CN114532922A - Method and device for detecting ground detection of cleaning robot under strong light - Google Patents
Method and device for detecting ground detection of cleaning robot under strong light Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 172
- 238000001514 detection method Methods 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000005286 illumination Methods 0.000 claims abstract description 28
- 230000000149 penetrating effect Effects 0.000 claims description 14
- 230000004313 glare Effects 0.000 claims description 11
- 230000001960 triggered effect Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 abstract description 10
- 230000000712 assembly Effects 0.000 abstract description 5
- 238000000429 assembly Methods 0.000 abstract description 5
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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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
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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
- A47L11/4002—Installations of electric equipment
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
A cleaning robot under strong light ground detection method, the cleaning robot includes at least one group of ground detection assemblies, the said ground detection assembly produces the optical signal periodically in order to receive the reflected light, and obtain the value Von of turning on the light when turning on, obtain the value Voff of turning off the light when turning off the light, the method includes, obtain the value Von of turning on the light and value Voff of turning off the light through the cleaning robot in real time; determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff; and selecting a ground detection trigger threshold Ts according to the illumination mode, and performing threshold judgment on the ground detection trigger threshold Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection. The ground detection standard can be adjusted according to the light environment of the cleaning robot, so that whether the cleaning robot is suspended or not is accurately determined, and the cleaning robot is prevented from falling off when moving.
Description
Technical Field
The invention belongs to the technical field of cleaning robot control, and particularly relates to a method and a device for detecting the ground detection of a cleaning robot under strong light.
Background
In the prior art, cliff sensors are adopted for judging that the movable wheels are suspended, and whether the cliff sensors are suspended is judged according to the ground clearance.
In some cases, a ground detection assembly of the cleaning robot may have a missed detection due to a relatively weak ground detection signal in a strong light environment, which is easily interfered, so that a ground detection infrared signal cannot be detected in a suspended state, and a machine body of the cleaning robot falls off.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for detecting the ground detection of a cleaning robot under strong light.
In order to solve the technical problem, the invention provides a method for detecting the ground detection of a cleaning robot under strong light, which adopts the following technical scheme:
a method for detecting ground detection of a cleaning robot under strong light, the cleaning robot including at least one set of ground detecting elements periodically generating a light signal to receive reflected light and acquiring a light-on value Von when the light is turned on and a light-off value Voff when the light is turned off, the method comprising,
acquiring the lamp-on value Von and the lamp-off value Voff through a cleaning robot in real time;
determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff;
and selecting a ground detection trigger threshold Ts according to the illumination mode, and performing threshold judgment on the ground detection trigger threshold Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection.
Further, the threshold judgment specifically is that a threshold judgment is performed by using the absolute value of the difference between the lamp-on value Von and the lamp-off value Voff and Ts, and when the absolute value of the difference between the lamp-on value Von and the lamp-off value Voff is less than or equal to Ts, a ground detection is triggered; and when the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff is larger than Ts, detecting the ground and not triggering.
Further, when the ground detection is triggered, the method further comprises the step of controlling the cleaning robot to continuously retreat until the ground detection signal disappears.
Further, the step of determining the illumination mode of the cleaning robot according to the magnitude of the light-off value Voff specifically includes: and if the light-off value Voff of any receiving pair tube is less than or equal to a first threshold value Toff and the duration exceeds a first time threshold value, determining that the cleaning robot is in the strong light mode.
Further, the step of selecting a ground probing trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in the strong light mode, the value of the ground detection trigger threshold Ts is adjusted from Ts1 to Ts2, wherein Ts1 is larger than Ts 2.
Further, when the cleaning robot is in the highlight mode, if the cleaning robot continuously backs and the distance of backing exceeds half of the body, and the cleaning robot still generates a ground detection signal, an alarm is given.
Further, if all of the reception pair pipes have the off-lamp value Voff greater than the second threshold value T1 and the duration time exceeds the second time threshold value, it is determined that the cleaning robot is in the non-glare mode.
Further, the step of selecting a ground probing trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in a non-glare light mode, the value of the ground detection trigger threshold Ts is adjusted to be Ts1 from Ts2, wherein Ts1 is larger than Ts 2.
Further, when the cleaning robot is in the non-glare mode, if the cleaning robot continuously backs and the backing distance exceeds half of the body, and the cleaning robot still generates a ground detection signal, the cleaning robot enters the escaping mode.
In order to solve the technical problem, the invention also provides a ground detection device of the cleaning robot under strong light, which adopts the following technical scheme:
a cleaning robot ground detection device under strong light comprises a ground detection module for periodically generating a light signal to receive reflected light and acquiring a light-on value Von when the light is turned on and a light-off value Voff when the light is turned off, and further comprises,
the information acquisition module is used for acquiring the lamp-on value Von and the lamp-off value Voff in real time through the cleaning robot;
the mode determining module is used for determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff;
and the judging module is used for selecting a ground detection triggering threshold value Ts according to the illumination mode, and performing threshold value judgment on the ground detection triggering threshold value Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection.
Compared with the prior art, the ground detection standard can be adjusted according to the light environment of the cleaning robot, so that whether the cleaning robot is suspended is accurately determined, and the cleaning robot is prevented from falling off when moving.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of one embodiment of a method for a cleaning robot to detect a ground penetrating condition in high light according to the present application;
FIG. 2 is a schematic diagram of an embodiment of a cleaning robot ground detection device under glare according to the present application;
FIG. 3 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
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.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of one embodiment of a method for a cleaning robot to detect ground penetrating under strong light according to the present application is shown.
A method for detecting ground detection of a cleaning robot under strong light, the cleaning robot including at least one set of ground detecting elements periodically generating a light signal to receive reflected light and acquiring a light-on value Von when the light is turned on and a light-off value Voff when the light is turned off, the method comprising,
step S100: acquiring the lamp-on value Von and the lamp-off value Voff through a cleaning robot in real time;
step S200: determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff;
step S300: and selecting a ground detection trigger threshold Ts according to the illumination mode, and performing threshold judgment on the ground detection trigger threshold Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection.
The cleaning robot is characterized in that the emission geminate transistors are controlled to be opened and the lamp opening values Vno of the emission geminate transistors are collected, the emission geminate transistors are controlled to be closed and the lamp closing values Voff of the reception geminate transistors are collected in each period, if the absolute value Vd of the difference between the lamp opening values Vno and the lamp closing values Voff is larger than or equal to a ground detection trigger threshold Ts, the cleaning robot does not generate a ground detection signal, and if the absolute value Vd of the difference between the lamp opening values Vno and the lamp closing values Voff is smaller than the ground detection trigger threshold Ts, the cleaning robot generates the ground detection signal.
Specifically, in this embodiment, the cleaning robot may be a floor sweeper, a floor mopping machine, a floor washing machine or other robot walking on the ground for cleaning, taking the floor sweeping machine as an example, the ground probing assemblies are provided with three groups, which are respectively located at the front right side, the front left side and the front right side of the bottom edge of the cleaning robot. It should be noted that the ground detection assembly may be disposed at other positions of the cleaning robot as long as the change in the distance between the bottom of the cleaning robot and the receiving surface such as the floor surface can be detected.
The ground probing assembly comprises transmitting pair tubes and receiving pair tubes, and is used for controlling the transmitting pair tubes to be opened and collecting the on-lamp values Vno of the receiving pair tubes and controlling the transmitting pair tubes to be closed and collecting the off-lamp values Voff of the receiving pair tubes in each period. The lamp opening value Vno or the lamp closing value Voff of the receiving pair transistor means that the infrared light signal sent by the emitting pair transistor is received by the receiving pair transistor in a corresponding state, and the received infrared light signal is subjected to an AD value obtained through AD analog-to-digital conversion. The strength of the optical signal is embodied through the AD value, and when the strength of the optical signal sent by the transmitting tube is fixed, the strength of the optical signal can be used for judging the distance between the bottom of the cleaning robot and the bearing surface. The lower the AD value, the closer the distance between the bottom of the cleaning robot and the receiving surface, i.e., the higher the brightness detected by the robot, and the higher the AD value, the lower the AD value, the farther the distance between the bottom of the cleaning robot and the receiving surface, i.e., the lower the AD value.
The hard light is specifically set according to the illumination environment where the environment is located, under the direct irradiation of sunlight in summer, the illumination intensity can reach 6-10 ten thousand lx, 0.1-1 ten thousand lx outdoors without the sun, 100-550 lx indoors with the summer being bright, and 0.2lx after the night, and the illumination intensity is related to a lamp-on value Von and a lamp-off value Voff obtained by a ground detection assembly of the cleaning robot.
According to the scheme, the brightness environment of the cleaning robot is judged to be a strong light environment or a non-strong light environment according to the magnitude of the light-off value Voff obtained by the ground detection sensor in the light-off state, and then the specific ground detection mode is selected according to the environment of the cleaning robot, so that the difference of ground detection precision of the cleaning robot under different illumination conditions is prevented.
Further, the threshold judgment is specifically that the threshold judgment is carried out by the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff and the Ts, and when the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff is less than or equal to the Ts, ground detection is triggered; and when the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff is larger than Ts, detecting the ground and not triggering.
The value of the lamp-on value Von is not far larger than the lamp-off value Voff due to error reasons, so that the absolute value is added, the judgment of the non-ground detection state is not influenced, and when the lamp-off value Vof is far larger than the lamp-on value Von, the cleaning robot is not in the ground detection state necessarily. The influence of the addition of the absolute value on the logarithmic calculation is only when the magnitude of the lamp-off value Voff is similar to that of the lamp-on value Von, and at this time, even when the lamp-on value Von is slightly larger than the lamp-off value Voff, which is the error in detection, the addition of the absolute value to the calculation stops the occurrence of a negative value, so that the problems that the lamp-off value Voff-lamp-on value Von is equal to the negative value and the program reports the error can be solved.
Further, when the ground detection is triggered, the method further comprises the step of controlling the cleaning robot to continuously retreat until the ground detection signal disappears.
If the ground detection signal of the cleaning robot disappears in the process that the cleaning robot continuously moves backwards, at the moment, the cleaning robot is shown to be in a suspended state already through the backward movement.
Further, the step of determining the illumination mode of the cleaning robot according to the magnitude of the light-off value Voff specifically includes: and if the light-off value Voff of any receiving pair tube is less than or equal to a first threshold value Toff and the duration exceeds a first time threshold value, determining that the cleaning robot is in the strong light mode.
And the ground detection trigger threshold Ts is adjusted in real time according to whether the bottom of the cleaning robot is in a state of strong light.
If the light-off value Voff of any one of the receiving pair pipes is less than or equal to the first threshold value Toff and the duration exceeds the first time threshold value, it is determined that the cleaning robot is under strong light.
For example, if the floor-detecting assembly located in front of the universal wheels of the cleaning robot has a lamp-off value Voff of the receiver-tube of 1000, is less than the first threshold Toff of 1200, and has a duration of 500ms, which exceeds the first time threshold of 100ms, then it is determined that the cleaning robot is under high light.
Further, the step of selecting a ground probing trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in the strong light mode, the value of the ground detection trigger threshold Ts is adjusted from Ts1 to Ts2, wherein Ts1 is larger than Ts 2.
Further, when the cleaning robot is in the strong light mode, if the cleaning robot continuously backs and the backing distance exceeds a half body, and the cleaning robot still generates a ground detection signal, an alarm is given.
If the cleaning robot continuously retreats and the retreating distance exceeds half of the machine body, the cleaning robot still generates a ground detection signal, at the moment, the cleaning robot is still in a suspended state and is trapped by moving backwards, an alarm is given under the strong light environment, and because the falling judgment of the cleaning robot under the strong light environment is easy to generate errors, redundant escaping actions are caused, and the cleaning robot can fall integrally due to the wrong judgment of the cleaning robot on the ground detection condition.
Further, if all of the reception pair pipes have the off-lamp value Voff greater than the second threshold value T1 and the duration time exceeds the second time threshold value, it is determined that the cleaning robot is in the non-glare mode.
If all the reception pair transistors have the light-off value Voff larger than the second threshold value T1 and the duration time exceeds the second time threshold value, it is determined that the cleaning robot is not under strong light.
For example, if the light-off values Voff of the pair of receiving pipes of the three ground detection assemblies located in front of the universal wheels and in front of the left and right road wheels of the cleaning robot are 1500, 1600, 1800, respectively, each greater than the first threshold Toff of 1200, and the durations are 4800ms, 4500ms, 4900ms, respectively, each exceeding the second time threshold 4000ms, it is determined that the cleaning robot is not under strong light.
After the cleaning robot is determined to be under strong light, setting a flag stroFlag of the cleaning robot to be 1, and after the cleaning robot is determined not to be under strong light, setting the flag stroFlag of the cleaning robot to be 0, wherein an initial value of the ground probing trigger threshold Ts is Ts 1; if the flag bit stroFlag of the cleaning robot is determined to be 1, adjusting the value of a ground detection trigger threshold Ts from Ts1 to Ts 2; and restoring the ground detection trigger threshold from the value Ts2 of Ts to Ts1 along with the process of determining that the flag bit stroFlag of the cleaning robot is 0.
Further, the step of selecting a ground probing trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in the non-glare light mode, the value of the ground detection trigger threshold Ts is adjusted from Ts2 to Ts1, wherein Ts1 is larger than Ts 2.
Further, when the cleaning robot is in the non-glare mode, if the cleaning robot continuously backs and the backing distance exceeds half of the body, and the cleaning robot still generates a ground detection signal, the cleaning robot enters the escaping mode.
And if the distance of the cleaning robot retreating continuously exceeds half of the machine body and is in a low-light environment, and meanwhile, the ground detection signal of the cleaning robot does not disappear, at the moment, the cleaning robot is indicated to be trapped in the low-light environment, and then the machine cleaning robot enters a trap removal mode. Because the cleaning robot has higher accuracy of judging falling in a low-light environment, the probability of the whole falling of the cleaning robot is lower, and the cleaning robot can be controlled to return to a normal working state again in a escaping mode.
In one embodiment, the bottom of the cleaning robot is provided with three groups of bottom detection assemblies, namely a first bottom detection assembly, a second bottom detection assembly and a third bottom detection assembly. When the robot walks indoors, the on-light value Von and the off-light value Voff of the ground detection assembly are detected, the ground detection on-light value Von of the first ground detection assembly is 219, the off-light value Voff is 4095, and the absolute value of the on-off light difference value is 3876. The second ground detecting component has a ground detecting on-light value Von 209, a light off-light value Voff 4095, and an absolute value of the on-off light difference value 3886. The third ground detecting component has a ground detecting on-light value Von of 220, a light off-light value Voff of 4095, and an absolute value of the on-off light difference value of 3875.
When the light-off value Voff of the first ground probing assembly, the second ground probing assembly and the third ground probing assembly is greater than or equal to 3500, the ambient light ratio is weaker, the cleaning robot is in a non-glare environment, the trigger threshold ground probing trigger threshold Ts is set to be the light-off value Voff ground trigger ratio, and in the embodiment, the ground probing trigger ratio is set to be 0.048. That is, the ground penetrating trigger threshold Ts is set to 4095 × 0.048 — 197, and when the absolute value of the difference between the light-off value Voff and the light-on value Von of the first ground penetrating assembly, the second ground penetrating assembly and the third ground penetrating assembly is lower than the ground penetrating trigger threshold Ts — 197, the cleaning robot triggers the ground penetrating. The ground detection triggering proportion is set according to the fact that when the indoor ground detection sensor of the cleaning robot is 9cm away from the white ground, the difference value of the on-off light is divided by the value of the off light Voff to obtain the ground detection triggering proportion, and the ground detection triggering proportion can reflect the minimum difference between the value of the on light Von and the value of the off light Voff of the cleaning robot under the normal condition.
However, when the cleaning robot is in a strong light environment, the difference between the on-light value Von and the off-light value Voff of the cleaning robot is very small, and a method for setting the ground detection trigger threshold Ts in a non-strong light environment is used to generate misjudgment, in one embodiment, the first ground penetrating member has a height of 9cm from the ground, a ground penetrating on value Von 132, a ground penetrating off value Voff 145, a difference value of 13, if the threshold is also calculated as 7 using the off-lamp value Voff 0.048, 13>7 is determined as not triggering the ground, however, the off-lamp value Voff is obtained because of errors and environmental complexity, there may be fluctuations, errors in the values, and a very small difference between the light-off value Voff and the light-on value Von, at which time the cleaning robot is likely to be in a ground-detecting state, however, depending on the setting of the ground-seeking trigger threshold Ts, the machine will then continue to walk forward with the previous action and eventually fall to the ground. Therefore, in a strong light environment, a fixed ground detection trigger threshold value Ts of 200 is set according to experience, and the cleaning robot is ensured to be capable of detecting all ground detection triggering conditions of the cleaning robot. Therefore, in the embodiment, when the light-off value Voff of any one of the first ground detecting assembly, the second ground detecting assembly and the third ground detecting assembly is less than 3500, the cleaning robot is in a strong light environment, and the set trigger threshold ground detecting trigger threshold Ts is set to 200.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a ground detection apparatus of a cleaning robot under strong light, which corresponds to the embodiment of the method shown in fig. 1, and which can be applied to various electronic devices.
A cleaning robot ground detection device under strong light comprises a ground detection module for periodically generating a light signal to receive reflected light and acquiring a light-on value Von when the light is turned on and a light-off value Voff when the light is turned off, and further comprises,
an information obtaining module 100, configured to obtain the light-on value Von and the light-off value Voff through the cleaning robot in real time;
a mode determining module 200, configured to determine an illumination mode in which the cleaning robot is located according to the magnitude of the light-off value Voff;
and the judging module 300 is configured to select a ground detection trigger threshold Ts according to the illumination mode, and perform threshold judgment with the ground detection trigger threshold Ts according to a difference between the light-on value Von and the light-off value Voff to determine whether the cleaning robot triggers ground detection.
The cleaning robot is characterized in that the emission geminate transistors are controlled to be opened and the lamp opening values Vno of the emission geminate transistors are collected, the emission geminate transistors are controlled to be closed and the lamp closing values Voff of the emission geminate transistors are collected in each period, if the absolute value Vd of the difference between the lamp opening values Vno and the lamp closing values Voff is smaller than a ground detection trigger threshold value Ts, the cleaning robot does not generate a ground detection signal, and if the absolute value Vd of the difference between the lamp opening values Vno and the lamp closing values Voff is larger than or equal to the ground detection trigger threshold value Ts, the cleaning robot generates the ground detection signal.
Specifically, in the present embodiment, the cleaning robot may be a sweeper, a mopping machine, a floor washing machine, or the like, which travels on the ground for cleaning, and taking the sweeper as an example, the ground detection assemblies are provided in three groups, which are respectively located right in front of, on the left front side, and on the right front side of the bottom edge of the cleaning robot. It should be noted that the ground detection assembly may be disposed at other positions of the cleaning robot as long as the change in the distance between the bottom of the cleaning robot and the receiving surface such as the floor surface can be detected.
The ground probing assembly comprises transmitting pair tubes and receiving pair tubes, and is used for controlling the transmitting pair tubes to be opened and collecting the on-lamp values Vno of the receiving pair tubes and controlling the transmitting pair tubes to be closed and collecting the off-lamp values Voff of the receiving pair tubes in each period. The lamp opening value Vno or the lamp closing value Voff of the receiving pair transistor means that the infrared light signal sent by the emitting pair transistor is received by the receiving pair transistor in a corresponding state, and the received infrared light signal is subjected to an AD value obtained through AD analog-to-digital conversion. The strength of the optical signal is embodied through the AD value, and when the strength of the optical signal sent by the transmitting tube is fixed, the strength of the optical signal can be used for judging the distance between the bottom of the cleaning robot and the bearing surface. The lower the AD value, the closer the distance between the bottom of the cleaning robot and the receiving surface, i.e., the higher the brightness detected by the robot, and the higher the AD value, the lower the AD value, the farther the distance between the bottom of the cleaning robot and the receiving surface, i.e., the lower the AD value.
According to the scheme, the brightness environment of the cleaning robot is judged to be a strong light environment or a weak light environment through the magnitude of the light-off value Voff obtained by the ground detection sensor in the light-off state, and then the specific ground detection mode is selected according to the environment of the cleaning robot, so that the difference of the ground detection precision of the cleaning robot under different illumination conditions is prevented.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 3 in detail, fig. 3 is a block diagram of a basic structure of a computer device according to the embodiment.
The computer device 6 comprises a memory 61, a processor 62, a network interface 63 communicatively connected to each other via a system bus. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system installed in the computer device 6 and various types of application software, such as a program code of a method for detecting a ground detection of a cleaning robot under strong light. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, for example, execute the program code of the method for detecting the ground penetrating of the cleaning robot under strong light.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application provides yet another embodiment that provides a computer readable storage medium storing a hard light cleaning robot ground detection program executable by at least one processor to cause the at least one processor to perform the steps of a hard light cleaning robot ground detection method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (10)
1. A method for detecting a ground penetrating of a cleaning robot under strong light, the cleaning robot including at least one set of ground penetrating members for periodically generating a light signal to receive reflected light and acquiring a light-on value Von when a light is turned on and a light-off value Voff when the light is turned off, the method comprising: the method comprises the steps of (1) carrying out,
acquiring the lamp-on value Von and the lamp-off value Voff through a cleaning robot in real time;
determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff;
and selecting a ground detection trigger threshold Ts according to the illumination mode, and performing threshold judgment on the ground detection trigger threshold Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection.
2. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 1, wherein the method comprises the following steps: the threshold judgment is specifically to perform threshold judgment with the Ts through the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff, and when the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff is less than or equal to the Ts, ground detection is triggered; and when the absolute value of the difference value between the lamp-on value Von and the lamp-off value Voff is larger than Ts, detecting the ground and not triggering.
3. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 2, wherein the method comprises the following steps: when the ground detection is triggered, the method further comprises the step of controlling the cleaning robot to continuously retreat in a driving mode until the ground detection signal disappears.
4. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 3, wherein the method comprises the following steps: the step of determining the illumination mode of the cleaning robot according to the light-off value Voff specifically includes: and if the light-off value Voff of any receiving pair tube is less than or equal to a first threshold value Toff and the duration exceeds a first time threshold value, determining that the cleaning robot is in the strong light mode.
5. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 4, wherein the method comprises the following steps: the step of selecting a ground detection trigger threshold Ts according to the illumination mode specifically comprises the following steps: when the cleaning robot is in the strong light mode, the value of the ground detection trigger threshold Ts is adjusted from Ts1 to Ts2, wherein Ts1 is larger than Ts 2.
6. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 5, wherein the method comprises the following steps: when the cleaning robot is in the strong light mode, if the cleaning robot continuously backs and the distance of the backing exceeds a half body, and the cleaning robot still generates a ground detection signal, an alarm is given.
7. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 5, wherein the method comprises the following steps: when the cleaning robot is in the non-glare mode, if the cleaning robot continuously backs and the backing distance exceeds a half body, and the cleaning robot still generates a ground detection signal, the cleaning robot enters the escaping mode.
8. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 3, wherein the method comprises the following steps: if all the receiving pair transistors have the light-off value Voff greater than the second threshold value T1 and the durations exceed the second time threshold value, it is determined that the cleaning robot is in the non-glare mode.
9. The method for detecting the ground detection of the cleaning robot under the strong light as claimed in claim 8, wherein the method comprises the following steps: the step of selecting a ground detection trigger threshold Ts according to the illumination mode specifically comprises the following steps: when the cleaning robot is in the non-glare light mode, the value of the ground detection trigger threshold Ts is adjusted from Ts2 to Ts1, wherein Ts1 is larger than Ts 2.
10. A cleaning robot ground detection device under strong light comprises a ground detection module, wherein the ground detection module is used for periodically generating a light signal to receive reflected light and acquiring a light-on value Von when a light is turned on and acquiring a light-off value Voff when the light is turned off, and the ground detection module is characterized in that: also comprises the following steps of (1) preparing,
the information acquisition module is used for acquiring the lamp-on value Von and the lamp-off value Voff in real time through the cleaning robot;
the mode determining module is used for determining an illumination mode of the cleaning robot according to the magnitude of the light-off value Voff;
and the judging module is used for selecting a ground detection triggering threshold value Ts according to the illumination mode, and performing threshold value judgment on the ground detection triggering threshold value Ts according to the difference value of the lamp-on value Von and the lamp-off value Voff so as to determine whether the cleaning robot triggers ground detection.
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