CN113729578B - Cleaning robot, motion state monitoring method thereof, server and storage medium - Google Patents
Cleaning robot, motion state monitoring method thereof, server and storage medium Download PDFInfo
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- CN113729578B CN113729578B CN202110891886.3A CN202110891886A CN113729578B CN 113729578 B CN113729578 B CN 113729578B CN 202110891886 A CN202110891886 A CN 202110891886A CN 113729578 B CN113729578 B CN 113729578B
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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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Abstract
The application discloses a cleaning robot, a motion state monitoring method thereof, a server and a storage medium. Wherein, the method comprises the following steps: acquiring brush current, total current and a motion instruction of the cleaning robot in real time; the brush current represents the current of a first driving motor for driving the cleaning brush to work, the total current represents the sum of the currents of a plurality of driving motors including the first driving motor, and the motion instruction comprises a speed parameter generated by the cleaning robot based on the running track; and determining the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command. By the method, the motion state of the cleaning robot can be monitored in real time, and the current motion state of the cleaning robot can be fed back quickly and accurately.
Description
Technical Field
The application relates to the field of photovoltaic module cleaning, in particular to a cleaning robot, a motion state monitoring method thereof, a server and a storage medium.
Background
With the rapid development of new energy technology and its industry, solar photovoltaic power generation has been widely used, such as large-scale ground photovoltaic power stations, roof-distributed photovoltaic power stations, and the like. When the solar photovoltaic module is used for generating electricity, the surface of the solar photovoltaic module is easily shielded by dust, sundries and the like due to complex and various environments, so that the generating efficiency and the service life of the photovoltaic module are seriously influenced. Therefore, the surface of the solar photovoltaic module needs to be cleaned, detected and the like frequently.
At present, the mainly adopted operation and maintenance mode is the operation and maintenance of the manual handheld cleaning tool, and the mode has low efficiency and high danger. And the other operation and maintenance mode is to adopt a photovoltaic intelligent cleaning robot to operate on the solar photovoltaic module in a full-automatic operation mode, so as to clean and detect the surface of the solar photovoltaic module.
Disclosure of Invention
In order to solve the above problems, the present application provides a cleaning robot, a motion state monitoring method thereof, a server, and a storage medium, which can monitor a motion state of the cleaning robot in real time.
The technical scheme adopted by the application is as follows: provided is a motion state monitoring method of a cleaning robot, the method including: acquiring brush current, total current and a motion instruction of the cleaning robot in real time; wherein the brush current represents a current of a first driving motor for driving a cleaning brush to work, the total current represents a sum of currents of a plurality of driving motors including the first driving motor, and the motion instruction comprises a speed parameter generated by the cleaning robot based on a running track; and determining the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command.
Different from the prior art, the method and the device for determining the movement state of the cleaning robot can acquire the brush current, the total current and the movement instruction of the cleaning robot in real time, and determine the movement state of the cleaning robot through at least two of the brush current, the total current and the movement instruction, wherein the brush current represents the current of a first driving motor for driving the cleaning brush to work, the total current represents the sum of the currents of a plurality of driving motors including the first driving motor, and the movement instruction comprises the speed parameter generated by the cleaning robot based on the movement track. The brush current, the total current and the motion instruction are acquired to have the characteristic of real-time performance, the brush current can reflect the current working state of the cleaning brush, the motion instruction can reflect the current motion direction of the cleaning robot, the total current can reflect the overall working state of the cleaning robot, whether the current motion of the cleaning robot is blocked or not and the blocked direction can be detected in real time by combining two parameters, the further control of the cleaning robot is facilitated, and the problem that the service life of the cleaning robot is shortened due to the fact that the cleaning robot is blocked and consumes photoelectric quantity in place is effectively avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a block diagram illustrating a flow chart of an embodiment of a method for monitoring a motion state of a cleaning robot provided in the present application;
FIG. 2 is a block diagram illustrating a flow chart of another embodiment of a method for monitoring a motion state of a cleaning robot provided in the present application;
FIG. 3 is a block diagram illustrating a flowchart of an embodiment of a cleaning robot skid determination method provided by the present application;
FIG. 4 is a schematic block diagram illustrating a flow of another embodiment of a cleaning robot slippage determination method provided herein;
FIG. 5 is a block diagram illustrating the structure of one embodiment of a cleaning robot provided herein;
FIG. 6 is a block diagram illustrating the structure of an embodiment of a server provided by the present application;
FIG. 7 is a block diagram illustrating the structure of an embodiment of a computer-readable storage medium provided herein.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. 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 application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic block diagram illustrating a flow of an embodiment of a method for monitoring a motion state of a cleaning robot provided in the present application, the method including:
and S11, acquiring brush current, total current and a motion instruction of the cleaning robot in real time.
Wherein the brush current represents a current of a first driving motor driving the cleaning brush to operate; the total current represents the sum of the currents of a plurality of drive motors including the first drive motor; the motion instructions include speed parameters generated by the cleaning robot based on the travel trajectory.
It can be understood that the cleaning robot includes a plurality of driving motors inside, the first driving motor is used for driving the brush to move so as to clean the photovoltaic panel, and one or more driving motors for driving the cleaning robot moving assembly to work, and the moving assembly is, for example, a universal wheel or other assembly capable of driving the cleaning robot to move. The total current may then include the current of the first drive motor, as well as the current of one or more drive motors for driving the operation of the cleaning robot movement assembly.
The speed parameter can represent the movement direction of the cleaning robot to a certain extent, for example, when the cleaning robot is controlled to move forward, the speed parameter is a positive value; when the cleaning robot is controlled to retreat, the speed parameter is a negative value.
The forward movement of the cleaning robot is to control the cleaning robot to move towards the direction of the hairbrush; the backward direction can be the direction departing from the hairbrush, and the backward movement of the cleaning robot is to control the cleaning robot to move in the direction away from the hairbrush.
And S12, determining the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command.
If the total current is in a normal range, it can be shown that wheels of the cleaning robot or other moving components for driving the cleaning robot to move are in a normal working state, and the cleaning robot can move normally and is not blocked; if the total current is not in the normal range, it indicates that the cleaning robot is blocked.
If the current of the brush is in the current range of normal work, the brush can be indicated to be in the state of normal work, and if the current of the brush is not in the current range of normal work, the brush can be indicated to be abnormal in work state.
When the confidence level of the speed parameter is high enough, it may be determined that the moving direction of the cleaning robot is a forward movement when the speed parameter is positive, and a backward movement when the speed parameter is negative. For example, when the cleaning robot adjusts the moving angle, such as when turning around or turning a corner, the speed parameter may swing between positive and negative, and at this time, the reliability of the speed parameter is low, and if the speed parameter is used as a basis for the blockage determination, the accuracy of the determination result may be reduced, and the false determination may occur.
Thus, in combination with at least two of the brush current, the total current and the movement command, the movement state of the cleaning robot can be determined.
For example, when the total current exceeds the normal range, the moving direction of the cleaning robot can be judged according to the speed parameter of the motion command so as to determine the approximate direction of the obstacle, and when the reliability of the speed parameter is lower, whether the current of the brush exceeds the normal working range can be further judged so as to judge whether the front obstacle exists.
Different from the prior art, the method and the device can acquire the brush current, the total current and the motion instruction of the cleaning robot, judge the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion instruction, and determine the blocking condition of the cleaning robot so as to control the cleaning robot to correspondingly perform the difficulty-escaping operation when the cleaning robot is blocked; or, when the robot is determined to be blocked, the cleaning robot is stopped in time, and the phenomenon that the service life is shortened due to the fact that the cleaning robot is blocked to consume the light and electricity is avoided.
On the other hand, this embodiment can acquire brush current, total current and motion instruction in real time, and there is not miscellaneous calculation or data conversion in the middle, and the process of data acquisition is direct, swift, in view of the above, can detect the change of current parameter or motion instruction parameter when cleaning robot is obstructed fast, can real-time supervision cleaning robot's motion state, and sensitivity is high, and the judged result is accurate.
In one embodiment, step S12 may determine the motion state of the cleaning robot by:
(1) And when the total current is greater than a first set threshold value and the speed parameter is a negative value, determining that the movement state is the backward movement resistance.
(2) And when the total current is greater than a first set threshold value and the speed parameter is a positive value, determining that the motion state is prevented from advancing.
(3) And when the total current is greater than a first set threshold and the brush current is greater than a second set threshold, determining that the motion state is the forward blocking.
(4) And determining that the motion state is normally blocked when the total current is greater than a first set threshold and the brush current is less than a second set threshold.
(5) And when the total current is smaller than a first set threshold and the brush current is larger than a second set threshold, determining that the motion state is normal obstruction or abnormal brush operation.
Referring to fig. 2, fig. 2 is a schematic flow chart diagram of another embodiment of a method for monitoring a motion state of a cleaning robot provided by the present application, including the following steps:
and S121, determining whether the total current is greater than a first set threshold value.
When the total current is greater than the first set threshold, step 122 is performed, otherwise, step 127 is performed.
And S122, judging whether the speed parameter is credible.
The determination of the speed parameter reliability in this step may be as follows: if the value of the speed parameter keeps a positive value or a negative value within the preset observation time, the current speed parameter is credible; if the speed parameter flashes between positive and negative within a predetermined observation time, the current speed parameter is not trusted.
In addition, the determination may be performed in combination with the value of the speed parameter, specifically, when the value of the speed parameter keeps a positive value or a negative value within a predetermined observation time and the absolute value of the speed parameter is greater than the speed reference value, it is determined that the current speed parameter is authentic, otherwise, it is determined that the current speed parameter is not authentic.
Wherein the predetermined observation time is 1-2 seconds.
If the speed parameter is authentic, step S123 is executed, otherwise, step S124 is executed.
And S123, if the speed parameter is a negative value, determining that the motion state is a backward blocking state, and if the speed parameter is a positive value, determining that the motion state is an forward blocking state.
S124, judging whether the brush current is larger than a second set threshold value.
When the brush current is greater than the second set threshold, step S125 is executed, otherwise, step S126 is executed.
And S125, determining the motion state as the forward movement resistance.
And S126, determining that the motion state is a conventional obstruction.
S127, judging whether the brush current is larger than a second set threshold value.
If the brush current is greater than the second predetermined threshold, go to step S128, otherwise, go to step S129.
And S128, determining that the motion state is normal blockage or abnormal brush operation.
And S129, determining that the motion state is normal, continuously acquiring the brush current, the total current and the motion instruction, and returning to the step S121.
Alternatively, when the movement state of the cleaning robot is determined to be backward blocked, forward blocked, normal blocked or abnormal operation of the cleaning brush in steps S123, S125, S126, S128, S129, the embodiment controls the cleaning robot to pause movement and sends a corresponding alarm message according to the movement state so as to inform a control center or an operator of the blocked state or abnormal operation of the brush of the cleaning robot.
The alarm information can be used for alarming through an alarm device arranged on the cleaning robot, and the alarm information can be sent out through an alarm module of the control center after the determined motion state is sent to the control center.
The alarm information can be voice alarm information or a text message prompt or a combination of the voice alarm information and the text message prompt, and the alarm information can further comprise the number of the cleaning robot, the current blocked condition or the abnormal condition of a brush, and/or the current position of the cleaning robot, for example, if the current 001 cleaning robot is detected to be blocked in advancing, the alarm information can be that the 001 cleaner is blocked in advancing, stops running and is currently at the XX position, and the like, so that an operator can perform the next processing according to the alarm information.
Optionally, the first set threshold is the maximum value of the normal operating range of the total current plus 0.2A, and the second set threshold is the maximum value of the normal operating range of the brush current plus 0.2A. For example, when the cleaning robot works normally, the normal working range of the total current is 1 to 6A, the normal working range of the brush current is 0 to 2.5, the first set threshold is 6.2A, and the second set threshold is 2.7A.
In further embodiments, the movement state of the cleaning robot further includes a slip state. Wherein, whether the cleaning robot slips can be determined according to the position change condition of the cleaning robot.
Referring to fig. 3, fig. 3 is a schematic block diagram of a flow of an embodiment of a cleaning robot skid determining method provided in the present application. The method comprises the following steps:
s21: position information of a plurality of sampling points is acquired.
The cleaning robot can acquire the position information of a plurality of sampling points according to a preset rule in the cleaning process, and the position information of the sampling points can represent the time when the position information is acquired and the position of the cleaning robot.
For example, in this step, one sampling point may be acquired at first intervals, and after the position information of a plurality of (i in this embodiment) sampling points is acquired, the position information of the plurality of sampling points is processed to determine the slip condition of the cleaning robot.
The position information may be longitude and latitude coordinate information, and the acquired position information of the plurality of sampling points may be represented as: (x) 1 ,y 1 )、(x 2 ,y 2 )、…、(x i ,y i ) Wherein x is 1 、x 2 、x i The longitude values of the corresponding sampling points are respectively, and y1, y2 and yi are respectively the latitude values of the corresponding sampling points.
S22: and calculating the distance value between the last sampling point and each previous sampling point in the plurality of sampling points.
This step calculates the last sample point (x) of the plurality of sample points i ,y i ) The distance value from each of the first i-1 sampling points respectively. The present embodiment uses the first sample point (x) 1 ,y 1 ) For example, the last sample point (x) may be calculated as follows i ,y i ) With the first sample point (x) 1 ,y 1 ) The distance of (c):
(1) The last sample point (x) i ,y i ) With the first sample point (x) 1 ,y 1 ) The longitude and latitude information in the position information are converted into the arc values, respectively.
Taking x1 as an example, the arc value is calculated as follows:
by the same token, y can be obtained 1 、x i 、y i Respectively has a camber value of R y1 、R xi 、R yi 。
(2) The last sampling point (x) is calculated by using the following distance formula i ，y i ) With the first sample point (x) 1 ，y 1 ) Distance (c):
wherein R is the radius of the earth; a = R xi -R x1 ，B＝R yi -R y1 。
The distance between two sampling points can be directly calculated by the following equation, in addition to the above-described methods (1) to (2):
wherein R is the earth radius.
The distance between two points on the earth can be calculated in various ways, so the distance between two sampling points can be obtained in other ways, and the distance can be selected by a person skilled in the art, which is not listed here.
By the above method, the distance value D between the last sampling point and each previous sampling point can be calculated (i，1) 、D (i，2) 、...、D (i，i-1) Wherein D is (i，1) Represents the last sample point (x) i ，y i ) With the first sample point (x) 1 ，y 1 ) A distance between, D (i，2) Represents the last sample point (x) i ，y i ) And a second sample point (x) 2 ，y 2 ) A distance between, D (i，i-1) Represents the last sample point (x) i ，y i ) And the (i-1) th sampling point (x) i-1 ，y i-1 ) The distance between them.
S23: and if the distance values are all smaller than a third set threshold value, determining that the cleaning robot slips.
If the distance D between the last sampling point and each previous sampling point (i，1) 、D (i，2) 、...、D (i，i-1) Are all less than a third set threshold, indicating that the cleaning robot is spinning in place for a period of time, determining that the cleaning machine is slipping.
Otherwise, if the distance value D (i，1) 、D (i，2) 、...、D (i，i-1) If the value is greater than or equal to the third set threshold value, the process may return to step S21, and the positions of the plurality of sampling points may be continuously acquired from the next time point, and the slip determination may be continuously performed.
After the step determines that the cleaning robot is in the slipping state at present, the cleaning robot can be controlled to pause and send corresponding alarm information so as to inform the master control console that the cleaning robot is in the slipping state at present. The problem that the service life of the cleaning robot is reduced due to the fact that the electric quantity of the battery is wasted in operation is avoided.
The alarm information can be used for alarming through an alarm device arranged on the cleaning robot, and the alarm information can be sent out through an alarm module of the control center after the determined motion state is sent to the control center.
The warning information may be voice warning information or a text message prompt, or a combination of the two, and the warning information may further include a number of the cleaning robot, a current motion state of the cleaning robot, and/or a current position of the cleaning robot, for example, if the cleaning robot 001 is detected to slip, the warning information may be "cleaner 001 slips, stopped running, currently in XX position", and so on, so that the operator may perform the next processing.
The first interval time, the third set threshold and the number i of the sampling points are all determined by a person skilled in the art according to the working parameters, the traveling speed and the judgment frequency/calculation period of the cleaning robot. For example, the third set threshold may be 0.8 m, the first interval time may be set to 1 second, and the number i of sampling points is 60, so that the calculation cycle is 1 minute once, that is, 1 minute is used to perform the slip determination.
According to the embodiment, the distance between the last sampling point and each previous sampling point is judged through the position information of the plurality of collected sampling points, so that the moving condition of the cleaning robot in a calculation period is determined, whether the cleaning robot slips or not is judged according to the moving condition, the consideration is comprehensive, and the accuracy is high.
Referring to fig. 4, fig. 4 is a schematic block diagram of a flow of another embodiment of a cleaning robot skid determining method provided by the present application. The method comprises the following steps:
s31: and acquiring the position information of the target sampling point and the previous sampling point adjacent to the target sampling point.
The sampling point position information may be acquired by acquiring the position information of the sampling point at intervals of the second interval.
S32: and calculating the distance value between the target sampling point and the previous sampling point.
The calculation of the distance value between the target sampling point and the previous sampling point can be also realized by the method in step S22, and is not described again.
S33: it is determined whether the distance value is less than a fourth set threshold.
If the step determines that the distance value between the target sampling point and the previous sampling point is smaller than the fourth set threshold, executing a step S34; otherwise, step S38 is executed.
S34: and acquiring the position information of a preset number of continuous sampling points behind the target sampling point.
The preset number may be, for example, 20 to 30, and those skilled in the art may set a corresponding preset number according to a traveling speed of the cleaning robot.
S35: and calculating the distance value between the target sampling point and each sampling point in the preset number of sampling points.
The calculation of the distance value between the target sampling point and each of the predetermined number of sampling points may also be implemented by the method in step S22, and is not described herein again.
S36: and determining whether the distance value between the target sampling point and each sampling point in the preset number of sampling points is smaller than a fourth set threshold value.
If the distance values are all smaller than the fourth set threshold value, it can be determined that the movement distance of the cleaning robot within a certain time is small and the cleaning robot is basically in a stationary state.
The fourth set threshold value and the second interval time may be determined by those skilled in the art according to the operating parameters of the cleaning robot, the traveling speed, the judgment frequency/calculation period, and the like, in the same manner as the third set threshold value. For example, the second interval time may be 1 second, and the fourth set threshold may be 0.8 meters.
Because the skid judgment is that the result obtained by the distance judgment is relatively delayed compared with the blockage judgment in the steps S11 to S12 after the distance calculation is carried out by utilizing the position information of a plurality of sampling points, if the cleaning robot is not judged to be in the blocked state in the steps S11 to S12, and the cleaning robot can be determined to be in the non-position state through the step, the cleaning robot can be determined to be in the skid state.
S37: determining that the cleaning robot skids.
And after the cleaning robot is in a slipping state before the step, the cleaning robot can be controlled to pause and send corresponding alarm information so as to inform a control center that the cleaning robot is in the slipping state at present.
The alarm information can be used for alarming through an alarm device arranged on the cleaning robot, and the alarm information can be sent out through an alarm module of the control center after the determined motion state is sent to the control center.
The alarm information may be voice alarm information or text message prompt, or a combination of the two, and the alarm information may further include a number of the cleaning robot, a current motion state of the cleaning robot, and/or a current position of the cleaning robot, for example, if the cleaning robot 001 is detected to slip, the alarm information may be "cleaner 001 slips, stopped running, currently in XX position", and so on, so that an operator may perform the next processing according to the alarm information.
S38: the next sampling point is the target sampling point, and the process returns to step S31.
After the target sampling point is judged, the next sampling point is taken as the target sampling point, and the skid state is continuously judged.
In the embodiment, the distance between the target sampling point and the previous sampling point is firstly judged, if the distance is smaller than the fourth set threshold, the cleaning robot is in a slow moving state at present and may possibly suffer from skidding, the distances between the target sampling point and the next continuous preset number of sampling points are further calculated, and if the distances between the target sampling point and the preset number of sampling points are smaller than the fourth set threshold, the movement distance of the cleaning robot within a certain time is determined to be small or even not to be moved, and the cleaning robot is determined to be in a skidding state.
Be different from prior art, this application can carry out cleaning machines people's obstructed judgement and the judgement of skidding in step, and the speed parameter's of total current, brush electric current and motion instruction acquireing is direct quick, when cleaning machines people meet with the hindrance unable removal or remove the difficulty, can judge rapidly, is convenient for in time control cleaning machines people and carries out operation on next step, and the at utmost avoids invalid clean operation. Meanwhile, position information collection is continuously carried out on the cleaning robot to determine whether the cleaning robot normally moves or not, and if the moving distance of the cleaning robot does not reach a set value under the condition that the cleaning robot is not determined to be blocked, the cleaning robot is determined to be in a slipping state.
The embodiment of the method for monitoring the motion state of the cleaning robot can be realized through a data processing module in the cleaning robot, the information can be uploaded to a server after the brush current, the total current and the motion instruction of the cleaning robot and the position information of each sampling point are obtained, and data calculation and judgment of the motion state of the cleaning robot are realized through the server, so that the data processing burden of the cleaning robot is reduced, and the judgment process of the motion state of the cleaning robot is smoother.
Referring to fig. 5, fig. 5 is a schematic block diagram of a structure of an embodiment of the cleaning robot provided in the present application, where the cleaning robot 100 includes a processor 101 and a memory 102, the memory 102 is used for storing program data, and the processor 101 is used for executing the program data to implement the following method:
acquiring brush current, total current and a motion instruction of the cleaning robot in real time; the brush current represents the current of a first driving motor for driving the cleaning brush to work, the total current represents the sum of the currents of a plurality of driving motors including the first driving motor, and the motion instruction comprises a speed parameter generated by the cleaning robot based on the running track; and determining the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command.
It is understood that the processor 101 in this embodiment is also used to implement the steps of the embodiments of the motion state monitoring method of the cleaning robot of the present application.
For the description of the steps executed in the process, please refer to the description of the steps in the embodiment of the method for monitoring the motion state of the cleaning robot in the present application, which is not repeated herein.
Referring to fig. 6, fig. 6 is a schematic block diagram of a structure of an embodiment of a server 200 provided in the present application, where the server 200 includes a data transceiver module 201, a storage module 202, and a processing module 203, where the data transceiver module 201 is configured to receive data to be processed sent by a cleaning robot 400, and send the data to be processed to the processing module 203; the storage module 202 is used for storing program data; the processing module 203 is configured to execute the program data to implement the motion state monitoring method of the cleaning robot according to the embodiments of the present application, so as to obtain the operation state of the cleaning robot 400; the data transceiver module is also used to transmit the operation state to the cleaning robot 400 or the control center 500.
The data to be processed may include brush current, total current, motion command, and position information of each sampling point, and for the description of each step of the processing execution, reference is made to the description of each step of the embodiment of the method for monitoring the motion state of the cleaning robot in the present application, which is not described herein again.
Referring to fig. 7, fig. 7 is a schematic block diagram illustrating a structure of an embodiment of a computer-readable storage medium 300 provided in the present application, where the computer-readable storage medium 300 stores program data 301, and when the program data 301 is executed by a processor, the method is implemented as follows:
acquiring brush current, total current and a motion instruction of the cleaning robot in real time; the brush current represents the current of a first driving motor for driving the cleaning brush to work, the total current represents the sum of the currents of a plurality of driving motors including the first driving motor, and the motion instruction comprises a speed parameter generated by the cleaning robot based on the running track; and determining the motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command.
It is understood that the program data 301 in this embodiment, when being executed by the processor, is further used for implementing the steps of the embodiments of the method for monitoring the motion state of the cleaning robot in the present application.
For the description of the steps executed in the process, reference is made to the above description of the steps of the method for monitoring the motion state of the cleaning robot in the present application, and the description is not repeated here.
The computer-readable storage medium 300 may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are merely examples, and not intended to limit the scope of the present application, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present application, or those directly or indirectly applied to other related arts, are included in the scope of the present application.
Claims (7)
1. A method of monitoring a motion state of a cleaning robot, the method comprising:
acquiring brush current, total current and a motion instruction of the cleaning robot in real time; wherein the brush current represents a current of a first driving motor for driving a cleaning brush to work, the total current represents a sum of currents of a plurality of driving motors including the first driving motor, and the motion instruction comprises a speed parameter generated by the cleaning robot based on a running track;
determining a motion state of the cleaning robot according to at least two of the brush current, the total current and the motion command;
the motion state comprises a slip state, and the method further comprises determining whether the cleaning robot is in the slip state based on a change in position of the cleaning robot;
wherein the determining whether the cleaning robot is in the slip state according to the position change of the cleaning robot includes:
acquiring position information of a plurality of sampling points;
when the distance value between the last sampling point and each previous sampling point in the plurality of sampling points is smaller than a third set threshold value, determining that the cleaning robot is in the slipping state; alternatively, the first and second electrodes may be,
acquiring position information of a target sampling point and a previous sampling point adjacent to the target sampling point;
when the distance value between the target sampling point and the previous sampling point is smaller than a fourth set threshold value, acquiring the position information of a continuous preset number of sampling points behind the target sampling point;
and when the distance value between the target sampling point and each sampling point in the preset number of sampling points is smaller than the fourth set threshold value, determining that the cleaning robot is in the slipping state.
2. The method of claim 1,
determining a motion state of the cleaning robot according to at least two of the brush current, the total current, and the motion command, including:
when the total current is greater than a first set threshold and the speed parameter is a negative value, determining that the motion state is backward blocking; or
When the total current is greater than a first set threshold and the speed parameter is a positive value, determining that the motion state is prevented from advancing; or
When the total current is greater than the first set threshold and the brush current is greater than a second set threshold, determining that the motion state is prevented from advancing; or
When the total current is greater than the first set threshold and the brush current is less than the second set threshold, determining that the motion state is normally blocked; or
And when the total current is less than the first set threshold and the brush current is greater than the second set threshold, determining that the motion state is normally blocked or the cleaning brush works abnormally.
3. The method of claim 2,
the method further comprises the following steps:
and when the movement state of the cleaning robot is determined to be backward blocking, forward blocking, conventional blocking or abnormal work of a cleaning brush, controlling the cleaning robot to pause movement and sending out corresponding alarm information according to the movement state.
4. The method of claim 2,
the first set threshold is the maximum value of the normal working range of the total current plus 0.2A; or
The second set threshold is the maximum value of the normal working range of the brush current plus 0.2A.
5. A cleaning robot, characterized in that it comprises a processor and a memory for storing program data, the processor being adapted to execute the program data for implementing the method according to any of claims 1-4.
6. A server is characterized by comprising a data transceiving module, a storage module and a processing module;
the data receiving and sending module is used for receiving data to be processed sent by the cleaning robot and sending the data to be processed to the processing module;
the storage module is used for storing program data;
the processing module is used for executing the program data to realize the method according to any one of claims 1-4 to obtain the running state of the cleaning robot;
the data transceiver module is also used for sending the running state to the cleaning robot or a control center.
7. A computer-readable storage medium, characterized in that a program data is stored in the computer-readable storage medium, which program data, when being executed by a processor, is adapted to carry out the method of any one of claims 1-4.
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