CN117502976A

CN117502976A - Self-moving cleaning device and control method thereof

Info

Publication number: CN117502976A
Application number: CN202311634649.4A
Authority: CN
Inventors: 党亮
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2023-12-01
Filing date: 2023-12-01
Publication date: 2024-02-06

Abstract

The embodiment of the invention discloses self-moving cleaning equipment and a control method thereof, wherein the positions of all safety areas in an area to be cleaned are obtained; acquiring current detection parameters of an optical sensor of the self-moving cleaning device when the self-moving cleaning device moves to any one of the safety areas; adjusting the current detection parameter of the optical sensor to be a target detection parameter; judging whether the cliff exists in the safety area based on the target detection parameters, if so, executing an avoidance strategy, and if not, completing a task corresponding to the safety area, so that the situation that the optical sensor misjudges the safety area as the cliff can be avoided, and the optical sensor still has certain detection capability, thereby reducing the probability of falling of the self-moving cleaning equipment in the safety area due to the cliff; when the movable cleaning equipment moves out of the safety area, the target calibration detection parameters are adjusted to current detection parameters, so that the detection precision of the optical sensor is recovered, and the detection accuracy of the optical sensor in other areas is ensured.

Description

Self-moving cleaning device and control method thereof

Technical Field

The invention relates to the technical field of intelligent home, in particular to self-moving cleaning equipment and a control method thereof.

Background

With the development of intelligent cleaning technology, self-moving cleaning equipment (such as a sweeping robot) walks into more and more families, so that the burden of cleaning houses of people is greatly reduced. When the self-moving cleaning device performs cleaning operation, an area with steps, stairs or height drop can be encountered, so that cliffs can be accurately detected in the running process of the self-moving cleaning device, and an avoidance strategy is made to avoid falling of the self-moving cleaning device.

Currently, it is common to detect the presence of a cliff in an area to be cleaned using an optical sensor mounted on a self-moving cleaning device. However, when the self-moving cleaning device is inclined due to the fact that the self-moving cleaning device passes over an obstacle (such as a threshold) or encounters a light absorption area such as a dark blanket, the optical sensor can misjudge the area as a cliff, so that the self-moving cleaning device can not complete the task of passing over the obstacle or cleaning the light absorption area such as the dark blanket, and the use of the self-moving cleaning device by a user is not facilitated.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In a first aspect, an embodiment of the present invention provides a method for controlling a self-moving cleaning apparatus, including:

acquiring the positions of all safety areas in the area to be cleaned;

when the self-moving cleaning device moves to any one of the safety areas, acquiring the current detection parameters of the optical sensor of the self-moving cleaning device;

adjusting the current detection parameter of the optical sensor to be a target detection parameter so as to reduce the detection precision of the optical sensor;

judging whether cliffs exist in the safety area or not based on the target detection parameters, if so, executing an avoidance strategy, and if not, completing tasks corresponding to the safety area;

and when the self-moving cleaning device moves out of the safety area, adjusting the target calibration detection parameter to the current detection parameter so as to restore the detection precision of the optical light sensor.

Optionally, the current detection parameter includes a current detection threshold.

Optionally, the adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes:

acquiring a first weight value corresponding to the current detection threshold;

Calculating an initial calibration threshold value based on the current detection threshold value and the first weight value;

judging whether the initial calibration threshold is smaller than a preset threshold, if so, determining the preset threshold as a target calibration threshold, and if not, determining the initial calibration threshold as the target calibration threshold;

and adjusting the current detection threshold value to the target calibration threshold value so as to reduce the detection precision of the optical sensor.

acquiring the corresponding relation of each preset detection threshold interval and each second weight value;

searching a second weight value corresponding to the current detection threshold value in the corresponding relation between each preset detection threshold value interval and each second weight value;

calculating a target calibration threshold value based on the current detection threshold value and a corresponding second weight value;

Optionally, the determining whether the cliff exists in the safety area based on the target detection parameter includes:

Acquiring a current received light intensity value of the optical sensor;

and judging whether the current received light intensity value is greater than or equal to the target calibration threshold value, if so, determining that the cliff does not exist in the safety area, and if not, determining that the cliff exists in the safety area.

Optionally, when the self-moving cleaning device moves out of the safety area, adjusting the target calibration detection parameter to a current detection parameter to restore the detection accuracy of the optical light sensor, including:

and when the self-moving cleaning device moves out of the safety area, adjusting the target calibration threshold value to the current detection threshold value so as to restore the detection precision of the optical light sensor.

Optionally, the current detection parameter comprises a current received light intensity value.

acquiring a third weight value corresponding to the current received light intensity value;

calculating a target received light intensity value based on the current received light intensity value and a corresponding third weight value;

and adjusting the current received light intensity value to the target received light intensity value so as to reduce the detection precision of the optical sensor.

acquiring a current detection threshold value received by the optical sensor;

judging whether the target received light intensity value is larger than or equal to the current detection threshold value, if so, determining that the cliff does not exist in the safety area, and if not, determining that the cliff exists in the safety area.

Optionally, when the self-moving cleaning device moves out of the safety area, adjusting the light target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical light sensor includes:

and when the self-moving cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value so as to restore the detection precision of the optical light sensor.

Optionally, in the area to be cleaned, the area within the preset distance from the cliff is an unsafe area.

Optionally, after adjusting the target detection parameter to the current detection parameter when the self-moving cleaning device moves out of the safety area to restore the detection accuracy of the optical light sensor, the method includes:

And when the area to be cleaned is updated, eliminating all the safety areas.

In a second aspect, an embodiment of the present invention provides a self-moving cleaning apparatus, including a main body, on which an optical sensor and a controller are disposed, the optical sensor including a light emitting portion and a light receiving portion;

the light emitting part is used for emitting emergent rays to the area to be cleaned; the light receiving part is used for receiving at least part of reflected light, and the reflected light is light formed by reflecting the emergent light of the light emitting part through the surface of the area to be cleaned; the controller is used for executing the control method of the self-moving cleaning device.

According to the self-moving cleaning device and the control method thereof provided by the embodiment of the invention, when the self-moving cleaning device moves to the safety area, the current detection parameter of the optical sensor of the self-moving cleaning device is adjusted to be the target detection parameter, so that the detection precision of the optical sensor is reduced, on one hand, the situation that the optical sensor misjudges the safety area as a cliff is avoided, and accordingly, the self-moving cleaning device smoothly executes corresponding tasks (such as crossing an obstacle or cleaning a dark carpet) in the safety area, so that the self-moving cleaning device is beneficial to being used by a user, and on the other hand, the optical sensor still has certain detection capability, so that when the optical sensor detects that the cliff exists in the safety area, the self-moving cleaning device is controlled to execute an avoidance strategy, and therefore, the falling probability of the self-moving cleaning device in the safety area due to the cliff is reduced, and the reliability of the self-moving cleaning device in the safety area operation is improved. In addition, when the movable cleaning equipment moves out of the safety area, the target calibration detection parameters are adjusted to the current detection parameters so as to restore the detection precision of the optical sensor, thereby ensuring the detection precision of the optical sensor in other areas.

Drawings

The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

fig. 1 is a perspective view of a sweeping robot according to an alternative embodiment of the present invention;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;

FIG. 4 is a schematic diagram of an optical sensor for detecting an area to be cleaned according to an alternative embodiment of the present invention;

FIG. 5 is a flow chart of a method of controlling a self-moving cleaning apparatus according to an alternative embodiment of the present invention;

FIG. 6 is a flow chart of step S103 according to an alternative embodiment of the present invention;

FIG. 7 is a flow chart of step S103 according to another alternative embodiment of the present invention;

FIG. 8 is a flow chart of step S104 according to an alternative embodiment of the present invention;

fig. 9 is a flowchart of step S103 according to yet another alternative embodiment of the present invention;

fig. 10 is a flowchart of step S104 according to an alternative embodiment of the present invention.

Reference numerals:

10-floor sweeping robot, 110-main body, 111-forward part, 112-backward part, 120-sensing module, 121-position determining sensor, 122-front collision structure, 130-man-machine interaction module, 140-left wheel, 141-right wheel, 142-driven wheel, 150-cleaning system, 151-dry cleaning system, 152-side brush, 153-wet cleaning system, 1531-cleaning head, 1532-driving unit, 1533-driving platform, 1534-supporting platform, 20-optical sensor, 210-light emitting part, 220-light receiving part, 230-first convex lens, 240-second convex lens, 250-baffle plate, 30-area to be cleaned.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or at least three of these specific details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or at least three other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

The optical sensor 20 provided by the embodiment of the invention can be applied to self-moving cleaning equipment, and particularly, the optical sensor 20 can be used as a cliff sensor. Among them, the self-moving cleaning apparatus is an apparatus that automatically travels in the area to be cleaned 30 and automatically performs a cleaning operation, such as a sweeping robot, a mopping robot, a floor polishing robot, or a weeding robot. For convenience of description, the present embodiment describes the technical solution of the present disclosure taking the sweeping robot 10 as an example.

Further, as shown in fig. 1 and 2, the robot cleaner 10 includes a main body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in fig. 1, the main body 110 includes a forward portion 111 and a backward portion 112, and has an approximately circular shape (both front and rear are circular), but may have other shapes, including, but not limited to, an approximately D-shape of a front and rear circle and a rectangular or square shape of a front and rear.

As shown in fig. 1, the sensing module 120 includes a position determining device 121 on the main body 110, a collision sensor provided on a front collision structure 122 of a forward portion 111 of the main body 110, a proximity sensor (wall sensor) on a side of the machine, a cliff sensor provided at a lower portion of the main body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. provided inside the main body 110 for providing various position information and movement state information of the machine to the controller. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor). In some preferred implementations, the position determining device 121 (e.g., camera, laser sensor 20) is located on the front side of the main body 110, that is, the forefront end of the forward portion 111, so as to more accurately sense the environment in front of the sweeping robot, and achieve accurate positioning. The controller is also used for executing the control method of the self-moving cleaning device.

As shown in fig. 1, the forward portion 111 of the main body 110 may carry a front impact structure 122, and the front impact structure 122 detects one or more events in the travel path of the sweeping robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon as the driving wheel module 141 advances the sweeping robot 10 to travel on the ground during cleaning, and the sweeping robot 10 may control the driving module to cause the sweeping robot 10 to respond to the events, such as performing an obstacle avoidance operation away from the obstacle, etc., through the events detected by the front impact structure 122, such as an obstacle, a wall, etc.

The controller is disposed on a circuit board in the main body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of the environment where the robot 10 is located according to the obstacle information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And in combination with distance information and speed information fed back by sensors, cliff sensors 123, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the front collision structure 122, the comprehensive judgment of what working state and position the sweeping robot 10 is currently in, and the current pose of the sweeping robot 10, such as threshold crossing, carpet loading, being located at the cliff, being clamped above or below, being full of dust boxes, being picked up and the like, can also give specific next-step action strategies according to different conditions, so that the sweeping robot 10 has better sweeping performance and user experience.

As shown in fig. 2, the drive module may maneuver the body 110 to travel across the ground based on the drive command with distance and angle information. The drive modules comprise a main drive wheel module which can control the left wheel 140 and the right wheel 141, preferably comprising a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a transverse axis defined by the main body 110. To enable more stable movement or greater movement capability of the sweeping robot 10 over the ground, the sweeping robot 10 may include one or more driven wheels 142, the driven wheels 142 including, but not limited to, universal wheels. The main driving wheel module comprises a driving motor and a control circuit for controlling the driving motor, and the main driving wheel module can be connected with a circuit for measuring driving current and an odometer. And the left wheel 140 and right wheel 141 may have biased drop down suspension systems movably secured, e.g., rotatably attached, to the body 110 and receiving spring biases biased downward and away from the body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the sweeping robot 10 also contact the floor with a certain pressure.

The energy system includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The main unit is connected with the charging pile through a charging electrode 160 arranged at the side or the lower part of the main body for charging.

The man-machine interaction module 130 comprises keys on the panel of the host machine, wherein the keys are used for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the mode or the function selection item of the current machine to a user; a cell phone client program may also be included. For the path navigation type sweeping robot 10, a map of the environment where the equipment is located and the position where the robot is located can be displayed to a user at a mobile phone client, and more abundant and humanized functional items can be provided for the user. Specifically, the floor sweeping robot 10 has various modes such as a work mode, a self-cleaning mode, and the like. The operation mode refers to a mode in which the robot 10 performs an automatic cleaning operation, and the self-cleaning mode refers to a mode in which the robot 10 removes dirt on the roller brush and the side brush 152 on the base and automatically collects the dirt and/or automatically cleans and dries the mop.

Cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.

As shown in fig. 2, the dry cleaning system 151 provided by the embodiments of the present disclosure may include a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

As shown in fig. 2 and 3, a wet cleaning system 153 provided by an embodiment of the present disclosure may include: a cleaning head 1531, a drive unit 1532, a water delivery mechanism, a reservoir, and the like. The cleaning head 1531 may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank is transferred to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 may uniformly clean the surface by applying the cleaning liquid.

Wherein the cleaning head 1531 is for cleaning a surface to be cleaned, and the driving unit 1532 is for driving the cleaning head 1531 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, a mop is arranged on the contact surface of the cleaning head 1531 and the surface to be cleaned, and the mop of the cleaning head 1531 is driven by the driving unit 1532 to reciprocate to generate high-frequency friction with the surface to be cleaned, so that stains on the surface to be cleaned are removed; or the mop may be floatably arranged to remain in contact with the cleaning surface throughout the cleaning process without the drive unit 1532 driving its reciprocating movement.

As shown in fig. 3, the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the main body 110 for providing driving force, the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and lifting may be implemented under the driving of the driving platform 1533.

The wet cleaning system 153 may be connected to the main body 110 through an active lifting module. When the wet cleaning system 153 is temporarily not engaged in operation, for example, the sweeping robot stops the base station from the mobile cleaning device 10 to wash the cleaning head 1531 of the wet cleaning system 153 and fills the liquid tank with water; or when the surface to be cleaned, which cannot be cleaned by the wet cleaning system 153, is encountered, the wet cleaning system 153 is lifted up by the active lifting module.

The optical sensor 20 on the self-moving cleaning apparatus is described in detail below. As shown in fig. 4, the optical sensor 20 includes a light emitting portion 210 and a light receiving portion 220. Wherein the light emitting part 210 is used for emitting outgoing light rays to the region 30 to be cleaned; the light receiving part 220 is configured to receive at least part of the reflected light, which is the light formed by the reflection of the outgoing light of the light emitting part 210 through the surface of the area to be cleaned 30.

The area to be cleaned 30 is an area where the self-moving cleaning device needs to perform cleaning operation, and the area can be set by a user, in this application, the light emitting portion 210 emits outgoing light to the entire area to be cleaned 30, that is, the light emitting portion 210 emits outgoing light to a safe area in the area to be cleaned 30, and also emits outgoing light to other areas (i.e., unsafe areas) in the area to be cleaned.

Further, as shown in fig. 4, the light emitting part 210 is provided with a first convex lens 230 on the light emitting path, and the first convex lens 230 is used for converting the outgoing light emitted by the light emitting part 210 into approximately parallel light. The second convex lens 240 is disposed on the receiving light path of the light receiving portion 220, and the second convex lens 240 is used for converting the light emitted to the light receiving portion 220 into the converging light. Further, a spacer 250 is disposed between the light emitting portion 210 and the light receiving portion 220, and the spacer 250 is made of a light-tight material, so that the outgoing light emitted from the light emitting portion 210 is prevented from being directly received by the light receiving portion 220 without being reflected from the surface of the cleaning region 30 of the mobile cleaning device.

As shown in fig. 4, when the optical sensor 20 is operated, the light emitting part 210 emits outgoing light, the outgoing light is converted into approximately parallel light via the first convex lens 230, the parallel light is reflected from the surface of the area to be cleaned 30 of the mobile cleaning device to form approximately parallel reflected light, then at least part of the reflected light is converted into converging light via the second convex lens 240, the converging light is received by the light receiving part 220, and the controller determines whether the cliff exists in the area to be cleaned 30 according to the light intensity value of the reflected light received by the light receiving part 220, that is, if the light intensity value of the reflected light received by the light receiving part 220 is greater than or equal to the light intensity threshold, it is determined that the cliff does not exist in the area to be cleaned 30; if the light intensity value of the reflected light received by the light receiving part 220 is less than the light intensity threshold value, it is determined that the cliff exists in the area to be cleaned 30.

The following describes a control method of the self-moving cleaning device in detail. Specifically, as shown in fig. 4 and 5, an embodiment of the present invention provides a control method of a self-moving cleaning device, including:

step S101: the positions of all the safety areas in the area to be cleaned 30 are acquired.

The safety region is a region where erroneous judgment is likely to occur by the optical sensor 20, for example, an obstacle, such as a door stone, a threshold, or the like, or a light absorption region such as a dark carpet, which is higher than the surface of the region to be detected. The safety zone may be set by the user in the area 30 to be cleaned, for example by setting the area where the door stones, threshold, dark carpeting are located as the safety zone. The number of the safety areas can be determined by the user according to the actual situation, and the embodiment is not strictly limited.

Step S102: when the self-moving cleaning device travels to any one of the safety areas, the current detection parameters of the optical sensor 20 of the self-moving cleaning device are acquired.

Step S103: the current detection parameter of the optical sensor 20 is adjusted to the target detection parameter to reduce the detection accuracy of the optical sensor 20.

The detection precision of the optical sensor 20 is reduced in the safety area, and the situation that the optical sensor 20 misjudges the safety area as a cliff can be avoided, so that the self-moving cleaning device can smoothly execute corresponding tasks (such as obstacle crossing or dark carpet cleaning) in the safety area, the use of the self-moving cleaning device by a user is facilitated, the optical sensor 20 with reduced detection precision still has certain detection capability, and when the optical sensor 20 detects that the cliff exists in the safety area, the self-moving cleaning device is controlled to execute an avoidance strategy, the probability that the self-moving cleaning device falls down in the safety area due to the cliff is reduced, and the operation reliability of the self-moving cleaning device in the safety area is further improved.

Step S104: judging whether cliffs exist in the safety area or not based on the target detection parameters, if so, executing step S105; if not, step S106 is performed.

Step S105: and executing the avoiding strategy.

When the optical sensor 20 determines that the cliff exists in the safety area, the self-moving cleaning device is controlled to execute the avoidance strategy, so that damage to the self-moving cleaning device caused by falling of the cliff is avoided.

The avoidance strategy may be a strategy for controlling the self-moving cleaning device to retract, although other avoidance strategies may be adopted, and the embodiment is not strictly limited.

Step S106: and completing the tasks corresponding to the safety area.

When the optical sensor 20 determines that the cliff is not present in the safety area, the self-moving cleaning device is controlled to complete tasks corresponding to the safety area, such as, for example, to turn over obstacles such as a door stone, a threshold, or to clean a dark carpet, or the like.

Step S107: when the mobile cleaning device moves out of the safety area, the target calibration detection parameters are adjusted to the current detection parameters so as to restore the detection precision of the optical sensor.

When the mobile cleaning device moves out of the safety area, the target calibration detection parameters are adjusted to the current detection parameters so as to restore the detection precision of the optical sensor, thereby ensuring the detection precision of the optical sensor 20 in other areas.

In a specific application, the corresponding manner of reducing the detection accuracy of the optical sensor 20 is also different for different current detection parameters.

In some embodiments, the current detection parameter includes a current detection threshold value, which is used to compare with the light intensity value of the reflected light received by the light receiving portion 220, so as to determine whether a cliff exists in other areas (i.e., unsafe areas) except for the safe area in the area to be worked. The current detection threshold value can be set by the staff according to the actual situation, and the embodiment is not strictly limited.

In the case where the current detection parameter includes the current detection threshold, in one implementation, as shown in fig. 6, step S103 includes:

step S1031a: and acquiring a first weight value corresponding to the current detection threshold.

The first weight value corresponding to the current detection threshold value can be set by the staff, and the embodiment is not strictly limited. The first weight values corresponding to the different current detection thresholds can be the same, so that the workload of staff is reduced.

Step S1032a: and calculating an initial calibration threshold value based on the current detection threshold value and the first weight value.

Specifically, the initial calibration threshold can be obtained by multiplying the current detection threshold by the first weight value. For example, assuming that the current detection threshold is 90 and the first weight value is 0.5, the initial calibration threshold is 90×0.5=45.

Step S1033a: whether the initial calibration threshold is smaller than the preset threshold is determined, if yes, step S1034a is executed, and if not, step S1035a is executed.

The preset threshold may be set by the staff, and the present embodiment is not strictly limited. The initial calibration threshold value is compared with a preset threshold value, and the target calibration threshold value is determined according to the comparison result, so that the target calibration threshold value is not too low, the condition that the cliff of a safety area cannot be detected due to too low precision of the optical sensor 20 caused by too small target calibration threshold value is avoided, and the optical sensor 20 can still have certain detection precision.

Step S1034a: and determining the preset threshold value as a target calibration threshold value.

For example, assuming that the preset threshold is 20, the initial calibration threshold is 18, and the initial calibration threshold is less than the preset threshold, the target calibration threshold is 20.

Step S1035a: the initial calibration threshold is determined as the target calibration threshold.

For example, assuming that the preset threshold is 20, the initial calibration threshold is 50, and the initial calibration threshold is greater than the preset threshold, the target calibration threshold is 50.

Step S1036a: the current detection threshold is adjusted to a target calibration threshold to reduce the detection accuracy of the optical sensor 20.

The current detection threshold is adjusted to be the target calibration threshold, that is, the current detection threshold is reduced, so that the purpose of reducing the detection accuracy of the optical sensor 20 is achieved, and thus when the self-moving cleaning device performs a corresponding task in a safety area to cause the light intensity value of the reflected light received by the optical sensor 20, that is, the current received light intensity value is reduced, the detection result obtained by using the optical sensor 20 is still cliff-free in the safety area, so that the self-moving cleaning device cannot execute a avoidance strategy, and smooth performance of the corresponding task is ensured.

For example, in the prior art, when the self-moving cleaning apparatus passes over an obstacle in a safety area, the body of the self-moving cleaning apparatus is inclined, so that the outgoing light emitted from the light emitting portion 210 of the optical sensor 20 is greatly diffused, so that the light intensity value of the reflected light received by the light receiving portion 220 of the optical sensor 20 is greatly reduced, for example, from 120 to 55, and then the current detection threshold is assumed to be 90, so that when the self-moving cleaning apparatus passes over the obstacle, the light intensity value 55 of the reflected light received by the light receiving portion 220 is less than the current detection threshold 90, and thus the detection result of the optical sensor 20 is that a cliff exists, resulting in the self-moving cleaning apparatus performing a avoidance strategy, thereby interrupting the task of performing the pass over of the obstacle, so that the self-moving cleaning apparatus cannot successfully pass over the obstacle.

In this application, the current detection threshold 90 is adjusted to the target calibration threshold 45, so that when the self-moving cleaning device passes over an obstacle in the safety area, the light intensity value of the reflected light received by the light receiving portion 220 of the optical sensor 20 is reduced from 120 to 55, and the light intensity value 55 of the reflected light received by the light receiving portion 220 is still greater than the target calibration threshold 45, so that the detection result of the optical sensor 20 is that there is no cliff, and therefore the self-moving cleaning device cannot execute the avoidance strategy, that is, the self-moving cleaning device can still continue to pass over the obstacle.

As another example, in the prior art, when the self-moving cleaning apparatus travels to a safe area where a dark carpet is laid, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 is greatly reduced, for example, from 120 to 60 due to the light absorption of the dark carpet, and then the current detection threshold value is assumed to be 90, so that the light intensity value 60 of the reflected light received by the light receiving part 220 is smaller than the current detection threshold value 90, and thus the detection result of the optical sensor 20 is that a cliff exists, causing the self-moving cleaning apparatus to perform a avoidance strategy, thereby interrupting the task of cleaning the dark carpet, and making the self-moving cleaning apparatus unable to clean the dark carpet smoothly.

In this application, the current detection threshold 90 is adjusted to the target calibration threshold 45, so that when the self-moving cleaning device cleans a dark carpet, the light intensity value of the reflected light received by the light receiving portion 220 of the optical sensor 20 is reduced from 120 to 60, and the light intensity value 60 of the reflected light received by the light receiving portion 220 is still greater than the target calibration threshold 45, so that the detection result of the optical sensor 20 is that there is no cliff, and therefore the self-moving cleaning device cannot execute the avoidance strategy, that is, the self-moving cleaning device can still continue cleaning the dark carpet.

In another implementation, as shown in fig. 7, step S103 includes:

step S1031b: and obtaining the corresponding relation of each preset detection threshold interval and each second weight value.

Each detection threshold interval and the corresponding second weight value can be set by a worker, and the embodiment is not strictly limited. The second weight values corresponding to the detection threshold intervals may be partially the same or may be all different, and in some embodiments, the second weight value increases with the decrease of the value of the detection threshold interval, so as to avoid the situation that the accuracy of accurate measurement of the optical sensor 20 is too low to detect cliffs of the safety area due to too small target calibration threshold obtained later, so that the optical sensor 20 still has a certain detection accuracy. For example, for a detection threshold interval of 80-100, its corresponding second weight value is 0.5; the second weight value corresponding to the threshold interval is 0.7 for the detection of 30-50.

Step S1032b: and finding a second weight value corresponding to the current detection threshold value in the corresponding relation between each preset detection threshold value interval and each second weight value.

For example, assuming the current detection threshold is 35, if the second weight value corresponding to the detection threshold interval 30-50 is 0.7, then the second weight threshold corresponding to the current detection threshold 35 is 0.7.

Step S1033b: and calculating a target calibration threshold based on the current detection threshold and the corresponding second weight value.

Specifically, the initial calibration threshold can be obtained by multiplying the current detection threshold by the second weight value. For example, assuming that the current detection threshold is 35 and the first weight value is 0.7, the initial calibration threshold is 35×0.7=22.5.

Step S1034b: the current detection threshold is adjusted to a target calibration threshold to reduce the detection accuracy of the optical sensor 20.

In this embodiment, by setting different detection threshold intervals, the second weight value corresponding to the current detection threshold can be accurately matched, so that the target calibration threshold can be directly obtained, the processing efficiency is improved, and the accuracy of the target calibration threshold is also improved.

As shown in fig. 8, in step S104, determining whether a cliff exists in the security area based on the target detection parameter includes:

Step S1041a: the current received light intensity value of the optical sensor 20 is acquired.

The current received light intensity value of the optical sensor 20 is the current light intensity value of the reflected light received by the light receiving portion of the optical sensor 20.

Step S1042a: judging whether the current received light intensity value is greater than or equal to the target calibration threshold, if so, executing the step S1043a, and if not, executing the step S1044a.

Step S1043a: the absence of cliffs in the safety area is determined.

Step S1044a: the existence of cliffs in the safety area is determined.

For example, assuming a target calibration threshold of 45, if the current received light intensity value is 60, i.e., the current received light intensity value is greater than the target calibration threshold, then it is identified that a cliff is not present in the safe area and the self-moving cleaning device may continue to complete its task in the safe area.

If the current received light intensity value is 30, that is, the current received light intensity value is smaller than the target calibration threshold value, then the cliff is identified to exist in the safety area, and the self-moving cleaning device executes an avoidance strategy to avoid damage caused by falling off the cliff.

In this embodiment, through the comparison result of the current received light intensity value and the target detection threshold value, it is determined whether the cliff exists in the safety area, which not only can avoid the situation that the optical sensor 20 misjudges due to the reason that the self-moving cleaning device passes over an obstacle or a dark carpet, etc., but also can ensure that the optical sensor 20 with reduced detection accuracy still has a certain detection capability, so when the optical sensor 20 detects that the cliff exists in the safety area, the self-moving cleaning device is controlled to execute the avoidance strategy, thereby reducing the probability that the self-moving cleaning device falls down in the safety area due to the cliff, and further improving the reliability of the self-moving cleaning device operating in the safety area.

Further, in the above embodiment, step S107 includes:

when the mobile cleaning device moves out of the safety area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical light sensor.

When the mobile cleaning device moves out of the safety area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor, that is, when the mobile cleaning device moves out of the safety area, the light intensity value of the reflected light received by the optical sensor 20 is compared with the current detection threshold to determine whether cliffs exist or not, so that the detection accuracy of the optical sensor 20 in other areas is ensured.

In some embodiments, the current detection parameter includes a current received light intensity value, i.e., a current light intensity value of the reflected light received by the light receiving portion 220.

In the case where the previous detection parameter includes the current received light intensity value, as shown in fig. 9, step S103 includes:

step S1031c: and acquiring a third weight value corresponding to the current received light intensity value.

The third weight value may be set by the staff, which is not strictly limited in this embodiment.

Step S1032c: and calculating the target received light intensity value based on the current received light intensity value and the corresponding third weight value.

Specifically, the target received light intensity value can be obtained by multiplying the current received light intensity value by the third weight value. For example, assuming that the current received light intensity value is 30 and the third weight value is 2, the initial calibration threshold is 30×2=60.

Step S1033c: the current received-light intensity value is adjusted to the target received-light intensity value to reduce the detection accuracy of the optical sensor 20.

The current received light intensity value is adjusted to be the target received light intensity, that is, the current detection threshold is reduced, so that the purpose of reducing the detection accuracy of the optical sensor 20 is achieved, and thus when the self-moving cleaning device performs a corresponding task in a safety area to cause the light intensity value of the reflected light received by the optical sensor 20, that is, the current received light intensity value is reduced, the detection result obtained by using the optical sensor 20 is still free of cliffs in the safety area, so that the self-moving cleaning device cannot execute an avoidance strategy to ensure smooth performance of the corresponding task.

For example, in the prior art, when the self-moving cleaning apparatus passes over an obstacle in a safety area, the body of the self-moving cleaning apparatus is inclined, so that the emergent light emitted from the light emitting portion 210 of the optical sensor 20 is greatly diffused, so that the current light intensity value (i.e., the current received light intensity value) of the reflected light received by the light receiving portion 220 of the optical sensor 20 is greatly reduced, for example, reduced from 120 to 60, and then the current detection threshold is assumed to be 90, so that when the self-moving cleaning apparatus passes over the obstacle, the current received light intensity value 60 is less than the current detection threshold 90, so that the detection result of the optical sensor 20 is that a cliff exists, causing the self-moving cleaning apparatus to execute a avoidance strategy, thereby interrupting the task of performing the pass over of the obstacle, so that the self-moving cleaning apparatus cannot successfully pass over the obstacle.

In this application, the current received light intensity value is 60, and the product of the current received light intensity value and the third weight value 2 is used to calculate the target received light intensity value to be 120, so that when the self-moving cleaning device passes over an obstacle in the safety area, the target received light intensity value 120 is compared with the current detection threshold 90, and the target received light intensity value is greater than the current detection threshold, so that the detection result of the optical sensor 20 is that a cliff does not exist, and therefore the self-moving cleaning device cannot execute an avoidance strategy, that is, the self-moving cleaning device can still continuously pass over the obstacle.

As another example, in the prior art, when the self-moving cleaning apparatus travels to a safe area where a dark carpet is laid, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 (i.e., the current received light intensity value) is greatly reduced, for example, from 100 to 50, then assuming that the current detection threshold is 90, such that the current received light intensity value 50 is less than the current detection threshold 90, such that the detection result of the optical sensor 20 is that a cliff exists, causing the self-moving cleaning apparatus to perform a avoidance strategy, thereby interrupting the task of cleaning the dark carpet, and making the self-moving cleaning apparatus unable to clean the dark carpet smoothly.

In this application, the current received light intensity value is 50, and the product of the current received light intensity value and the third weight value 2 is used to calculate the target received light intensity value to be 100, so that the target received light intensity value 100 is compared with the current detection threshold 90, and the target received light intensity value is greater than the current detection threshold, so that the detection result of the optical sensor 20 is that cliffs are not present, and therefore the self-moving cleaning device cannot execute the avoidance strategy, that is, the self-moving cleaning device can still continue to clean the dark carpet.

As shown in fig. 10, in step S104, determining whether a cliff exists in the security area based on the target detection parameter includes:

step S1041b: the current detection threshold received by the optical sensor 20 is acquired.

Step S1042b: judging whether the target received light intensity value is greater than or equal to the current detection threshold, if so, executing the step S1043b, and if not, executing the step S1044b.

Step S1043b: the absence of cliffs in the safety area is determined.

Step S1044b: the existence of cliffs in the safety area is determined.

For example, assuming a current calibration threshold of 90, if the target received light intensity value is 100, i.e., the current received light intensity value is greater than the target calibration threshold, then it is identified that a cliff is not present in the safe area and the self-moving cleaning device may continue to perform its task in the safe area.

If the current received light intensity value is 70, that is, the current received light intensity value is smaller than the target calibration threshold value, then the cliff is identified to exist in the safety area, and the self-moving cleaning device executes an avoidance strategy to avoid damage caused by falling off the cliff.

In this embodiment, through the comparison result of the target received light intensity value and the current detection threshold value, it is determined whether the cliff exists in the safety area, which not only can avoid the situation that the optical sensor 20 misjudges due to the reason that the self-moving cleaning device passes over an obstacle or a dark carpet, etc., but also can ensure that the optical sensor 20 with reduced detection accuracy still has a certain detection capability, so when the optical sensor 20 detects that the cliff exists in the safety area, the self-moving cleaning device is controlled to execute the avoidance strategy, thereby reducing the probability that the self-moving cleaning device falls down in the safety area due to the cliff, and further improving the reliability of the self-moving cleaning device operating in the safety area.

Further, in the above embodiment, step S107 includes:

when the mobile cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value, so that the detection precision of the optical light sensor is recovered.

When the mobile cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical light sensor, that is, when the mobile cleaning device moves out of the safety area, the current light intensity value of the reflected light received by the optical sensor 20 is compared with the current detection threshold value to determine whether a cliff exists or not, so that the detection accuracy of the optical sensor 20 in other areas is ensured.

Further, in the region to be cleaned 30, a range of a preset distance from the cliff is an unsafe region, whereby the optical sensor 20 cannot decrease the detection accuracy in this region, thereby avoiding a situation in which the optical sensor 20 decreases the detection accuracy in a region of and around the cliff such as a step, and cannot detect the cliff formed by the step.

The preset distance can be set by a worker, and the implementation is not strictly limited. In some embodiments, the preset distance is 1m.

Further, in the above embodiment, step S107 includes, after:

when the area to be cleaned 30 is updated, all the safety areas are eliminated.

In the case of an updated cleaning area 30, the original safety area is also eliminated, that is to say the user needs to set a new safety area in a new cleaning area 30, so that the safety area changes with a change in the cleaning area 30.

The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A control method of a self-moving cleaning apparatus, comprising:

acquiring the positions of all safety areas in the area to be cleaned;

2. The method of claim 1, wherein the current detection parameter comprises a current detection threshold.

3. The method of claim 2, wherein said adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor comprises:

4. The method of claim 2, wherein said adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor comprises:

5. The method according to any one of claims 2-4, wherein said determining whether a cliff exists in the security area based on the target detection parameter comprises:

acquiring a current received light intensity value of the optical sensor;

6. The method of claim 5, wherein adjusting the target calibration detection parameter to a current detection parameter to restore detection accuracy of the optical light sensor when the self-moving cleaning device moves out of the safety zone comprises:

7. The method of claim 1, wherein the current detection parameter comprises a current received light intensity value.

8. The method of claim 7, wherein adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor comprises:

9. The method according to claim 7 or 8, wherein said determining whether a cliff exists in the safety area based on the target detection parameter comprises:

acquiring a current detection threshold value received by the optical sensor;

10. The method of claim 9, wherein adjusting the light target calibration detection parameter to the current detection parameter when the self-moving cleaning device moves out of the safe area to restore detection accuracy of the optical light sensor comprises:

11. The method of claim 1, wherein the area to be cleaned is an unsafe area within a predetermined distance from the cliff.

12. The method of claim 1, wherein adjusting the target detection parameter to the current detection parameter when the self-moving cleaning apparatus moves out of the safety area, after restoring the detection accuracy of the optical light sensor, comprises:

and when the area to be cleaned is updated, eliminating all the safety areas.

13. The self-moving cleaning device is characterized by comprising a main body, wherein an optical sensor and a controller are arranged on the main body, and the optical sensor comprises a light emitting part and a light receiving part;

The light emitting part is used for emitting emergent rays to the area to be cleaned; the light receiving part is used for receiving at least part of reflected light, and the reflected light is light formed by reflecting the emergent light of the light emitting part through the surface of the area to be cleaned; the controller is adapted to perform a method of controlling a self-moving cleaning apparatus as claimed in any one of claims 1 to 12.