working scene of the sweeping robot can be improved.
The following describes a specific application scenario of the present application:
and a processor of the sweeping robot or a server for managing the sweeping robot obtains the corresponding relation between the time ratio of the high/low level signal of the PWM signal of the sweeping motor of the sweeping robot in the period at the preset rotating speed and the working scene. Specifically, the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotation speed may be accumulated in a manner of counting experimental data or working data. The corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene under the historical accumulated preset rotating speed can also be directly led into a processor of the sweeping robot or a server for managing the sweeping robot. When the sweeping robot works specifically, the sweeping motor of the sweeping robot is controlled to work at a preset rotating speed by utilizing the PWM signal. Then, a time ratio of high/low level signals of the PWM signal within a period is calculated. And determining the working scene of the sweeping robot according to the calculated time ratio and the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed. For example, the upper limit value and the lower limit value of the time ratio interval in the correspondence relation are searched. The calculated time ratio is compared with the upper limit value and the lower limit value of the time ratio interval, and the time ratio interval in which the calculated time ratio falls is determined. And then, according to the corresponding relation between the time ratio interval and the working scene, determining the working scene corresponding to the time ratio and determining the working scene of the sweeping robot.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A working scene judgment method of a sweeping robot is characterized in that a computer executes the following steps under configuration:
controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by using a PWM signal;
calculating a time ratio of high/low level signals of the PWM signals in a period;
obtaining the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed; the corresponding relation comprises a corresponding relation between a working scene and a time ratio interval, wherein the time ratio interval is an interval limited by an upper limit value and a lower limit value of the time ratio of a high/low level signal of a PWM signal in a period at the preset rotating speed; different working scenes correspond to different ground materials;
comparing the calculated time ratio with the upper limit value and the lower limit value of the time ratio interval in the corresponding relation, and determining the time ratio interval in which the time ratio falls;
and determining the working scene of the sweeping robot according to the corresponding relation between the falling time ratio interval and the working scene.
2. The method according to claim 1, wherein the step of obtaining the correspondence between the time ratio of the high/low level signal of the PWM signal in the period and the working scenario at the preset rotation speed specifically comprises:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
3. The method according to claim 1, wherein the step of obtaining the correspondence between the time ratio of the high/low level signal of the PWM signal in the period and the working scenario at the preset rotation speed specifically comprises:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
4. A sweeping robot is characterized by comprising:
the driving module is used for controlling a sweeping motor of the sweeping robot to work at a preset rotating speed by utilizing the PWM signal;
the calculating module is used for calculating the time ratio of high/low level signals of the PWM signals in a period;
the acquisition module is used for acquiring the corresponding relation between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotating speed; the corresponding relation comprises a corresponding relation between a working scene and a time ratio interval, wherein the time ratio interval is an interval limited by an upper limit value and a lower limit value of the time ratio of a high/low level signal of a PWM signal in a period at the preset rotating speed; different working scenes correspond to different ground materials;
the matching module is used for comparing the calculated time ratio with the upper limit value and the lower limit value of the time ratio interval in the corresponding relation and determining the time ratio interval in which the time ratio falls; and determining the working scene of the sweeping robot according to the corresponding relation between the falling time ratio interval and the working scene.
5. The sweeping robot of claim 4, wherein the acquisition module is specifically configured to:
counting the time ratio of high/low level signals of the sweeping robot working on the ground of different materials in a period at a preset rotating speed;
forming different working scenes of the sweeping robot according to different material division;
and determining the corresponding relation between the working scene and the time ratio.
6. The sweeping robot of claim 4, wherein the acquisition module is specifically configured to:
and introducing the corresponding relation between the working scene and the time ratio of the high/low level signal of the PWM signal in the period.
7. A working scene judging method of a robot is characterized in that a robot processor and/or a server for managing the robot inputs or automatically accumulates the corresponding relation between the working scene and the time ratio of high/low level signals of PWM signals of the robot in a period at a preset rotating speed, wherein the corresponding relation comprises the corresponding relation between the working scene and a time ratio interval, the time ratio interval is an interval limited by an upper limit value and a lower limit value of the time ratio of the high/low level signals of the PWM signals in the period at the preset rotating speed, and different working scenes correspond to different ground materials; based on the friction coefficients of different surface materials, the time ratios of high/low level signals of PWM signals of a robot motor in a period are different;
when the sweeping robot controls a sweeping motor of the sweeping robot to work at a preset rotating speed by using the PWM signal, comparing the time ratio of the high/low level signal of the PWM signal in the working period with the upper limit value and the lower limit value of the time ratio interval in the corresponding relation, and determining the time ratio interval in which the time ratio falls; and determining the working scene of the sweeping robot according to the corresponding relation between the falling time ratio interval and the working scene.
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| CN110522353A (en) * | 2018-05-24 | 2019-12-03 | 科沃斯机器人股份有限公司 | Robot cleaning method, sweeping robot and storage medium |
| CN108814441A (en) * | 2018-06-28 | 2018-11-16 | 芜湖泰领信息科技有限公司 | Cleaning brush self cleaning method and intelligent sweeping machine |
| CN112438659B (en) * | 2019-09-04 | 2022-12-30 | 尚科宁家(中国)科技有限公司 | Floor sweeping robot and method for recognizing ground environment by same |
| CN111248818B (en) * | 2020-03-05 | 2021-08-13 | 美智纵横科技有限责任公司 | State control method, sweeping robot and computer storage medium |
| CN111839331B (en) * | 2020-06-20 | 2022-07-08 | 珠海一微半导体股份有限公司 | Method for predicting best working fan suction of robot |
| CN111839332B (en) * | 2020-06-20 | 2022-07-08 | 珠海一微半导体股份有限公司 | Control method of intelligent window cleaning machine and intelligent window cleaning machine |
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| CN107569182A (en) | 2018-01-12 |
| CN113080792A (en) | 2021-07-09 |
| CN107569182B (en) | 2021-04-23 |
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