CN114532922B - Method and device for detecting ground penetrating of cleaning robot under strong light - Google Patents
Method and device for detecting ground penetrating of cleaning robot under strong light Download PDFInfo
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- CN114532922B CN114532922B CN202210114965.8A CN202210114965A CN114532922B CN 114532922 B CN114532922 B CN 114532922B CN 202210114965 A CN202210114965 A CN 202210114965A CN 114532922 B CN114532922 B CN 114532922B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 170
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 136
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000005286 illumination Methods 0.000 claims abstract description 31
- 230000001960 triggered effect Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 claims 1
- 230000000737 periodic effect Effects 0.000 claims 1
- 230000003287 optical effect Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000004313 glare Effects 0.000 description 2
- 230000005283 ground state Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A cleaning robot ground penetrating detection method under strong light, the cleaning robot including at least one group of ground penetrating components which periodically generate light signals to receive reflected light, and acquire an on-lamp value Von when a lamp is turned on, and acquire an off-lamp value Voff when the lamp is turned off, the method including acquiring the on-lamp value Von and the off-lamp value Voff by the cleaning robot in real time; determining an illumination mode of the cleaning robot according to the value of the off-lamp value Voff; and selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff to determine whether the cleaning robot triggers the ground penetrating. The application can adjust the standard of ground detection according to the light environment where the cleaning robot is located, thereby accurately determining whether the cleaning robot is suspended or not and preventing the cleaning robot from falling down when moving.
Description
Technical Field
The application belongs to the technical field of cleaning robot control, and particularly relates to a ground penetrating detection method and device for a cleaning robot under strong light.
Background
In the prior art, the cliff sensor is used for judging whether the moving wheel is suspended or not according to the ground clearance.
In some cases, the ground penetrating assembly of the cleaning robot may exist because the ground penetrating signal is relatively weak under the strong light environment, and is easy to be interfered to generate missed detection, so that the ground penetrating infrared signal cannot detect the suspended state, and the body of the cleaning robot is further caused to fall.
Disclosure of Invention
The embodiment of the application aims to provide a ground penetrating detection method and device for a cleaning robot under strong light.
In order to solve the technical problems, the application provides a ground penetrating detection method of a cleaning robot under strong light, which adopts the following technical scheme:
a cleaning robot ground penetrating detection method under strong light, the cleaning robot including at least one group of ground penetrating members periodically generating light signals to receive reflected light, and acquiring an on-state value Von when a lamp is turned on and acquiring an off-state value Voff when the lamp is turned off, the method comprising,
acquiring the on-lamp value Von and the off-lamp value Voff through a cleaning robot in real time;
determining an illumination mode of the cleaning robot according to the value of the off-lamp value Voff;
and selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff to determine whether the cleaning robot triggers the ground penetrating.
Further, the threshold judgment is specifically performed by using the absolute value of the difference value between the on-state value Von and the off-state value Voff and the Ts, and when the absolute value of the difference value between the on-state value Von and the off-state value Voff is smaller than or equal to the Ts, the ground penetrating is triggered; and when the absolute value of the difference value between the on-state value Von and the off-state value Voff is larger than the Ts, the ground fault is not triggered.
Further, when the ground penetrating signal is triggered, the method further comprises driving and controlling the cleaning robot to continuously retreat until the ground penetrating signal is disappeared.
Further, the step of determining the illumination mode of the cleaning robot according to the off-lamp value Voff specifically includes: and if the off-lamp value Voff of any receiving pair of tubes is smaller 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 a strong light mode.
Further, the step of selecting the ground penetrating 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 penetrating trigger threshold value Ts is adjusted to be Ts2 from TS1, wherein the TS1 is larger than TS2.
Further, when the cleaning robot is in the strong light mode, if the cleaning robot is continuously retreated and the retreated distance exceeds half of the machine body, and the cleaning robot still generates a ground penetrating signal, an alarm is given.
Further, if the off-lamp values Voff of all the receiving pair tubes are greater than the second threshold T1 and the duration exceeds the second time threshold, it is determined that the cleaning robot is in the non-glare mode.
Further, the step of selecting the ground penetrating trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in the non-strong light mode, the value of the ground penetrating trigger threshold value Ts is adjusted to be Ts1 from Ts2, wherein the Ts1 is larger than the Ts2.
Further, when the cleaning robot is in the non-strong light mode, if the cleaning robot is continuously retreated and the retreated distance exceeds half of the body, while the cleaning robot still generates the ground penetrating signal, the escape mode is entered.
In order to solve the technical problems, the application also provides a cleaning robot ground penetrating detection device 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 light signals to receive reflected light, acquiring a light-on value Von when a light is on and acquiring a light-off value Voff when the light is off,
the information acquisition module is used for acquiring the on-lamp value Von and the off-lamp value Voff through the cleaning robot in real time;
the mode determining module is used for determining an illumination mode of the cleaning robot according to the value of the off-lamp value Voff;
and the judging module is used for selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff to determine whether the cleaning robot triggers the ground penetrating.
Compared with the prior art, the application can adjust the ground detection standard according to the light environment of the cleaning robot, thereby accurately determining whether the cleaning robot is suspended or not and preventing the cleaning robot from falling off when moving.
Drawings
In order to more clearly illustrate the solution of the present application, a brief description will be given below of the drawings required for the description of the embodiments of the present application, it being apparent that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without the exercise of inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of one embodiment of a method for ground detection by a cleaning robot under intense light in accordance with the present application;
FIG. 2 is a schematic structural view of an embodiment of a cleaning robot ground detection device under intense light according to the present application;
FIG. 3 is a schematic structural diagram of one embodiment of a computer device in accordance with 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 applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of one embodiment of a method of detecting a cleaning robot's ground penetrating under intense light according to the present application is shown.
A cleaning robot ground penetrating detection method under strong light, the cleaning robot including at least one group of ground penetrating members periodically generating light signals to receive reflected light, and acquiring an on-state value Von when a lamp is turned on and acquiring an off-state value Voff when the lamp is turned off, the method comprising,
step S100: acquiring the on-lamp value Von and the off-lamp value Voff through a cleaning robot in real time;
step S200: determining an illumination mode of the cleaning robot according to the value of the off-lamp value Voff;
step S300: and selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff to determine whether the cleaning robot triggers the ground penetrating.
And controlling the emission pair pipe to be opened and collecting the on-lamp value Vno of the receiving pair pipe in each period, controlling the emission pair pipe to be closed and collecting the off-lamp value Voff of the receiving pair pipe, if the absolute value Vd of the difference between the on-lamp value Vno and the off-lamp value Voff is more than or equal to the ground penetrating trigger threshold value Ts, the cleaning robot does not generate a ground penetrating signal, and if the absolute value Vd of the difference between the on-lamp value Vno and the off-lamp value Voff is less than the ground penetrating trigger threshold value Ts, the cleaning robot generates the ground penetrating signal.
Specifically, in this embodiment, the cleaning robot may be a robot that walks on the ground for cleaning, such as a sweeper, a mopping machine, or a floor washing machine, and the ground penetrating assembly is provided with three groups, which are respectively located right in front of the bottom edge of the cleaning robot, on the left front side, and on the right front side, for example. It should be noted that the ground penetrating component may be disposed at other positions of the cleaning robot, as long as the change of the distance between the bottom of the cleaning robot and the receiving surface such as the ground can be detected.
The ground penetrating assembly comprises a transmitting pair pipe and a receiving pair pipe, and is used for controlling the opening of the transmitting pair pipe and collecting the opening value Vno of the receiving pair pipe in each period, and controlling the closing of the transmitting pair pipe and collecting the closing value Voff of the receiving pair pipe. The on-state value Vno or off-state value Voff of the receiving pair refers to an AD value obtained by receiving the infrared light signal emitted by the transmitting pair in a corresponding state and performing AD analog-to-digital conversion on the received infrared light signal. The AD value is used for reflecting the intensity of the optical signal, and the intensity of the optical signal can be used for judging the distance between the bottom of the cleaning robot and the bearing surface when the intensity of the optical signal emitted by the emitting tube is fixed. The lower the AD value, which indicates a high light signal, i.e. the greater the brightness detected by the robot, the closer the distance between the bottom of the cleaning robot and the receiving surface, and the higher the AD value, which indicates a low light signal, i.e. the further the distance between the bottom of the cleaning robot and the receiving surface.
The strong light is specifically set according to the illumination environment where the environment is, the illumination intensity can reach 6-10 thousands lx in summer under direct sunlight irradiation, the outdoor area without sun is 0.1-1 thousands lx, the indoor area with bright summer is 100-550 lx, the illumination intensity is 0.2lx in night and is related to the on-lamp value Von and the off-lamp value Voff acquired by the ground penetrating component of the cleaning robot, the cleaning robot can detect specific illumination intensity by setting the off-lamp value Voff, and then the judgment of whether the current illumination intensity accords with the strong light environment is carried out.
According to the scheme, the brightness environment where the cleaning robot is located is judged to be a strong light environment or a non-strong light environment by the size of the off-light value Voff acquired by the ground penetrating sensor in the off-light state, and then the specific mode of ground penetrating detection is selected according to the environment where the cleaning robot is located, so that the difference of the precision of ground penetrating detection of the cleaning robot under different illumination conditions is prevented.
Further, the threshold judgment is specifically performed by using the absolute value of the difference value between the on-state value Von and the off-state value Voff and the Ts, and when the absolute value of the difference value between the on-state value Von and the off-state value Voff is smaller than or equal to the Ts, the ground penetrating is triggered; and when the absolute value of the difference value between the on-state value Von and the off-state value Voff is larger than the Ts, the ground fault is not triggered.
The value of the on-state Von is not much larger than the off-state Voff due to errors, so that the absolute value is added, the judgment of the non-ground state is not influenced, and when the off-state Voff is much larger than the on-state Von, the cleaning robot is not necessarily in the ground state. The influence of the addition absolute value on the logarithmic value calculation is only when the values of the off-lamp value Voff and the on-lamp value Von are approximate, at this time, even if the on-lamp value Von which is the error in detection is slightly larger than the off-lamp value Voff, the addition absolute value is added to the calculation, so that the occurrence of a negative value is avoided, and the problems that the off-lamp value Voff-on-lamp value Von is equal to the negative value and the program is misplaced can be solved.
Further, when the ground penetrating signal is triggered, the method further comprises driving and controlling the cleaning robot to continuously retreat until the ground penetrating signal is disappeared.
If the ground penetrating signal of the cleaning robot disappears in the process of continuously backing the cleaning robot, the cleaning robot is released from the suspended state by backing movement.
Further, the step of determining the illumination mode of the cleaning robot according to the off-lamp value Voff specifically includes: and if the off-lamp value Voff of any receiving pair of tubes is smaller 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 a strong light mode.
And the ground penetrating trigger threshold value Ts is adjusted in real time according to whether the bottom of the cleaning robot is in a strong light state.
If the off-lamp value Voff of any one of the receiving pair tubes is equal to or less than 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 off-lamp value Voff of the receiving pair of pipes of the ground penetrating assembly located in front of the universal wheel of the cleaning robot is 1000, less than the first threshold value toff=1200, and the duration is 500ms, which exceeds the first time threshold value of 100ms, it is determined that the cleaning robot is under strong light.
Further, the step of selecting the ground penetrating 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 penetrating trigger threshold value Ts is adjusted to be Ts2 from TS1, wherein the TS1 is larger than TS2.
Further, when the cleaning robot is in the strong light mode, if the cleaning robot is continuously retreated and the retreated distance exceeds half of the machine body, and the cleaning robot still generates a ground penetrating signal, an alarm is given.
If the cleaning robot continuously retreats and the retreating distance exceeds half of the machine body, and meanwhile the cleaning robot still generates a ground penetrating signal, at the moment, the cleaning robot is still in a suspended state through retreating movement and is trapped, and an alarm is given in a strong light environment, because the falling judgment of the cleaning robot in the strong light environment is easy to generate errors, redundant escaping actions can be caused, and the cleaning robot is likely to fall wholly due to the fact that the cleaning robot is erroneously judged to the ground penetrating condition.
Further, if the off-lamp values Voff of all the receiving pair tubes are greater than the second threshold T1 and the duration exceeds the second time threshold, it is determined that the cleaning robot is in the non-glare mode.
If the off-lamp values Voff of all the receiving pairs of tubes are greater than the second threshold T1 and the duration exceeds the second time threshold, it is determined that the cleaning robot is not under strong light.
For example, if the off-lamp values Voff of the receiving pair of pipes of the three ground penetrating members located in front of the universal wheels of the cleaning robot and in front of the left and right traveling wheels are 1500, 1600, 1800, respectively, each are greater than the first threshold value toff=1200, and the duration is 4800ms, 4500ms, 4900ms, respectively, each exceeds the second time threshold value 4000ms, it is determined that the cleaning robot is not already under intense light.
After the cleaning robot is determined to be under strong light, the flag bit stroFlag of the cleaning robot is set to be 1, and after the cleaning robot is determined not to be under strong light, the flag bit stroFlag of the cleaning robot is set to be 0, and the initial value of the ground penetrating trigger threshold value Ts is Ts1; if the flag bit stroflag=1 of the cleaning robot is determined, adjusting the value of the ground penetrating trigger threshold Ts from Ts1 to Ts2; with the flag bit stroflag=0 of the cleaning robot if determined, the ground trigger threshold is restored from the value Ts2 of Ts to Ts1.
Further, the step of selecting the ground penetrating trigger threshold Ts according to the illumination mode specifically includes: when the cleaning robot is in the non-strong light mode, the value of the ground penetrating trigger threshold value Ts is adjusted to be Ts1 from Ts2, wherein the Ts1 is larger than the Ts2.
Further, when the cleaning robot is in the non-strong light mode, if the cleaning robot is continuously retreated and the retreated distance exceeds half of the body, while the cleaning robot still generates the ground penetrating signal, the escape mode is entered.
If the continuous retreating distance of the cleaning robot exceeds half of the machine body and the ground penetrating signal of the cleaning robot does not disappear in the low-light environment, the cleaning robot is trapped in the low-light environment, and the machine cleaning robot enters a escaping mode. Because the cleaning robot is higher in accuracy of drop judgment in the low-light environment, the probability of drop of the whole cleaning robot is smaller, and the cleaning robot can be controlled to return to a normal working state again through a escaping mode.
In one embodiment, the cleaning robot bottom is provided with three sets of bottom detection assemblies, a first bottom detection assembly, a second ground detection assembly, and a third ground detection assembly. When the robot walks indoors, the on-lamp value Von and the off-lamp value Voff of the ground penetrating assembly are detected, the first ground penetrating group ground penetrating on-lamp value von=219 is detected, the off-lamp value voff=4095 is detected, and the absolute value of the switching lamp difference value is 3876. The second ground penetrating component is characterized in that the ground penetrating light value Von=209, the off light value Voff=4095 and the switching light difference value is 3886 after taking absolute value. The third ground penetrating component is provided with a ground penetrating on lamp value Von=220, a ground penetrating off lamp value Voff=4095 and a switching lamp difference value which takes an absolute value is 3875.
When the off-light value Voff of the first ground penetrating component, the second ground penetrating component and the third ground penetrating component is greater than or equal to 3500, the environmental light is weak, the cleaning robot is in a non-strong light environment, the trigger threshold ground penetrating trigger threshold Ts is set to be the off-light value Voff, the ground penetrating trigger proportion is set to be 0.048 in the embodiment. 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 off-light value Voff and the on-light value Von of the first ground penetrating member, the second ground penetrating member, and the third ground penetrating member is lower than the trigger threshold ground penetrating trigger threshold ts=197, the cleaning robot triggers the ground penetrating. The ground penetrating trigger proportion is set, when the cleaning robot is 9cm away from the white ground surface, the difference value of the switch lamp is divided by the off lamp value Voff, and the ground penetrating trigger proportion can reflect the minimum difference between the on lamp value Von and the off lamp value Voff of the cleaning robot under normal conditions.
However, when the cleaning robot is in a strong light environment, the gap between the on-lamp value Von and the off-lamp value Voff of the cleaning robot is very small, misjudgment is generated along the ground detection trigger threshold value Ts setting method in a non-strong light environment, in one embodiment, the first ground detection component is 9cm away from the ground, the ground detection on-lamp value von=132, the off-lamp value voff=145, the difference value is 13, if the threshold value is still 0.048 of the off-lamp value Voff, the threshold value is calculated to be 7, the threshold value is determined to be the non-trigger ground detection, however, at this time, the off-lamp value Voff may have fluctuation due to errors and environmental complexity, the gap between the off-lamp value Voff and the on-lamp value Voff is very small, at this time, the cleaning robot is likely to be in the ground detection state, at this time, the machine will continue the previous motion according to the ground detection trigger threshold value Ts setting, and finally the machine falls to the ground. Therefore, in a strong light environment, a fixed ground penetrating trigger threshold ts=200 is empirically set, so that the cleaning robot can detect all the conditions of triggering the ground penetrating of the cleaning robot. Therefore, in this embodiment, when the off-lamp value Voff of any one of the first ground penetrating member, the second ground penetrating member, and the third ground penetrating member is less than 3500, the cleaning robot is in a strong light environment, and the trigger threshold ground penetrating trigger threshold Ts is set to 200.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-only memory (ROM), or a random access memory (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, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a cleaning robot ground detection device under strong light, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 1, and the device may be applied to various electronic devices specifically.
A cleaning robot ground detection device under strong light comprises a ground detection module for periodically generating light signals to receive reflected light, acquiring a light-on value Von when a light is on and acquiring a light-off value Voff when the light is off,
an information acquisition module 100 for acquiring the on-lamp value Von and the off-lamp value Voff in real time by the cleaning robot;
a mode determining module 200, configured to determine an illumination mode in which the cleaning robot is located according to the value Voff of the off-light value;
the determining module 300 is configured to select a ground penetrating trigger threshold Ts according to the illumination mode, and make a threshold determination with the ground penetrating trigger threshold Ts according to a difference value between the on-lamp value Von and the off-lamp value Voff, so as to determine whether the cleaning robot triggers the ground penetrating.
And controlling the emission pair pipe to be opened and collecting the on-lamp value Vno of the receiving pair pipe in each period, controlling the emission pair pipe to be closed and collecting the off-lamp value Voff of the receiving pair pipe, if the absolute value Vd of the difference between the on-lamp value Vno and the off-lamp value Voff is smaller than the ground penetrating trigger threshold value Ts, the cleaning robot does not generate a ground penetrating signal, and if the absolute value Vd of the difference between the on-lamp value Vno and the off-lamp value Voff is larger than or equal to the ground penetrating trigger threshold value Ts, the cleaning robot generates the ground penetrating signal.
Specifically, in this embodiment, the cleaning robot may be a robot that walks on the ground for cleaning, such as a sweeper, a mopping machine, or a floor washing machine, and the ground penetrating assembly is provided with three groups, which are respectively located right in front of the bottom edge of the cleaning robot, on the left front side, and on the right front side, for example. It should be noted that the ground penetrating component may be disposed at other positions of the cleaning robot, as long as the change of the distance between the bottom of the cleaning robot and the receiving surface such as the ground can be detected.
The ground penetrating assembly comprises a transmitting pair pipe and a receiving pair pipe, and is used for controlling the opening of the transmitting pair pipe and collecting the opening value Vno of the receiving pair pipe in each period, and controlling the closing of the transmitting pair pipe and collecting the closing value Voff of the receiving pair pipe. The on-state value Vno or off-state value Voff of the receiving pair refers to an AD value obtained by receiving the infrared light signal emitted by the transmitting pair in a corresponding state and performing AD analog-to-digital conversion on the received infrared light signal. The AD value is used for reflecting the intensity of the optical signal, and the intensity of the optical signal can be used for judging the distance between the bottom of the cleaning robot and the bearing surface when the intensity of the optical signal emitted by the emitting tube is fixed. The lower the AD value, which indicates a high light signal, i.e. the greater the brightness detected by the robot, the closer the distance between the bottom of the cleaning robot and the receiving surface, and the higher the AD value, which indicates a low light signal, i.e. the further the distance between the bottom of the cleaning robot and the receiving surface.
According to the scheme, the brightness environment where the cleaning robot is located is judged to be a strong light environment or a weak light environment by the size of the off-light value Voff acquired by the ground penetrating sensor in the off-light state, and then the specific mode of ground penetrating detection is selected according to the environment where the cleaning robot is located, so that the difference of the precision of ground penetrating detection of the cleaning robot under different illumination conditions is prevented.
In order to solve the technical problems, the embodiment of the application also provides computer equipment. Referring specifically to fig. 3, fig. 3 is a basic structural block diagram of a computer device according to the present 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 computer device 6 having components 61-63 is shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 61 includes at least one type of readable storage media including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the storage 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 Card (Flash Card) or the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal memory unit of the computer device 6 and an external memory device. In this embodiment, the memory 61 is generally used for storing an operating system and various application software installed on the computer device 6, such as a program code of a cleaning robot ground detection method under strong light. Further, the memory 61 may 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 (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, such as the program code of the cleaning robot ground detection method under intense light.
The network interface 63 may comprise a wireless network interface or a wired network interface, which network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application also provides another embodiment, namely, a computer-readable storage medium storing a cleaning robot ground penetrating detection program under intense light, which is executable by at least one processor to cause the at least one processor to perform the steps of the cleaning robot ground penetrating detection method under intense light as described above.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
It is apparent that the above-described embodiments are only some embodiments of the present application, but not all embodiments, and the preferred embodiments of the present application are shown in the drawings, which do not limit the scope of the patent claims. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the scope of the application.
Claims (6)
1. The utility model provides a cleaning robot ground penetrating detection method under highlight, this cleaning robot includes ground penetrating subassembly, the periodic production light signal of ground penetrating subassembly is in order to receive the reflected light to obtain on lamp value Von when turning on, obtain off lamp value Voff when turning off the lamp, its characterized in that:
the ground penetrating assembly is provided with three groups which are respectively positioned right in front of the bottom edge of the cleaning robot, on the left front side and on the right front side; the ground penetrating assembly comprises a transmitting pair pipe and a receiving pair pipe, and is used for controlling the opening of the transmitting pair pipe and collecting the on-lamp value Vno of the receiving pair pipe in each period, and controlling the closing of the transmitting pair pipe and collecting the off-lamp value Voff of the receiving pair pipe;
the method includes the steps of,
acquiring the on-lamp value Von and the off-lamp value Voff through a cleaning robot in real time;
determining whether an illumination mode in which the cleaning robot is positioned is a strong light mode or a non-strong light mode according to the value of the off-lamp value Voff;
determining that the illumination mode in which the cleaning robot is in is a strong light mode according to the magnitude of the off-light value Voff comprises determining that the cleaning robot is in the strong light mode if any one of the receiving pair of tubes has the off-light value Voff smaller than or equal to a first threshold value Toff and the duration exceeds a first time threshold value;
if the off-lamp values Voff of all the receiving geminate transistors are larger than a second threshold value T1 and the duration time exceeds a second time threshold value, determining that the cleaning robot is in a non-strong light mode;
selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff to determine whether the cleaning robot triggers the ground penetrating;
the initial value of the ground penetrating trigger threshold TS is TS1, selecting the ground penetrating trigger threshold TS according to the illumination mode comprises adjusting the value of the ground penetrating trigger threshold TS from TS1 to TS2 when the cleaning robot is in the strong light mode,
the value of the ground penetrating trigger threshold value Ts is adjusted to be Ts1 from Ts2 when the cleaning robot is in a non-strong light mode, wherein the Ts1 is larger than the Ts2.
2. The method for detecting the ground penetrating of the cleaning robot under strong light according to claim 1, wherein the method comprises the following steps: the threshold judgment is specifically performed by using the absolute value of the difference between the on-state value Von and the off-state value Voff and the Ts as the threshold judgment,
triggering ground detection when the absolute value of the difference value between the on-lamp value Von and the off-lamp value Voff is smaller than or equal to the Ts;
and when the absolute value of the difference value between the on-state value Von and the off-state value Voff is larger than the Ts, the ground fault is not triggered.
3. The method for detecting the ground penetrating of the cleaning robot under strong light according to claim 2, wherein the method comprises the following steps: when the ground penetrating is triggered, the method further comprises driving the cleaning robot to continuously back, 20, until the ground penetrating signal disappears.
4. A method for detecting the ground penetrating of a cleaning robot under strong light according to claim 3, wherein: when the cleaning robot is in the strong light mode, if the cleaning robot continuously backs and the backing distance exceeds half of the body, and the cleaning robot still generates a ground penetrating signal, an alarm is given.
5. A method for detecting the ground penetrating of a cleaning robot under strong light according to claim 3, wherein: when the cleaning robot is in the non-strong light mode, if the cleaning robot continuously backs up and the backing distance exceeds half of the body, while the cleaning robot still generates a ground penetrating signal, the escape mode is entered.
6. The utility model provides a cleaning robot ground penetrating detection device under highlight which characterized in that: comprises a ground penetrating module for periodically generating a light signal to receive reflected light, acquiring a light-on value Von when the light is on, acquiring a light-off value Voff when the light is off,
the information acquisition module is used for acquiring the on-lamp value Von and the off-lamp value Voff through the cleaning robot in real time;
the mode determining module is used for determining whether the illumination mode of the cleaning robot is a strong light mode or a non-strong light mode according to the value of the off-light value Voff;
determining that the illumination mode in which the cleaning robot is in is a strong light mode according to the magnitude of the off-light value Voff comprises determining that the cleaning robot is in the strong light mode if any one of the receiving pair of tubes has the off-light value Voff smaller than or equal to a first threshold value Toff and the duration exceeds a first time threshold value;
if the off-lamp values Voff of all the receiving geminate transistors are larger than a second threshold value T1 and the duration time exceeds a second time threshold value, determining that the cleaning robot is in a non-strong light mode;
the judging module is used for selecting a ground penetrating trigger threshold value Ts according to the illumination mode, and judging the ground penetrating trigger threshold value Ts according to the difference value of the on-lamp value Von and the off-lamp value Voff so as to determine whether the cleaning robot triggers the ground penetrating;
the initial value of the ground trigger threshold TS is TS1,
selecting the ground penetrating trigger threshold value Ts according to the illumination mode includes adjusting the value of the ground penetrating trigger threshold value Ts from Ts1 to Ts2 when the cleaning robot is in the strong light mode,
the value of the ground penetrating trigger threshold value Ts is adjusted to be Ts1 from Ts2 when the cleaning robot is in a non-strong light mode, wherein the Ts1 is larger than the Ts2.
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