CN113894845A - Robot and method and device for measuring scanning rotation speed of robot, and storage medium - Google Patents
Robot and method and device for measuring scanning rotation speed of robot, and storage medium Download PDFInfo
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- 238000000691 measurement method Methods 0.000 claims description 7
- 238000009827 uniform distribution Methods 0.000 claims 2
- 238000010408 sweeping Methods 0.000 abstract description 22
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The application is suitable for the technical field of maneuvering floor sweeping, and particularly relates to a robot, a method and a device for measuring the sweeping rotating speed of the robot, and a storage medium. According to the method, the rotating speed of the side-sweeping brush can be determined through signals generated when the ground detection sensor on the robot is periodically shielded by the side-sweeping brush and the characteristics of the side-sweeping brush, namely the rotating speed of the side-sweeping brush can be measured by means of the ground detection sensor arranged on the robot, the rotating speed sensor does not need to be arranged for the side-sweeping brush, the manufacturing cost of the robot is reduced, the complexity of robot assembly is reduced, and later maintenance is facilitated.
Description
Technical Field
The application belongs to the technical field of maneuvering floor sweeping, and particularly relates to a robot, a method and a device for measuring a side-sweeping rotating speed of the robot, and a storage medium of the robot.
Background
With the development of artificial intelligence, robots aiming at cleaning have come into more and more families and play an important role in floor cleaning, and when the robots clean the floor, the robots clean dust at corners by sweeping, and place garbage near the rolling brushes for dust collection. The existing robot measures the rotation speed of the side broom through a rotation speed sensor, the rotation speed sensor is arranged in the robot, the manufacturing cost of the robot is increased, a corresponding position is required to be designed in the robot to install the rotation speed sensor, and a control part of the robot is connected with the rotation speed sensor, so that the robot is complex to install and inconvenient to maintain.
Disclosure of Invention
The application provides a robot and a method, a device and a storage medium for measuring a scanning rotation speed of the robot, which can solve the problems of high manufacturing cost, complex installation and inconvenient maintenance of the robot caused by the fact that a rotation speed sensor needs to be installed in the scanning rotation speed measurement of the existing robot.
In a first aspect, an embodiment of the present application provides a method for measuring a side-scan rotational speed of a robot, where the method includes:
acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a brush of the side scan when the side scan rotates;
acquiring the characteristics of the brush of the side broom, wherein the characteristics of the brush comprise the distribution characteristics of the brush on the side broom and the number of the brushes;
and determining the rotation speed of the side sweep according to the target signal and the brush characteristic.
In a second aspect, an embodiment of the present application provides a side-scan rotational speed measuring device for a robot, including:
the signal acquisition module is used for acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a brush of the side scan when the side scan rotates;
the characteristic acquisition module is used for acquiring the brush characteristics of the side broom, wherein the brush characteristics comprise the distribution characteristics of the brush on the side broom and the number of the brushes;
and the rotating speed determining module is used for determining the rotating speed of the side sweep according to the target signal and the brush characteristic.
In a third aspect, embodiments of the present application provide a robot, which includes a ground detection sensor, a side brush, a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the side-brush rotation speed measurement method according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and the computer program, when executed by a processor, implements the edge-scan rotational speed measurement method according to the first aspect.
In a fifth aspect, the present application provides a computer program product, when running on a robot, causing the robot to execute the edge-scan rotational speed measurement method according to the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: this application examines the signal that the sensor produced when the brush periodic shielding of limit was swept through the robot on ground and the brush characteristic of limit sweeping, can confirm the rotational speed of limit sweeping, this application promptly can realize the measurement of limit sweeping the rotational speed through examining the sensor with the help of what dispose on the robot, need not to sweep the configuration tacho sensor to the limit, has reduced the manufacturing cost of robot, has reduced the complexity of robot assembly, the later stage maintenance of being convenient for.
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 embodiments or the prior art descriptions will be briefly described 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 inventive exercise.
Fig. 1 is a schematic flowchart of a method for measuring a side-scan rotational speed of a robot according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for measuring a side-scan rotational speed of a robot according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a device for measuring a rotational speed of a side scan of a robot according to a third embodiment of the present application;
FIG. 5 is a schematic structural diagram of a robot according to a fourth embodiment of the present disclosure;
in the figure, 21 is a ground detection sensor, 22 is a side sweep, and 23 is a brush.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The embodiment of the application provides a method for measuring the side-scanning rotating speed of the robot, which can be applied to the robot with the floor cleaning function, and the embodiment of the application does not limit the specific type of the robot.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Referring to fig. 1, a flow of a method for measuring a rotation speed of a robot during a side scan according to an embodiment of the present disclosure is shown, where the method for measuring a rotation speed of a side scan is applicable to a robot having a floor cleaning function, and as shown in the figure, the method for measuring a rotation speed of a side scan may include the following steps:
in step S101, a target signal of the ground detection sensor is acquired.
The ground detection sensor is a sensor already disposed on the robot, for example, a cliff sensor, a ground medium sensor, a ground obstacle detection sensor, or the like, and is configured to transmit a signal to the ground and receive a corresponding reflected signal (i.e., a signal reflected by the ground), and the target signal is a signal generated when the ground detection sensor is blocked by a brush that is rotating while sweeping. The ground detection sensor is shielded by the brush, so that the reflected signal cannot be acquired, signal loss occurs in continuous reflected signals received by the ground detection sensor, and the reflected signal received between at least two adjacent lost signals is used as a target signal of the ground detection sensor.
As shown in fig. 2, the ground detection sensor 21 is installed on the bottom surface of the robot, and the ground detection sensor 21 transmits a signal, such as an electromagnetic wave, a sound wave, etc., to the ground direction and receives a reflected signal reflected by the ground; the side broom 22 of the robot is provided with a brush 23, the brush 23 protrudes out of the bottom surface of the robot and can contact the ground, that is, the height of the brush 23 from the ground is lower than that of the ground detection sensor 21 from the ground, and due to the position between the ground detection sensor 21 and the brush 23 defined in fig. 2, the brush 23 can block the signal emitted by the ground detection sensor 21 or the received reflected signal when the side broom 22 rotates. The brushes 23 of the side broom 22 are uniformly distributed on the central axis of the side broom 22 (that is, the included angles between adjacent brushes 23 are the same), when the side broom 22 rotates at a constant speed, the brushes 23 can periodically shield the ground detection sensor 21, so that the signal received by the ground detection sensor 21 has periodic loss, and if the ground detection sensor 21 is an infrared pair tube sensor, the signal of the loss is characterized in that the amplitude of the signal is far smaller than that of the reflected signal received by the ground detection sensor 21.
The ground detection sensor 21 may be one or more Of an optical sensor, a sonic sensor, a millimeter wave sensor, and a microwave sensor, optionally, the ground detection sensor 21 is an optical sensor, such as an infrared pair sensor, a photoelectric Detector (PSD) distance sensor, a Time Of Flight (TOF) distance sensor, and an optical flow sensor, and optionally, the ground detection sensor 21 is a sonic sensor, such as an ultrasonic sensor.
And step S102, acquiring brush characteristics of the side-sweeping brush.
The brush characteristics include the distribution characteristics of the brushes on the side broom and the number of the brushes, for example, as shown in fig. 2, the brushes are uniformly distributed on the central axis of the side broom, and the number of the brushes is 3; for the robot which is assembled, the distribution characteristics of the side brushes and the number of the brushes are fixed, the number of the brushes can be written into a corresponding memory in advance, the robot sends out a brush number acquisition instruction to the memory, the memory receives the brush number acquisition instruction and then feeds back data to the robot, and the memory can be arranged in the robot.
And step S103, determining the rotation speed of the side scanning according to the target signal and the brush characteristics.
The target signal comprises the time between two adjacent brush-shielded ground detection sensors, namely the time from one brush-shielded ground detection sensor to the next brush-shielded ground detection sensor; the method is characterized in that the brushes are uniformly or non-uniformly distributed on the central axis of the side broom according to the characteristics of the brushes, if the brushes are uniformly distributed on the central axis of the side broom, the number of the brushes determines the angle between two adjacent brushes, the angular speed of the brushes can be determined according to the angle and time, and the rotating speed of the side broom can also be determined because the formula of the angular speed and the rotating speed is omega-n 2 pi, wherein omega is the angular speed, and n is the rotating speed.
The signal that produces when examining the sensor on the ground through the robot and sheltering from by the brush that the limit was swept and the brush characteristic of sweeping the limit, can confirm the rotational speed of sweeping the limit, this application can realize the measurement of the rotational speed of sweeping the limit through examining the sensor with the help of what has disposed on the robot promptly, need not to sweep configuration revolution speed sensor to the limit, has reduced the manufacturing cost of robot, has reduced the complexity of robot assembly, the later stage maintenance of being convenient for.
Referring to fig. 3, a flow of a method for measuring a rotation speed of a robot during a side scan according to a second embodiment of the present disclosure is shown, where the method for measuring a rotation speed of a side scan is applicable to a robot having a floor cleaning function, and as shown in the figure, the method for measuring a rotation speed of a side scan may include the following steps:
in step S301, a target signal of the ground detection sensor is acquired.
Step S302, brush characteristics of the side-sweeping brush are obtained.
The contents of step S301 and step S302 are the same as those of step S101 and step S102, and reference may be made to the description of step S101 and step S102, which is not repeated herein.
Step S303, a period of the target signal is acquired.
The robot can determine the time duration between two adjacent missing signals, wherein the period of the target signal is the time from one brush-shielded ground detection sensor to the next brush-shielded ground detection sensor, and the time duration is the time from one brush-shielded ground detection sensor to the next brush-shielded ground detection sensor.
Optionally, if the brush is characterized in that the brushes are uniformly distributed and the number of the brushes is N, where N is greater than 1, the period for acquiring the target signal includes:
acquiring the number of periodic signals in a preset time period in a target signal, wherein one periodic signal is a signal generated by a ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
The periodic signal is a signal generated by the ground detection sensor in two adjacent shielding processes, that is, a signal between a missing signal and its adjacent missing signal, the number of the periodic signals in a preset time period can determine the appearance cycle of the missing signal (that is, the cycle of the target signal), the preset time period can be adjusted according to requirements, the preset time period can be set manually, or the robot can be adjusted dynamically according to the external environment, for example, 3 periodic signals exist in 3s, the interval between two adjacent missing signals is 1s, that is, the appearance cycle of the missing signal is 1s, that is, the cycle of the target signal is 1s, that is, the time from one brush shielding ground detection sensor to the next brush shielding ground detection sensor is 1 s.
Optionally, if the brush is characterized in that the brushes are uniformly distributed and the number of the brushes is N, where N is greater than 1, the period for acquiring the target signal includes:
the method comprises the steps of obtaining the time length of periodic signals, determining the time length as the period of a target signal, wherein one periodic signal refers to a signal generated by a ground detection sensor in the process of being shielded twice.
The periodic signal is a signal generated by the ground detection sensor in two adjacent shielding processes, that is, a signal between a missing signal and a signal adjacent to the missing signal, for example, a signal shielded by the first brush corresponds to a first missing signal, a signal shielded by the second brush corresponds to a second missing signal, a time length between the first missing signal and the second missing signal is 1s, that is, a time from the first brush shielding the ground detection sensor to the second brush shielding the ground detection sensor is 1s, and a time length of the periodic signal is 1s, that is, a period of the target signal is 1 s.
Optionally, if the brushes are characterized by non-uniform distribution of the brushes, the number of the brushes is M, and M is greater than or equal to 1, the period for acquiring the target signal includes:
the method comprises the steps of obtaining the time length of a periodic signal, determining the time length as the period of a target signal, wherein the periodic signal refers to a signal of a ground detection sensor in the process from any time of shielding to the Mth time of shielding after any time of shielding.
When the brushes are unevenly distributed on the side brush, the period of the periodic signal is the time of one rotation of the side brush, namely the time of one rotation of the brushes, the ground detection sensor starts to be shielded at any time (namely, the ground detection sensor is shielded by any brush) to be shielded at the M th time (namely, the ground detection sensor is shielded by any brush again) from the shielded time at any time, the trigger signal timing is started from the ground detection sensor shielded by any brush, the timing is stopped when the ground detection sensor is shielded by any brush again, and the acquired timing duration is the duration of one periodic signal. For example, when the number of the brushes is 1, the duration of one periodic signal is the time between two continuous shelters from the sensor by the brush, and when the number of the brushes is 2, the brush comprises a first brush and a second brush, the duration of one periodic signal is the time for one rotation of the first brush or the second brush, that is, the ground detection sensor is sheltered from the sensor for three continuous times, and the time between the first shelters and the third shelters is a period, that is, the time between the first brush shelters from the ground detection sensor and the first brush shelters from the ground detection sensor again.
And step S304, determining the rotation speed of the side sweep according to the period and the brush characteristics.
Wherein, if the brush characteristic is brush evenly distributed, then the cycle is for sheltering from a brush and examining the sensor to next brush and sheltering from the time of examining the sensor, brush quantity has decided and has examined sensor to next brush and sheltered from and examined sensor limit and sweep pivoted angle from a brush sheltering from, can confirm the angular velocity of limit and sweep according to angle and time, according to angular velocity and rotational speed formula: and determining the rotation speed of the side sweep, wherein omega is an angular speed, and n is the rotation speed.
Optionally, determining the rotation speed of the side sweep according to the period and the number of brushes includes:
multiplying the number of the brushes in the brush characteristics by the period, and determining the reciprocal of the value obtained after multiplication as the rotation speed of the edge scanning.
Wherein, the side-sweeping rotation speed can be directly determined according to a calculation formula of the rotation speed n, and the formula is as follows:
n＝1/(a*t)
in the formula, n is the rotating speed, a is the number of the brushes, and t is the period; for example, if the brush characteristic of the side sweep is 3 and the period is 1s, the rotation speed of the side sweep is 1/3 revolutions per second.
Optionally, if the brush features are non-uniformly distributed and the number of the brushes is M, where M is greater than or equal to 1, determining the rotation speed of the edge brush according to the period and the brush features includes:
the reciprocal of the period is determined as the rotational speed of the sweep.
When the brushes are non-uniformly distributed on the side sweep, the period of the periodic signal is the time of one turn of the side sweep, so that the rotating speed of the side sweep is the reciprocal of the period.
According to the method and the device, the period of the target signal is obtained, the side scanning rotating speed is determined according to the period and the brush characteristics, the side scanning rotating speed can be simply and quickly determined, complex operation is avoided, and the complexity of the method is reduced.
Referring to fig. 4, a block diagram of a third embodiment of the present application provides a structural block diagram of a device for measuring a rotational speed of a robot during a side scan operation.
This rotational speed measuring device is swept in limit includes:
the signal acquisition module 41 is configured to acquire a target signal of the ground detection sensor, where the target signal is a signal generated when the ground detection sensor is shielded by the brush during the rotation of the side scan;
the characteristic acquisition module 42 is used for acquiring brush characteristics of the side sweeps, wherein the brush characteristics comprise distribution characteristics of the brushes on the side sweeps and the number of the brushes;
and a rotation speed determining module 43, configured to determine a rotation speed of the side sweep according to the target signal and the brush characteristic.
Optionally, the rotation speed determining module 43 includes:
a period acquisition unit for acquiring a period of a target signal;
and the rotating speed determining unit is used for determining the rotating speed of the side sweep according to the period and the brush characteristics.
Optionally, when the brush is characterized by being uniformly distributed and the number of the brushes is N, N is greater than 1, the period acquisition unit is specifically configured to:
acquiring the number of periodic signals in a preset time period in a target signal, wherein one periodic signal is a signal generated by a ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
Optionally, when the brush is characterized by being uniformly distributed and the number of the brushes is N, N is greater than 1, and the period acquisition unit is specifically configured to:
the method comprises the steps of obtaining the time length of periodic signals, determining the time length as the period of a target signal, wherein one periodic signal refers to a signal generated by a ground detection sensor in the process of being shielded twice.
Optionally, the rotation speed determining unit is specifically configured to:
multiplying the number of the brushes in the brush characteristics by the period, and determining the reciprocal of the value obtained after multiplication as the rotation speed of the edge scanning.
Optionally, when the brushes are characterized in that the brushes are non-uniformly distributed and the number of the brushes is M, M is greater than or equal to 1, and the period acquisition unit is specifically configured to:
the method comprises the steps of obtaining the time length of a periodic signal, determining the time length as the period of a target signal, wherein the periodic signal is a signal generated by a ground detection sensor in the process that the ground detection sensor is shielded for M +1 times.
Optionally, the rotation speed determining unit is specifically configured to:
the reciprocal of the period is determined as the rotational speed of the sweep.
It should be noted that, because the contents of information interaction, execution process, and the like between the modules are based on the same concept as that of the embodiment of the method of the present application, specific functions and technical effects thereof may be specifically referred to as part two of the embodiment of the method, and details are not described here.
Fig. 5 is a schematic structural diagram of a robot according to a fourth embodiment of the present application. As shown in fig. 5, the robot 5 of this embodiment includes: a ground detection sensor, a side sweep, a brush, at least one processor 50 (only one processor is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and operable on the at least one processor 50, wherein the processor 50 implements the steps of the method for measuring the rotational speed of the side sweep of the robot according to the second embodiment when executing the computer program 52, and the ground detection sensor, the side sweep, and the brush are not specifically shown in fig. 5.
The robot 5 may be a cleaning robot, such as a sweeping robot, a mopping robot, or a sweeping and mopping all-in-one machine. The robot may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the robot 5, and does not constitute a limitation of the robot 5, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, etc.
The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may in some embodiments be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot 5 in other embodiments, such as a plug-in hard disk provided on the robot 5, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying the computer program code, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
The present application may also implement all or part of the processes in the method according to the above embodiments, and may also be implemented by a computer program product, when the computer program product runs on a robot, the robot may implement the steps in the first method embodiment when executed, or when the computer program product runs on a robot, the robot may implement the steps in the second method embodiment when executed.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for measuring a rotation speed of a robot during a side scan, the method comprising:
acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a brush of the side scan when the side scan rotates;
acquiring the characteristics of the brush of the side broom, wherein the characteristics of the brush comprise the distribution characteristics of the brush on the side broom and the number of the brushes;
and determining the rotation speed of the side sweep according to the target signal and the brush characteristic.
2. The method of claim 1, wherein said determining a rotational speed of said sweep based on said target signal and said brush characteristic comprises:
acquiring the period of the target signal;
and determining the rotation speed of the side sweep according to the period and the brush characteristics.
3. The method of claim 2, wherein if the brushes are characterized by a uniform distribution of brushes and the number of brushes is N, N being greater than 1, the period of acquiring the target signal comprises:
acquiring the number of periodic signals in a preset time period in the target signal, wherein one periodic signal is a signal generated by the ground detection sensor in the adjacent two shielding processes;
and acquiring the period of the target signal according to the duration of the preset time period and the number of the periodic signals.
4. The method of claim 2, wherein if the brushes are characterized by a uniform distribution of brushes and the number of brushes is N, N being greater than 1, the period of acquiring the target signal comprises:
and acquiring the time length of a periodic signal, and determining the time length as the period of the target signal, wherein the periodic signal is a signal generated by the ground detection sensor in the adjacent two shielding processes.
5. The edge-scan rotational speed measurement method according to claim 3 or 4, wherein the determining the rotational speed of the edge scan based on the period and the brush characteristic includes:
and multiplying the number of the brushes in the brush characteristics by the period, and determining the reciprocal of the value obtained after multiplication as the rotation speed of the edge scanning.
6. The method of claim 2, wherein if the brushes are characterized by non-uniform brush distribution and the number of brushes is M, M being greater than or equal to 1, the period of acquiring the target signal comprises:
the method comprises the steps of obtaining the time length of a periodic signal, determining the time length as the period of a target signal, wherein the periodic signal refers to a signal of the ground detection sensor in the process from any time of shielding to the Mth time of shielding after any time of shielding.
7. The edge-scan rotational speed measurement method according to claim 6, wherein the determining the rotational speed of the edge-scan based on the period and the brush characteristic includes:
and determining the reciprocal of the period as the rotation speed of the side sweep.
8. A side scan rotational speed measuring apparatus of a robot, comprising:
the signal acquisition module is used for acquiring a target signal of a ground detection sensor, wherein the target signal is a signal generated when the ground detection sensor is shielded by a brush of the side scan when the side scan rotates;
the characteristic acquisition module is used for acquiring the brush characteristics of the side broom, wherein the brush characteristics comprise the distribution characteristics of the brush on the side broom and the number of the brushes;
and the rotating speed determining module is used for determining the rotating speed of the side sweep according to the target signal and the brush characteristic.
9. A robot comprising a ground detection sensor, a side brush, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the side-brush rotation speed measurement method of any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the edge-scan rotational speed measurement method according to any one of claims 1 to 7.
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