CN114271748B - Garbage bin capacity detection method and system of garbage robot - Google Patents
Garbage bin capacity detection method and system of garbage robot Download PDFInfo
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Abstract
The invention discloses a garbage can capacity measuring method and a system thereof of a garbage robot, wherein the measuring method comprises the following steps: acquiring the height of the dustbin, acquiring the height difference between the first ultrasonic sensor and the bottom of the dustbin, and recording the height difference as a first height difference; transmitting ultrasonic waves to the garbage in the garbage bin through one of the first ultrasonic sensor and the second ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage through one of the first ultrasonic sensor and the second ultrasonic sensor; calculating according to the reflected wave to obtain the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference; calculating the garbage capacity in the garbage can according to the following formula: garbage capacity = (first height difference-second height difference)/height of the garbage bin. Above-mentioned technical scheme's first ultrasonic sensor and second ultrasonic sensor can detect the object of multiclass, and detection effect is preferred.
Description
Technical Field
The invention relates to the technical field of dustbin capacity detection, in particular to a dustbin capacity detection method and a dustbin capacity detection system of a garbage robot.
Background
A garbage robot, also called an automatic cleaning machine, intelligent dust collection, a robot dust collector, etc., is one of intelligent household appliances, and can automatically complete floor cleaning work on the ground by means of certain artificial intelligence. The garbage robot reduces the labor cost and improves the efficiency. With the development of science and technology in recent years, garbage robots are gradually replacing cleaners in the treatment work of urban environment, and performing simple and heavy work. A sensor is arranged on a dustbin of an existing garbage robot and used for detecting the garbage capacity of the dustbin. The garbage in the garbage can is various and uneven in distribution, one sensor is large in limitation when detecting the height between the sensor and the garbage surface, the detected height data is large in error, and the final calibration of the garbage capacity is affected.
Disclosure of Invention
Therefore, a garbage bin capacity detection method and a garbage bin capacity detection system of the garbage robot are needed to be provided, and the problem that when one sensor detects the height between the sensor and the garbage surface, the detected height data has a large error, and the final garbage capacity calibration is affected is solved.
In order to achieve the above object, the present embodiment provides a method for measuring a trash bin capacity of a trash robot, including the following steps:
the height of the dustbin is obtained, the height difference between the first ultrasonic sensor and the bottom of the dustbin is obtained and recorded as a first height difference, and the height between the first ultrasonic sensor and the bottom of the dustbin is the same as the height between the second ultrasonic sensor and the bottom of the dustbin;
transmitting ultrasonic waves to the garbage in the garbage bin through one of the first ultrasonic sensor and the second ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage through one of the first ultrasonic sensor and the second ultrasonic sensor;
calculating according to the reflected wave to obtain the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference;
calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is the first height difference, x2 is the height of the garbage can, and y is the second height difference.
Further, in the step "transmitting ultrasonic waves to the waste in the waste bin by one of the first ultrasonic sensor and the second ultrasonic sensor", the method further comprises the following steps:
and emitting ultrasonic waves with different intensities to the garbage in the garbage bin through one of the first ultrasonic sensor and the second ultrasonic sensor.
Further, the ultrasonic waves of different intensities include ultrasonic waves generated by combining a first intensity and a second intensity in a first section, a second section, and a third section, and the first intensity is smaller than the second intensity.
Further, the method also comprises the following steps:
firstly, sampling a reflected wave acquired by one of a first ultrasonic sensor and a second ultrasonic sensor through a high-speed ADC (analog-to-digital converter) sampling module;
secondly, extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module through Fourier transform;
and then calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the amplitude spectrum, and recording the height difference as a second height difference.
Further, after the step of "extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module by fourier transform", the method further includes the following steps:
extracting a curve of which the amplitude is greater than a threshold detection line in the amplitude spectrum;
when the step "calculating the height difference between the first ultrasonic sensor and the garbage surface in the garbage bin according to the amplitude spectrum and recording the height difference as a second height difference", the method further comprises the following steps:
and calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage can according to the curve with the amplitude larger than the threshold value detection line, and recording the height difference as a second height difference.
Further, the detection range of the first ultrasonic sensor is below 30 degrees; or:
the detection range of the second ultrasonic sensor is below 30 °.
Further, the method also comprises the following steps:
and repeating the steps to obtain a plurality of garbage capacities, calculating an average value of the plurality of garbage capacities, and taking the average value as the garbage capacity.
Further, before the step of transmitting the ultrasonic waves to the garbage in the garbage bin through one of the first ultrasonic sensor and the second ultrasonic sensor, the method further comprises the following steps:
the dustbin is vibrated by the vibration mechanism.
Further, the method also comprises the following steps:
and judging whether the garbage robot is in a cleaning mode, if so, transmitting ultrasonic waves to the garbage in the garbage can through one of the first ultrasonic sensor and the second ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage through one of the first ultrasonic sensor and the second ultrasonic sensor.
In order to achieve the above object, the present embodiment further provides a garbage bin capacity detecting system for a garbage robot, including a garbage bin disposed inside the garbage robot, a first ultrasonic sensor, a second ultrasonic sensor, and a processing unit;
the first ultrasonic sensor and the second ultrasonic sensor are both located above the bottom of the garbage can, the processing unit is connected with the ultrasonic sensors, and the processing unit is used for executing the garbage robot garbage can capacity detection method in any one of the embodiments.
Different from the prior art, in the technical scheme, the first ultrasonic wave and the second ultrasonic wave have multiple detection methods; first, the first ultrasonic sensor can emit ultrasonic waves, and the second ultrasonic sensor receives the ultrasonic waves emitted by the first ultrasonic sensor; the second ultrasonic sensor can emit ultrasonic waves, and the first ultrasonic sensor receives the ultrasonic waves emitted by the first ultrasonic sensor; thirdly, the first ultrasonic sensor can transmit ultrasonic waves and then receive the ultrasonic waves transmitted by the first ultrasonic sensor; fourthly, the second ultrasonic sensor can transmit ultrasonic waves and then receive the ultrasonic waves transmitted by the second ultrasonic sensor. So, first ultrasonic wave and second ultrasonic wave can be surveyed a plurality of gauge points to obtain a plurality of second difference in height's data, promote the authenticity of rubbish capacity, reduce the influence that systematic error brought. In addition, the first ultrasonic sensor and the second ultrasonic sensor can detect various objects (such as garbage bags, leaves, food, books and the like), and the detection effect is good.
Drawings
FIG. 1 is a flowchart illustrating a method for measuring a volume according to an embodiment of the present invention;
FIG. 2 is a second flowchart of the capacity measuring method according to the present embodiment;
FIG. 3 is a diagram illustrating a Fourier function in this embodiment;
fig. 4 is a schematic structural diagram illustrating that the first ultrasonic sensor and the second ultrasonic sensor detect a second height difference in the present embodiment;
FIG. 5 is a schematic diagram of a structure of an amplitude spectrogram and a threshold detection line in this embodiment;
FIG. 6 is a second schematic diagram of the structure of the amplitude spectrum and the threshold detection line in the present embodiment;
FIG. 7 is a schematic diagram of ultrasonic waves of different intensities in the present embodiment;
FIG. 8 is a schematic diagram of ultrasonic waves of a first intensity, a 0 intensity and a second intensity in sequence in a first interval, a second interval and a third interval in the present embodiment;
FIG. 9 is a schematic diagram of ultrasound waves of the second intensity, the first intensity and the first intensity sequentially in the first interval, the second interval and the third interval in this embodiment;
fig. 10 is a schematic diagram of ultrasonic waves of the second intensity, 0 intensity, and first intensity in this example in the order of the first interval, the second interval, and the third interval.
Description of reference numerals:
1. a first ultrasonic sensor;
2. a second ultrasonic sensor;
3. a garbage can is provided.
Detailed Description
To explain in detail the possible application scenarios, technical principles, and practical embodiments of the present application, and to achieve the objectives and effects thereof, the following detailed description is given with reference to the accompanying drawings. The embodiments described herein are only used for clearly illustrating the technical solutions of the present application, and therefore are only used as examples, and the scope of the present application is not limited thereby.
Referring to fig. 1 to 10, the present embodiment provides a method for measuring a trash bin capacity of a trash robot, including the following steps:
step S102, acquiring the height of the dustbin, acquiring the height difference between the first ultrasonic sensor 1 and the bottom of the dustbin 3 and recording the height difference as a first height difference, wherein the height between the first ultrasonic sensor 1 and the bottom of the dustbin 3 is the same as the height between the second ultrasonic sensor 2 and the bottom of the dustbin 3. Generally, the ultrasonic sensors (the first ultrasonic sensor 1 and the second ultrasonic sensor 2) are placed above the bottom 3 of the garbage can, and the bottom of the garbage can 3 is placed flat inside the garbage robot. The ultrasonic sensor is a device that detects using ultrasonic waves (20000 Hz or more) that are not audible to the human ear as a detection source. The ultrasonic sensor has a transmitter for transmitting ultrasonic waves to a certain direction, a timer for starting timing at the same time of transmitting time, the ultrasonic waves are transmitted in the air and return immediately when touching the surface of the garbage in the garbage can on the way, and the receiver for the ultrasonic sensor stops timing immediately when receiving the reflected waves. According to the time recorded by the timer, the distance between the transmitting point and the obstacle can be calculated.
Step S103, one of the first ultrasonic sensor 1 and the second ultrasonic sensor 2 of the processing module emits ultrasonic waves to the garbage in the garbage bin, and the other of the first ultrasonic sensor 1 and the second ultrasonic sensor 2 of the processing module obtains reflected waves reflected by the surface of the garbage.
Step S107, extracting and calculating according to the reflected wave to obtain the height difference between the first ultrasonic sensor 1 and the surface of the garbage in the garbage can 3, and recording the height difference as a second height difference;
step S108, calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is the first height difference, x2 is the height of the garbage can, and y is the second height difference, wherein the height of the garbage can is the distance between the bottom of the garbage can and the top opening of the garbage can, and the height occupied by the garbage can when the garbage can is just evenly piled up is also represented.
Referring to fig. 4, the first ultrasonic sensor 1 and the second ultrasonic sensor 2 are both located above the dustbin 3, the first height difference is denoted as x1, the second height difference is denoted as y, and the height of the dustbin is denoted as x2. Assuming that x1=50 cm, x2=40 cm and y =30 cm, the trash capacity = (50-30)/40 =0.5, which represents that the trash occupies half of the total capacity of the trash bin.
In the above technical solution, the first ultrasonic wave and the second ultrasonic wave have a plurality of detection methods; first, the first ultrasonic sensor can emit ultrasonic waves, and the second ultrasonic sensor receives the ultrasonic waves emitted by the first ultrasonic sensor; the second ultrasonic sensor can emit ultrasonic waves, and the first ultrasonic sensor receives the ultrasonic waves emitted by the first ultrasonic sensor; thirdly, the first ultrasonic sensor can transmit ultrasonic waves and then receive the ultrasonic waves transmitted by the first ultrasonic sensor; fourthly, the second ultrasonic sensor can transmit ultrasonic waves and then receive the ultrasonic waves transmitted by the second ultrasonic sensor. So, first ultrasonic wave and second ultrasonic wave can be surveyed a plurality of gauge points to obtain a plurality of second difference in height's data, promote the authenticity of rubbish capacity, reduce the influence that systematic error brought. In addition, the first ultrasonic sensor and the second ultrasonic sensor can detect various objects (such as garbage bags, leaves, food, books and the like), and the detection effect is good.
In this embodiment, the height between the first ultrasonic sensor and the bottom of the dustbin is the same as the height between the second ultrasonic sensor and the bottom of the dustbin, so that the second height difference is easy to calculate. Because the first ultrasonic sensor and the second ultrasonic sensor are positioned on the same plane, and the plane is parallel to the plane where the bottom of the dustbin is positioned. An isosceles triangle is formed between the first ultrasonic sensor and the detection point, and the second height difference can be calculated according to the distance (the length of the bottom side of the triangle) between the first ultrasonic sensor and the second ultrasonic sensor and the distance (the length of the waist of the triangle) between the first ultrasonic sensor and the detection point which are obtained in advance. It should be noted that the detection angle of the first ultrasonic sensor and the second ultrasonic sensor covers the whole garbage can, so that the two ultrasonic sensors can detect a plurality of positions.
In this embodiment, the conventional ultrasonic sensor cyclically emits a plurality of identical pulses when detecting a waste, and it is difficult to identify its own feature point in echo identification, in other words, the plurality of identical pulses do not have a prominent feature point. In the step of "transmitting ultrasonic waves to the waste in the waste bin by one of the first ultrasonic sensor and the second ultrasonic sensor", the capacity measuring method further includes the steps of: step S103, one of the first ultrasonic sensor and the second ultrasonic sensor of the processing module emits ultrasonic waves with different intensities to the garbage in the garbage bin, as shown in fig. 2. In addition, when the step of calculating a height difference between the first ultrasonic sensor and the surface of the garbage in the garbage can based on the reflected waves and recording the height difference as a second height difference includes the steps of: and extracting a target waveform from the reflected waves, wherein the target waveform is similar to the waveform of the transmitted ultrasonic waves, and then calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the extracted target waveform and marking the height difference as a second height difference. Therefore, the first ultrasonic sensor or the second ultrasonic sensor sends the pulse as a special code, and then the echo can be recognized by self, so that the anti-interference capability is improved, and the interference of the sounds of a dust collection motor, a walking motor, a brush and other parts of the garbage robot in the movement process is avoided.
Referring to fig. 7, in the present embodiment, the ultrasonic waves of different intensities include ultrasonic waves generated by combining a first intensity (denoted by 1) and a second intensity (denoted by 2) in a first section (1 st), a second section (2 nd), and a third section (3 nd), and the first intensity is smaller than the second intensity. The first intensity represents that ultrasonic waves with 10V (volt) intensity are emitted, the second intensity represents that ultrasonic waves with 20V (volt) intensity are emitted, and 0 intensity represents that the ultrasonic waves are not emitted; the first intensity represents the emission of ultrasonic waves with an intensity of 5V (volts), the second intensity represents the emission of ultrasonic waves with an intensity of 10V (volts), and 0 intensity represents the non-emission of ultrasonic waves.
In this embodiment, there may be 27 combinations in the 3 sequence pulses, where combinations starting with zero current level will be discarded, and in the remaining 18 codes, two symbols containing the same value for all three will also be discarded identically. The remaining 16 codes all start with a non-zero current level and there is at least one transition as shown in fig. 7. These characteristics ensure that any response packet has a transition at the beginning of the packet and that at least one transition in each response packet indicates that each 3-sequence encodes 4-bit information.
Specifically, the first ultrasonic sensor may transmit ultrasonic waves of the first intensity, 0 intensity, and the second intensity in sequence in the first section (e.g., 1st in fig. 8), the second section (e.g., 2nd in fig. 8), and the third section (e.g., 3nd in fig. 8), as shown in fig. 8; alternatively, the first ultrasonic sensor may transmit ultrasonic waves of the second intensity, the first intensity, and the first intensity in the first interval (e.g., 1st in fig. 9), the second interval (e.g., 2nd in fig. 9), and the third interval (e.g., 3nd in fig. 9) in this order, as shown in fig. 9; alternatively, the first ultrasonic sensor may transmit ultrasonic waves \8230 \ 8230, which are sequentially the second intensity, 0 intensity and the first intensity in the first interval (e.g., 1st of fig. 10), the second interval (e.g., 2nd of fig. 10) and the third interval (e.g., 3nd of fig. 10)
In this embodiment, the capacity measuring method further includes the steps of: step 104, firstly, a processing module high-speed ADC (Analog-to-Digital Converter) sampling module samples a reflected wave obtained by one of the first ultrasonic sensor and the second ultrasonic sensor, as shown in fig. 2. The high speed ADC sampling block does not typically cause additional noise and signal distortion during processing. It should be noted that the signal of the reflected wave acquired by the ultrasonic sensor may be sent to the high-speed ADC sampling module through the receiving and amplifying circuit.
Step 105, the secondary processing module performs fourier transform to extract an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module, as shown in fig. 2. After sampling, fourier transform is carried out to extract the frequency spectrum of the appointed signal. The fourier transform means that a certain function satisfying a certain condition can be represented as a trigonometric function (sine and/or cosine function) or a linear combination of their integrals, and the function of the fourier function is shown in fig. 3. The amplitude spectrum refers to the variation of the amplitude of the individual components with frequency. And 107, calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the amplitude spectrum, and recording the height difference as a second height difference.
It should be noted that, when no curve whose amplitude is greater than the threshold detection line is extracted from the amplitude spectrum, the amplitude spectrum may be directly calculated.
The amplitude frequency spectrum is extracted from the reflected wave through Fourier transform, so that the interference of external sound, vibration generated by the garbage robot in the moving process, resonance of parts and the like can be eliminated, the information of the required frequency in the reflected wave can be accurately acquired, then, the information in the reflected wave is simply, quickly, efficiently and accurately analyzed, and the garbage capacity with better accuracy can be acquired.
In some embodiments, the reflected wave obtained by the ultrasonic sensor can be sampled by means of diode voltage-multiplying detection and voltage comparator detection, but the effect is not as good as that of the high-speed ADC sampling module. Diode voltage doubling detection has the disadvantages that the detection input voltage requirement is relatively high, the germanium diode can work only at 0.2-0.3V (volt), and the interference of a direct current signal cannot be eliminated. The detection by using the voltage comparator has the disadvantage that although the detection input voltage can be set to be relatively low, the detection input voltage cannot be filtered out without direct current signal interference.
In the present embodiment, after the step "extracting an amplitude spectrum from a reflected wave acquired by an ultrasonic sensor by fourier transform", the capacity measuring method further includes the steps of: step 106, extracting a curve of which the amplitude is greater than a threshold detection line in the amplitude spectrum, as shown in fig. 2. And when the step of calculating the height difference between the first ultrasonic sensor and the garbage surface in the garbage bin according to the amplitude spectrum and marking the height difference as a second height difference, the method further comprises the following steps of: and step 107, calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the curve with the amplitude larger than the threshold value detection line, and recording the height difference as a second height difference, as shown in fig. 2.
Referring to fig. 4, 5 and 6, the amplitudes of the echo signals of different distance segments may be configured with a trigger value, the threshold detection line may be set according to requirements, the processing module may cut the threshold detection line to a desired ultrasonic wave emission angle, and the ultrasonic wave emission angle is an included angle between the emission wave and a vertical plane. The amplitude values corresponding to the threshold detection lines in fig. 5 are greater than the amplitude values corresponding to the threshold detection lines in fig. 6. Preferably, the detection range of the first ultrasonic sensor is below 30 degrees; or: the detection range of the second ultrasonic sensor is below 30 degrees. The larger the amplitude corresponding to the threshold detection line is, the smaller the ultrasonic wave emission angle corresponding to the curve extracted with the amplitude larger than the threshold detection line is, and the smaller the ultrasonic wave emission angle is, the smaller the area of the detection point acted by the ultrasonic wave is; the larger the angle at which the ultrasonic wave is emitted, the larger the area of the probe point on which the ultrasonic wave acts. The angle of the ultrasonic emission corresponds to θ in the amplitude spectrum, as shown in fig. 4, 5 and 6. Therefore, the detection method can flexibly adjust the function of the ultrasonic emission angle and is suitable for the garbage cans in different shapes, and the detection method with higher precision is needed because the height and the width of the garbage can in the garbage robot are lower.
It should be noted that after the processing module extracts an amplitude spectrum from the reflected wave by fourier transform, a target waveform is extracted from the amplitude spectrum, and the target waveform is similar to the waveform of the transmitted ultrasonic wave. For example, the intensities of the transmitted waves are the first intensity, 0 intensity, and the second intensity shown in fig. 10, the shape of the slave target waveform is similar to the shape of the first intensity, 0 intensity, and the second intensity waveform. And then extracting a curve with the amplitude larger than a threshold detection line from the target waveform.
In this embodiment, the capacity measuring method further includes the steps of: step S109 repeats the above steps to obtain a plurality of garbage capacities, calculates an average value of the plurality of garbage capacities, and sets the average value as a garbage capacity, as shown in fig. 2. The first ultrasonic sensor sends ultrasonic waves, after one of the first sensor or the second sensor receives reflected waves, a value of the garbage capacity is calculated through a garbage capacity = (first height difference-second height difference)/height formula of the garbage bin, as the garbage capacity is only one detection point, the processing module calculates for multiple times to obtain multiple garbage capacities, the fact that the first ultrasonic sensor measures the monitoring points at different positions in the garbage bin is shown, and finally the obtained multiple garbage capacities are averaged to obtain the final garbage capacity.
In this embodiment, before the step "emitting ultrasonic waves to the waste in the waste bin by one of the first ultrasonic sensor and the second ultrasonic sensor", the capacity measuring method further includes the steps of: the processing module vibration mechanism vibrates the dustbin. It should be noted that the garbage robot is in the dust vibration mode when the vibration mechanism is in operation. When the garbage robot sucks garbage into the garbage can through the negative pressure mechanism, the garbage robot fills garbage with different types in the garbage can, the garbage is unevenly distributed, and accordingly more garbage on one side and less garbage on the other side are generated. The vibration mechanism of the treatment module periodically vibrates the garbage bin to enable the surface of the garbage to tend to be flat, and the difference of the measured second height difference is small.
In this embodiment, the capacity measuring method further includes the steps of: step S101, judging whether the garbage robot is in a cleaning mode or not, as shown in figure 2; if yes, the step S102 is carried out, one of the first ultrasonic sensor and the second ultrasonic sensor of the processing module transmits ultrasonic waves to the garbage in the garbage bin, and the other of the first ultrasonic sensor and the second ultrasonic sensor of the processing module obtains reflected waves reflected by the surface of the garbage; if not, the step S1021 is executed, and the garbage capacity is not detected. The cleaning mode is a mode that the garbage robot adopts a brush sweeping and negative pressure mechanism mode to absorb the ground sundries into the garbage can of the garbage robot, so that the ground cleaning is completed. When the garbage robot is in a cleaning mode, the garbage robot adsorbs garbage to enter a garbage can, and the ultrasonic radar can transmit ultrasonic waves to the garbage in the garbage can to detect the distance between the garbage robot and the garbage so as to calculate the real-time capacity of the garbage; under the condition that the garbage robot is in the dust vibration mode, the real-time capacity of the garbage does not need to be calculated. Therefore, the operation time of the ultrasonic radar is reasonably arranged, the energy consumption of the garbage robot can be reduced, and the service life of the garbage robot in a single use is prolonged.
In the embodiment, the processing unit receives the bus state of the garbage robot through a communication module (such as a CAN communication module, an RS485 communication module, a WI-FI module, etc.), and further obtains the running state of the garbage robot. The running state of the garbage robot comprises a cleaning mode, a dust vibration mode, a charging mode and the like. The processing unit is an electronic component with a data processing function, including but not limited to: a Micro Control Unit (MCU), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a Digital Signal Processor (DSP).
The processing unit is connected with the ultrasonic sensors (the first ultrasonic sensor and the second ultrasonic sensor) and controls the ultrasonic sensors (the first ultrasonic sensor and the second ultrasonic sensor) to operate. The processing unit is connected with the high-speed ADC sampling module and controls the high-speed ADC sampling module to sample. The processing units are respectively connected to the communication modules, and are configured to acquire an operating state of the garbage robot, which is not described herein again.
In particular, the capacity measuring method can be used for detecting the capacity of the garbage bin of the low-speed garbage robot.
The embodiment also provides a garbage bin capacity detection system of the garbage robot, which comprises a garbage bin arranged in the garbage robot, a first ultrasonic sensor, a second ultrasonic sensor and a processing unit. The first ultrasonic sensor and the second ultrasonic sensor are both located above the bottom of the garbage can, the processing unit is connected with the ultrasonic sensors, and the processing unit is used for executing the garbage robot garbage can capacity detection method in any one of the above embodiments.
In the embodiment, the processing unit receives the bus state of the garbage robot through a communication module (such as a CAN communication module, an RS485 communication module, a WI-FI module and the like), and then acquires the running state of the garbage robot. The running state of the garbage robot comprises a cleaning mode, a dust vibration mode, a charging mode and the like. The processing unit is an electronic component with a data processing function, including but not limited to: a Micro Control Unit (MCU), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a Digital Signal Processor (DSP).
In this embodiment, the processing unit starts the voltage selection by the booster pump circuit, and sends the ultrasonic signal to the ultrasonic sensor according to the parameters set by the encoding pulse.
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 "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or related to other embodiments specifically defined. In principle, in the present application, the technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution as long as there is no technical contradiction or conflict.
Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the use of relational terms herein is intended to describe specific embodiments only and is not intended to limit the present application.
In the description of the present application, the term "and/or" is a expression for describing a logical relationship between objects, meaning that three relationships may exist, for example a and/or B, meaning: there are three cases of A, B, and both A and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in a logical relationship of "or".
In this application, terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Without further limitation, in this application, the use of the phrases "comprising," "including," "having," or other similar expressions, is intended to cover a non-exclusive inclusion, and these expressions do not exclude the presence of additional elements in a process, method, or article that includes the elements, such that a process, method, or article that includes a list of elements may include not only those elements defined, but other elements not expressly listed, or may include other elements inherent to such process, method, or article.
As is understood in the examination of the guidelines, the terms "greater than", "less than", "more than" and the like in this application are to be understood as excluding the number; the expressions "above", "below", "within" and the like are understood to include the present numbers. In addition, in the description of the embodiments of the present application, "a plurality" means two or more (including two), and expressions related to "a plurality" similar thereto are also understood, for example, "a plurality of groups", "a plurality of times", and the like, unless specifically defined otherwise.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and "disposed" used in the description of the embodiments of the present application are to be construed broadly. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection, an electrical connection, or a communication connection; they may be directly connected or indirectly connected through an intermediate; which may be communication within two elements or an interaction of two elements. Specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains in accordance with specific situations.
It should be noted that, although the above embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by changing and modifying the embodiments described herein or by using the equivalent structures or equivalent processes of the content of the present specification and the attached drawings, and are included in the scope of the present invention.
Claims (9)
1. A garbage bin capacity measuring method of a garbage robot is characterized by comprising the following steps:
the height of the dustbin is obtained, the height difference between the first ultrasonic sensor and the bottom of the dustbin is obtained and recorded as a first height difference, and the height between the first ultrasonic sensor and the bottom of the dustbin is the same as the height between the second ultrasonic sensor and the bottom of the dustbin;
transmitting ultrasonic waves to the garbage in the garbage can through one of the first ultrasonic sensor and the second ultrasonic sensor, and firstly, acquiring reflected waves reflected by the surface of the garbage from one of the first ultrasonic sensor and the second ultrasonic sensor through the high-speed ADC sampling module;
secondly, extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module through Fourier transform;
finally, calculating according to the amplitude spectrum of the reflected wave to obtain the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage can and recording the height difference as a second height difference;
calculating the garbage capacity in the garbage can according to the following formula:
S＝(x1-y)/x2
in the formula, S is the garbage capacity, x1 is the first height difference, x2 is the height of the garbage can, and y is the second height difference.
2. The trash can capacity measuring method of claim 1, wherein in the step of transmitting ultrasonic waves to trash in the trash can by one of the first ultrasonic sensor and the second ultrasonic sensor, the method further comprises the steps of:
and emitting ultrasonic waves with different intensities to the garbage in the garbage bin through one of the first ultrasonic sensor and the second ultrasonic sensor.
3. A garbage robot garbage can capacity measuring method according to claim 2, wherein the ultrasonic waves of different intensities comprise ultrasonic waves generated by a combination of a first intensity and a second intensity in a first section, a second section and a third section, and the first intensity is smaller than the second intensity.
4. The method for measuring the garbage can capacity of the garbage robot according to claim 1, further comprising the following steps after the step of extracting an amplitude spectrum from the reflected wave sampled by the high-speed ADC sampling module through Fourier transform:
extracting a curve of which the amplitude is greater than a threshold detection line in the amplitude spectrum;
when the step "calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the amplitude spectrum and marking the height difference as a second height difference" is performed, the method further comprises the following steps:
and calculating the height difference between the first ultrasonic sensor and the surface of the garbage in the garbage bin according to the curve with the amplitude larger than the threshold value wave detection line, and recording the height difference as a second height difference.
5. The method for measuring the trash bin capacity of the trash robot of claim 4, further comprising the steps of:
the detection range of the first ultrasonic sensor is below 30 degrees; or:
the detection range of the second ultrasonic sensor is below 30 degrees.
6. The method for measuring the trash bin capacity of the trash robot of claim 1, further comprising the steps of:
and repeating the steps to obtain a plurality of garbage capacities, calculating the average value of the garbage capacities, and taking the average value as the garbage capacity.
7. The trash can capacity measuring method of claim 1, further comprising the following steps before the step of transmitting ultrasonic waves to trash in the trash can by one of the first ultrasonic sensor and the second ultrasonic sensor:
the garbage can is vibrated by the vibration mechanism.
8. The method for measuring the trash bin capacity of the trash robot of claim 1, further comprising the steps of:
and judging whether the garbage robot is in a cleaning mode, if so, transmitting ultrasonic waves to the garbage in the garbage can through one of the first ultrasonic sensor and the second ultrasonic sensor, and acquiring reflected waves reflected by the surface of the garbage through one of the first ultrasonic sensor and the second ultrasonic sensor.
9. A garbage bin capacity detection system of a garbage robot is characterized by comprising a garbage bin, a first ultrasonic sensor, a second ultrasonic sensor and a processing unit, wherein the garbage bin, the first ultrasonic sensor, the second ultrasonic sensor and the processing unit are arranged in the garbage robot;
the first ultrasonic sensor and the second ultrasonic sensor are both positioned above the bottom of the garbage can, the processing unit is connected with the first ultrasonic sensor and the second ultrasonic sensor, and the processing unit is used for executing the garbage capacity measuring method of the garbage robot as claimed in any one of claims 1 to 8.
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