CN116509293A - Height automatic adjustment method, sweeping robot and computer readable storage medium - Google Patents
Height automatic adjustment method, sweeping robot and computer readable storage medium Download PDFInfo
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- CN116509293A CN116509293A CN202310628996.XA CN202310628996A CN116509293A CN 116509293 A CN116509293 A CN 116509293A CN 202310628996 A CN202310628996 A CN 202310628996A CN 116509293 A CN116509293 A CN 116509293A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 260
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000004140 cleaning Methods 0.000 claims abstract description 53
- 230000002159 abnormal effect Effects 0.000 claims abstract description 16
- 238000011065 in-situ storage Methods 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 4
- 239000010865 sewage Substances 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- 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
- A47L11/32—Carpet-sweepers
-
- 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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a height automatic adjustment method, a sweeping robot and a computer readable storage medium, wherein the method comprises the following steps: receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction; controlling the sweeping robot to perform sweeping operation according to the sweeping map data; acquiring the running state of the sweeping robot in real time; judging whether different components run abnormally or not; if yes, the sweeping robot is controlled to lower or raise the self-height and continue to sweep. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
Description
Technical Field
The present invention relates to the field of sweeping robots, and in particular, to a height automatic adjustment method, a sweeping robot, and a computer readable storage medium.
Background
The intelligent floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically inside and outside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally speaking, the robot for completing mopping, dust collection and mopping is also uniformly classified as an intelligent sweeping robot, the existing sweeping robot comprises a mop, and the mop can achieve the mopping effect in the sweeping process of the sweeping robot, that is, the intelligent sweeping robot has the function of sweeping, the function of mopping, the multifunction of the intelligent sweeping robot is improved, and the user experience is improved.
Generally, after the intelligent sweeping robot starts to execute the global sweeping task, under the condition that sweeping work of different areas is required to be executed or contact surfaces of different materials are cleaned, the condition that the height of the sweeping machine body cannot meet the current area sweeping requirement or cannot go to a designated sweeping area is easily caused, and further the sweeping robot cannot perform more sufficient sweeping work, which is not beneficial to the work of the sweeping robot.
Disclosure of Invention
Based on the foregoing, it is necessary to provide a height automatic adjustment method, a sweeping robot and a computer readable storage medium to solve the problem that the sweeping robot in the prior art cannot meet the full cleaning situation in height.
The embodiment of the invention provides a height automatic adjusting method for a sweeping robot, which comprises the following steps:
receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction;
controlling the sweeping robot to conduct sweeping operation according to the sweeping map data;
acquiring the running state of the sweeping robot in real time;
judging whether different components run abnormally or not;
if so, controlling the sweeping robot to lower or raise the self-height and continuing the sweeping work.
According to the automatic height adjusting method, after the sweeping robot receives the global sweeping instruction, the sweeping map data can be obtained according to the global sweeping instruction, after the sweeping map data are obtained, the sweeping robot can conduct sweeping operation according to the sweeping map data, in the sweeping process, the sweeping robot can obtain running states of different components in real time, then whether the different components run abnormally is judged according to the running states of the different components, and under the condition that the abnormality exists, the sweeping robot can be automatically controlled to lower or lift the self height and continue to conduct sweeping operation. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
Further, the height adjustment method includes:
detecting whether the sweeping robot enters a carpet area;
if so, acquiring the distance between the chassis of the sweeping robot and the carpet;
judging whether the distance is equal to a preset distance or not;
if not, the height of the sweeping robot is adjusted to enable the distance to be equal to the preset distance.
Further, the determining whether different components are abnormal includes:
if yes, acquiring the running current of the wheel set motor;
judging whether the running current of the wheel set motor is larger than the preset current of the wheel set motor;
if so, adjusting the height of the sweeping robot.
Further, if yes, after adjusting the height of the sweeping robot, the method includes:
obtaining secondary running current of the wheel set motor;
judging whether the secondary running current of the wheel set motor is larger than the preset current of the wheel set motor or not;
if not, controlling the sweeping robot to continue to execute the sweeping task.
Further, the determining whether the secondary running current of the wheel set motor is greater than the preset current of the wheel set motor includes:
if yes, controlling the floor sweeping robot to stand by in situ;
and controlling the floor sweeping robot to send out an in-situ standby alarm.
Further, the determining whether different components are abnormal includes:
if yes, acquiring the running current of the radome motor;
judging whether the running current of the radome motor is larger than the preset current of the radome motor;
if so, adjusting the height of the sweeping robot.
Further, if yes, after adjusting the height of the sweeping robot, the method includes:
acquiring a secondary operation current of the radome motor;
judging whether the secondary running current of the radome motor is larger than the preset current of the radome motor or not;
if not, controlling the sweeping robot to continue to execute the sweeping task.
Further, the determining whether the secondary running current of the radome motor is greater than the preset current of the radome motor includes:
if yes, controlling the floor sweeping robot to stand by in situ;
and controlling the floor sweeping robot to send out an in-situ standby alarm.
The embodiment of the invention provides a sweeping robot, which comprises:
the first acquisition module is used for receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction;
the first control module is used for controlling the sweeping robot to conduct sweeping operation according to the sweeping map data;
the second acquisition module is used for acquiring the running states of different components of the sweeping robot in real time;
the judging module is used for judging whether different components are abnormal in operation or not;
the second control module is used for controlling the sweeping robot to lower or raise the self-height and continuing to sweep under the condition that the judging module judges that different components run abnormally.
According to the sweeping robot, after the sweeping robot receives the global sweeping instruction, the sweeping map data can be obtained according to the global sweeping instruction, after the sweeping map data are obtained, the sweeping robot can conduct sweeping operation according to the sweeping map data, in the sweeping process, the sweeping robot can obtain running states of different components in real time, then whether the different components run abnormally is judged according to the running states of the different components, and under the condition that the abnormality exists, the sweeping robot can be automatically controlled to lower or lift the self height and continue to conduct sweeping operation. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
A computer readable storage medium storing a computer program which when executed by a processor implements the above-described height automatic adjustment method.
The computer readable storage medium can acquire the cleaning map data according to the global cleaning instruction after the cleaning robot receives the global cleaning instruction, the cleaning robot can perform cleaning operation according to the cleaning map data after acquiring the cleaning map data, in the cleaning process, the cleaning robot can acquire the running states of different components in real time, then judge whether the different components run abnormally according to the running states of the different components, and automatically control the cleaning robot to lower or raise the self height and continue cleaning work under the condition of abnormality. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for automatically adjusting height in an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for automatically adjusting height according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for automatically adjusting height according to an embodiment of the present invention;
FIG. 4 is another flow chart of the method for automatically adjusting height in an embodiment of the present invention;
FIG. 5 is another flow chart of the method for automatically adjusting height in an embodiment of the present invention;
FIG. 6 is a schematic flow chart of a method for automatically adjusting height according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method for automatically adjusting height according to an embodiment of the present invention;
FIG. 8 is a schematic view of another process of the automatic height adjustment method according to the embodiment of the present invention;
fig. 9 is a schematic view of a structure of a sweeping robot in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the present invention. All other embodiments, based on the embodiments of the invention, which a person of ordinary skill in the art would achieve without inventive faculty, are within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention provides a method for automatically adjusting a height of a robot for sweeping floor, the method comprising:
step S10, receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction;
step S20, controlling the sweeping robot to conduct sweeping operation according to the sweeping map data;
step S30, acquiring the running state of the sweeping robot in real time;
step S40, judging whether different components run abnormally or not;
if yes, step S50 is performed, the sweeping robot is controlled to lower or raise the self-height and continue to perform the sweeping operation.
According to the automatic height adjusting method, after the sweeping robot receives the global sweeping instruction, the sweeping map data can be obtained according to the global sweeping instruction, after the sweeping map data are obtained, the sweeping robot can conduct sweeping operation according to the sweeping map data, in the sweeping process, the sweeping robot can obtain running states of different components in real time, then whether the different components run abnormally is judged according to the running states of the different components, and under the condition that the abnormality exists, the sweeping robot can be automatically controlled to lower or lift the self height and continue to conduct sweeping operation. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
In the embodiment of the invention, the running state of the sweeping robot can be obtained through the sensor, that is, the sweeping robot is provided with a plurality of sensors, so that the sweeping robot is more intelligent, the practicability of the sweeping robot is improved, and the user experience is improved.
In step S10, the sweeping robot is equipped with the base station, the base station can charge and automatically cleaning for the sweeping robot, for example, the base station is equipped with clean water tank and sewage tank, after the sweeping robot is clean, can get back to in the base station, the base station is simultaneously equipped with cleaning assembly, cleaning assembly and clean water tank intercommunication, cleaning assembly can use the clean water in the clean water tank to clean for the rag of the sweeping robot, also be provided with the sewage mouth in the base station, sewage mouth and sewage tank intercommunication, be provided with the water pump in the sewage tank, inhale the sewage after the cleaning from the sewage mouth into the sewage tank through the effect of water pump, so set up, the user need not clean too much to the sweeping robot, the intellectuality of sweeping robot has been promoted, user' S experience has been improved.
Further, the sweeping robot can be communicated with external communication equipment, and a user can control the sweeping robot to work through the external communication equipment, so that the user can remotely control the sweeping robot to clean, and the sweeping robot is simple to operate and convenient to realize.
Specifically, the external communication device may be a mobile phone, a computer, a smart watch, etc., and may be specifically selected according to practical situations, which is not limited herein.
Referring to fig. 2, further, the height adjustment method includes:
step S60, detecting whether the sweeping robot enters a carpet area;
if yes, step S70, the interval between the chassis of the sweeping robot and the carpet is obtained;
step S80, judging whether the distance is equal to a preset distance;
if not, in step S90, the height of the sweeping robot is adjusted so that the distance is equal to the preset distance.
Under the condition that the sweeping robot enters the carpet area, because more fluff exists on the carpet, the sweeping robot can be tightly attached to the fluff of the carpet under the condition that the height of the sweeping robot is lower on the carpet, the rolling brush can be contained in the carpet to generate winding phenomenon in the middle sweeping working process, the sweeping effect is poor, the sweeping robot can not feed objects among the fluff into the sweeping robot under the condition that the height of the sweeping robot is higher on the carpet, the sweeping effect is reduced, and in the embodiment, a reasonable height exists between the sweeping robot and the fluff, namely, the preset distance in the embodiment of the invention, the sweeping robot can reasonably adjust the height to enable the height of the sweeping robot to be consistent with the preset distance under the condition that the sweeping robot enters the carpet area, so that the sweeping robot is beneficial to sweeping the carpet area, the working efficiency of the sweeping robot is improved, and the experience of a user is improved.
Specifically, an infrared sensor may be provided at the bottom of the robot cleaner, and the height of the robot cleaner is detected by the infrared sensor.
Of course, in other embodiments, other sensors may be used to implement the function of detecting the distance, and the sensor may be specifically designed according to the actual situation, which is not limited herein.
Referring to fig. 3, further, determining whether different components are abnormal includes:
if yes, step S401, obtain the running current of the wheelset motor;
step S402, judging whether the running current of the wheel set motor is larger than the preset current of the wheel set motor;
if yes, step S403, adjust the height of the sweeping robot.
Wherein, the wheelset motor is left wheel motor or right wheel motor.
In this embodiment, the robot of sweeping floor can real-time detection wheelset motor's running current in the operation in-process, under the circumstances that judges running current unusual, that is, running current is greater than wheelset motor's preset current, then judge that there is probably foreign matter between robot's wheelset and the chassis of sweeping floor this moment, at this moment, adjust the height of robot of sweeping floor so that expose great gap between wheelset and the chassis, at this moment, under wheelset pivoted circumstances, can make corresponding foreign matter drop from between the wheelset, in order to make wheelset motor resume normal work, that is, under the circumstances that robot wheelset motor of sweeping floor is unusual, can adjust through self altitude mixture control, manual operation is not needed, the intellectuality of robot of sweeping floor has been promoted, user's experience has been improved.
Referring to fig. 4, further, if the height of the sweeping robot is adjusted, the method includes:
step S4031, obtaining a secondary running current of the wheel set motor;
step S4032, judging whether the secondary running current of the wheel set motor is larger than the preset current of the wheel set motor;
if not, in step S4033, the sweeping robot is controlled to continue to execute the sweeping task.
In this embodiment, after the step S403, that is, after the height of the sweeping robot is adjusted, the secondary running current of the wheel set motor is obtained, and then it is determined whether the secondary running current is greater than the preset current of the wheel set motor, and if the secondary running current is less than the preset current of the wheel set motor, it is indicated that the foreign matter of the wheel set motor has fallen down at this time, and the sweeping robot is controlled to continue to perform the sweeping task, so that the reason of abnormal running of the wheel set motor of the sweeping robot can be further confirmed, and the continuous operation of the sweeping robot is facilitated.
Referring to fig. 5, further, determining whether the secondary running current of the wheel set motor is greater than the preset current of the wheel set motor includes:
if yes, step S40321, controlling the robot to stand by in situ;
in step S40322, the floor sweeping robot is controlled to issue an in-situ standby alarm.
In this embodiment, when the secondary running current of the sweeping robot is still greater than the preset current of the wheel set motor, it is stated that the abnormality of the wheel set motor of the sweeping robot is irrelevant to the foreign matters, and at this time, the sweeping robot may be damaged due to the continuous running, in such a case, the sweeping robot may perform in-situ standby, and then a standby alarm is sent to inform the user, so that the occurrence of damage caused by the continuous running of the sweeping robot is avoided, and the work of the sweeping robot is facilitated.
Specifically, the robot that sweeps floor is provided with the alarm (not shown), under the condition that the robot that sweeps floor stands by in situ, the robot that sweeps floor can report to the police the state of robot that sweeps floor through the alarm, through the setting of alarm, the user can be relaxed obtain the robot that sweeps floor and be in stand by state in situ, and the user can go to fast and maintain the robot that sweeps floor, simple structure easily realizes.
In one example, the alarm includes an indicator light, and when the robot is in the in-situ standby state, the indicator light is controlled to be turned on, and a user can determine whether the robot is in the in-situ standby state by whether the indicator light is turned on.
In still another example, the alarm includes a sound, and in the case where the robot is in the in-situ standby state, the sound is controlled to sound, and the user can determine whether the robot is in the in-situ standby state by the sound.
Of course, in other examples, the alarm may be a combination of an indicator light and a sound, and may be considered according to practical situations, which is not limited herein.
Referring to fig. 6, further, determining whether different components are abnormal includes:
if yes, step S404, obtaining the operation current of the radome motor;
step S405, judging whether the running current of the radome motor is larger than the preset current of the radome motor;
if yes, step S406, adjust the height of the sweeping robot.
In this embodiment, the robot of sweeping floor can real-time detection radome motor's running current in the operation in-process, under the circumstances that judges running current unusual, i.e. running current is greater than radome motor's preset current, then judge then that the robot of sweeping floor's radome probably blocks with external object, for example bed board, sofa bottom etc. at this moment, reduce the height of robot of sweeping floor can make the robot of sweeping floor get into bed bottom smoothly or be the sofa bottom clean to clean it, easy operation easily realizes.
Referring to fig. 7, further, if the height of the sweeping robot is adjusted, the method includes:
step S4061, obtaining a secondary operation current of the radome motor;
step S4062, judging whether the secondary operation current of the radome motor is larger than the preset current of the radome motor;
if not, in step S4063, the sweeping robot is controlled to continue to execute the sweeping task.
In this embodiment, after the step S403, that is, after the height of the sweeping robot is adjusted, the secondary running current of the radome motor is obtained, and then it is determined whether the secondary running current is greater than the preset current of the radome motor, and when the secondary running current is less than the preset current of the radome motor, it is indicated that the sweeping robot has smoothly entered the bed or the sofa at this time, and at this time, the sweeping robot is controlled to continue to perform the sweeping task, which is beneficial to the continued operation of the sweeping robot.
Referring to fig. 8, further, determining whether the secondary operation current of the radome motor is greater than the preset current of the radome motor includes:
if yes, step S40621, controlling the robot to stand by in situ;
in step S40622, the floor sweeping robot is controlled to issue an in-situ standby alarm.
In this embodiment, when the secondary running current of the sweeping robot is still greater than the preset current of the radome motor, it is stated that the radome of the sweeping robot is clamped with the bottom of the sofa or the bed bottom plate, and at this time, the sweeping robot may be damaged when running continuously, in such a case, the sweeping robot may stand by in situ, and then a standby alarm is sent to inform the user, so that damage caused by continuous running of the sweeping robot is avoided, and the sweeping robot is facilitated to work.
Referring to fig. 9, an embodiment of the present invention provides a sweeping robot, including:
the first acquisition module 100 is configured to receive a global cleaning instruction and acquire cleaning map data according to the global cleaning instruction;
the first control module 200 is used for controlling the sweeping robot to perform sweeping operation according to the sweeping map data;
the second acquisition module 300 is used for acquiring the running states of different components of the sweeping robot in real time;
the judging module 400 is used for judging whether different components run abnormally or not;
the second control module 500 is used for controlling the sweeping robot to lower or raise the self-height and continuing to sweep under the condition that the judging module judges that different components run abnormally.
According to the sweeping robot, after the sweeping robot receives the global sweeping instruction, the sweeping map data can be obtained according to the global sweeping instruction, after the sweeping map data are obtained, the sweeping robot can conduct sweeping operation according to the sweeping map data, in the sweeping process, the sweeping robot can obtain running states of different components in real time, then whether the different components run abnormally is judged according to the running states of the different components, and under the condition that the abnormality exists, the sweeping robot can be automatically controlled to lower or lift the self height and continue to conduct sweeping operation. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
A computer readable storage medium storing a computer program which when executed by a processor implements the height automatic adjustment method described above.
The computer readable storage medium can acquire the cleaning map data according to the global cleaning instruction after the cleaning robot receives the global cleaning instruction, the cleaning robot can perform cleaning operation according to the cleaning map data after acquiring the cleaning map data, in the cleaning process, the cleaning robot can acquire the running states of different components in real time, then judge whether the different components run abnormally according to the running states of the different components, and automatically control the cleaning robot to lower or raise the self height and continue cleaning work under the condition of abnormality. That is, in the embodiment of the invention, the height of the sweeping robot can be adjusted according to the situation to continue the sweeping work under the abnormal condition, and the sweeping robot does not need to be manually processed, so that the sweeping robot can adapt to various scenes, the practicability of the sweeping robot is improved, and the experience of a user is improved.
Those skilled in the art will appreciate that implementing all or part of the processes in the methods of the embodiments described above may be accomplished by way of computer readable instructions, which may be stored on a non-volatile readable storage medium or a volatile readable storage medium, that when executed may comprise processes in embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting thereof; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and they should be included in the protection scope of the present invention.
Claims (10)
1. A height automatic adjustment method for a floor sweeping robot, the height automatic adjustment method comprising:
receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction;
controlling the sweeping robot to conduct sweeping operation according to the sweeping map data;
acquiring the running state of the sweeping robot in real time;
judging whether different components run abnormally or not;
if so, controlling the sweeping robot to lower or raise the self-height and continuing the sweeping work.
2. The automatic height adjustment method according to claim 1, wherein the height adjustment method comprises:
detecting whether the sweeping robot enters a carpet area;
if so, acquiring the distance between the chassis of the sweeping robot and the carpet;
judging whether the distance is equal to a preset distance or not;
if not, the height of the sweeping robot is adjusted to enable the distance to be equal to the preset distance.
3. The method for automatically adjusting the height according to claim 1, wherein said determining whether different of said components are abnormal comprises:
if yes, acquiring the running current of the wheel set motor;
judging whether the running current of the wheel set motor is larger than the preset current of the wheel set motor;
if so, adjusting the height of the sweeping robot.
4. The method for automatically adjusting the height of the floor sweeping robot according to claim 3, wherein if the condition is satisfied, the method comprises:
obtaining secondary running current of the wheel set motor;
judging whether the secondary running current of the wheel set motor is larger than the preset current of the wheel set motor or not;
if not, controlling the sweeping robot to continue to execute the sweeping task.
5. The method of automatic height adjustment according to claim 4, wherein said determining whether the secondary running current of the wheelset motor is greater than the preset current of the wheelset motor comprises:
if yes, controlling the floor sweeping robot to stand by in situ;
and controlling the floor sweeping robot to send out an in-situ standby alarm.
6. The method for automatically adjusting the height according to claim 1, wherein said determining whether different of said components are abnormal comprises:
if yes, acquiring the running current of the radome motor;
judging whether the running current of the radome motor is larger than the preset current of the radome motor;
if so, adjusting the height of the sweeping robot.
7. The method of automatic height adjustment according to claim 6, wherein if the condition is satisfied, after adjusting the height of the sweeping robot, comprising:
acquiring a secondary operation current of the radome motor;
judging whether the secondary running current of the radome motor is larger than the preset current of the radome motor or not;
if not, controlling the sweeping robot to continue to execute the sweeping task.
8. The method of automatic height adjustment according to claim 7, wherein the determining whether the secondary operating current of the radome motor is greater than a preset current of the radome motor comprises:
if yes, controlling the floor sweeping robot to stand by in situ;
and controlling the floor sweeping robot to send out an in-situ standby alarm.
9. A sweeping robot, characterized in that the sweeping robot comprises:
the first acquisition module is used for receiving a global cleaning instruction and acquiring cleaning map data according to the global cleaning instruction;
the first control module is used for controlling the sweeping robot to conduct sweeping operation according to the sweeping map data;
the second acquisition module is used for acquiring the running states of different components of the sweeping robot in real time;
the judging module is used for judging whether different components are abnormal in operation or not;
the second control module is used for controlling the sweeping robot to lower or raise the self-height and continuing to sweep under the condition that the judging module judges that different components run abnormally.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the height automatic adjustment method according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310628996.XA CN116509293A (en) | 2023-05-31 | 2023-05-31 | Height automatic adjustment method, sweeping robot and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310628996.XA CN116509293A (en) | 2023-05-31 | 2023-05-31 | Height automatic adjustment method, sweeping robot and computer readable storage medium |
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