CN117502976A - Self-moving cleaning equipment and control method thereof - Google Patents

Abstract

Embodiments of the present invention disclose a self-moving cleaning equipment and a control method thereof, which obtain the positions of all safe areas in the area to be cleaned; when the self-moving cleaning equipment travels to any safe area, the position of the optical sensor of the self-moving cleaning equipment is obtained. Current detection parameters; adjust the current detection parameters of the optical sensor to the target detection parameters; based on the target detection parameters, determine whether there is a cliff in the safe area. If so, execute the avoidance strategy. If not, complete the tasks corresponding to the safe area. This can avoid It happens that the optical sensor misjudges the safe area as a cliff, and the optical sensor still has certain detection capabilities, thereby reducing the probability of the self-mobile cleaning equipment falling due to the cliff in the safe area; when the self-mobile cleaning equipment moves out of the safe area, Adjust the target calibration detection parameters to the current detection parameters to restore the detection accuracy of the optical sensor and ensure the detection accuracy of the optical sensor in other areas.

Description

Self-moving cleaning equipment and control method thereof

Technical field

The present invention relates to the field of smart home technology, and specifically to a self-moving cleaning equipment and a control method thereof.

Background technique

With the development of smart cleaning technology, self-mobile cleaning equipment (such as sweeping robots) has entered more and more households, which has greatly reduced people's burden of house cleaning. During the cleaning operation of the self-mobile cleaning equipment, you may encounter areas with steps, stairs or height differences. Therefore, the self-mobile cleaning equipment needs to be able to accurately detect cliffs and make avoidance strategies while traveling. , to prevent the mobile cleaning equipment from falling.

Currently, optical sensors installed on self-moving cleaning equipment are usually used to detect whether there is a cliff in the area to be cleaned. However, when the self-moving cleaning equipment tilts due to climbing over obstacles (such as thresholds, etc.), or encounters light-absorbing areas such as dark carpets, the optical sensor will misjudge the above area as a cliff, causing the self-moving cleaning equipment to Implementing an avoidance strategy makes it impossible to complete the task of climbing over obstacles or cleaning light-absorbing areas such as dark carpets, which in turn is not conducive to the user's use of self-mobile cleaning equipment.

Contents of the invention

This summary introduces a series of concepts in a simplified form that are further described in detail in the detailed description. The summary of the present invention is not intended to limit the key features and necessary technical features of the claimed technical solution, nor is it intended to determine the protection scope of the claimed technical solution.

In a first aspect, embodiments of the present invention provide a control method for self-moving cleaning equipment, including:

Get the locations of all safe areas in the area to be cleaned;

When the self-mobile cleaning equipment travels to any of the safety areas, obtain the current detection parameters of the optical sensor of the self-mobile cleaning equipment;

Adjust the current detection parameters of the optical sensor to the target detection parameters to reduce the detection accuracy of the optical sensor;

Based on the target detection parameters, determine whether there is a cliff in the safe area. If so, execute an avoidance strategy. If not, complete the task corresponding to the safe area;

When the self-mobile cleaning equipment moves out of the safe area, the target calibration detection parameters are adjusted to the current detection parameters to restore the detection accuracy of the optical light sensor.

Optionally, the current detection parameters include current detection thresholds.

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

Obtain the first weight value corresponding to the current detection threshold;

Based on the current detection threshold and the first weight value, calculate an initial calibration threshold;

Determine whether the initial calibration threshold is less than a preset threshold; if so, determine the preset threshold as the target calibration threshold; if not, determine the initial calibration threshold as the target calibration threshold;

The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

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

Obtain the corresponding relationship between each preset detection threshold interval and each second weight value;

In the corresponding relationship between each preset detection threshold interval and each second weight value, find the second weight value corresponding to the current detection threshold;

Based on the current detection threshold and the corresponding second weight value, calculate the target calibration threshold;

The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

Optionally, determining whether there is a cliff in the safe area based on the target detection parameters includes:

Obtain the current received light intensity value of the optical sensor;

Determine whether the current received light intensity value is greater than or equal to the target calibration threshold. If so, it is determined that there is no cliff in the safe area. If not, it is determined that there is a cliff in the safe area.

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

When the self-mobile cleaning equipment moves out of the safe area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical light sensor.

Optionally, the current detection parameters include current received light intensity values.

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

Obtain the third weight value corresponding to the current received light intensity value;

Based on the current received light intensity value and the corresponding third weight value, calculate the target received light intensity value;

The current received light intensity value is adjusted to the target received light intensity value to reduce the detection accuracy of the optical sensor.

Optionally, determining whether there is a cliff in the safe area based on the target detection parameters includes:

Obtain the current detection threshold received by the optical sensor;

Determine whether the target received light intensity value is greater than or equal to the current detection threshold. If so, it is determined that there is no cliff in the safe area. If not, it is determined that there is a cliff in the safe area.

Optionally, when the self-mobile cleaning equipment moves out of the safe area, adjusting the light target calibration detection parameters to the current detection parameters to restore the detection accuracy of the optical light sensor includes:

When the self-moving cleaning equipment moves out of the safe 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.

Optionally, in the area to be cleaned, a preset distance from the cliff is a non-safety area.

Optionally, after adjusting the target detection parameters to the current detection parameters to restore the detection accuracy of the optical light sensor when the self-mobile cleaning equipment moves out of the safe area, the method includes:

When the area to be cleaned is updated, all the safe areas are eliminated.

In a second aspect, embodiments of the present invention provide a self-moving cleaning equipment, including a main body, the main body is provided with an optical sensor and a controller, and the optical sensor includes a light emitting part and a light receiving part;

Wherein, the light emitting part is used to emit outgoing light to the area to be cleaned; the light receiving part is used to receive at least part of the reflected light, and the reflected light is the light formed by the outgoing light of the light emitting part reflecting through the surface of the area to be cleaned; the control The device is used to perform the above control method of the self-moving cleaning equipment.

According to a self-moving cleaning equipment and a control method thereof provided by an embodiment of the present invention, when the self-moving cleaning equipment travels to a safe area, the current detection parameters of the optical sensor of the self-moving cleaning equipment are adjusted to the target detection parameters to reduce The detection accuracy of the optical sensor can, on the one hand, prevent the optical sensor from misjudging the safe area as a cliff, so that the self-mobile cleaning equipment can smoothly perform corresponding tasks in the safe area (such as climbing over obstacles or cleaning dark carpets, etc. ), to facilitate the user's use of self-moving cleaning equipment. On the other hand, the optical sensor still has a certain detection capability. In this way, when the optical sensor detects that there is a cliff in the safe area, the self-moving cleaning equipment is controlled to execute an avoidance strategy, thereby reducing self-moving The probability of the cleaning equipment falling due to the cliff in the safe area thus improves the reliability of the self-mobile cleaning equipment operating in the safe area. In addition, when the mobile cleaning equipment moves out of the safe area, the target calibration detection parameters are adjusted to the current detection parameters to restore the detection accuracy of the optical sensor, thereby ensuring the accuracy of the optical sensor detection in other areas.

Description of drawings

The following drawings of the invention are hereby included as part of the embodiments of the invention for the understanding of the invention. The drawings illustrate embodiments of the invention and their descriptions serve to explain the principles of the invention.

In the attached picture:

Figure 1 is a perspective view of a sweeping robot according to an optional embodiment of the present invention;

Figure 2 is a bottom view of Figure 1;

Figure 3 is a perspective view of a wet cleaning system according to an optional embodiment of the present invention;

Figure 4 is a schematic diagram of an optical sensor detecting an area to be cleaned according to an optional embodiment of the present invention;

Figure 5 is a flow chart of a control method of a self-moving cleaning device according to an optional embodiment of the present invention;

Figure 6 is a flow chart of step S103 according to an optional embodiment of the present invention;

Figure 7 is a flow chart of step S103 according to another optional embodiment of the present invention;

Figure 8 is a flow chart of step S104 according to an optional embodiment of the present invention;

Figure 9 is a flow chart of step S103 according to yet another optional embodiment of the present invention;

Figure 10 is a flow chart of step S104 according to an optional embodiment of the present invention.

Reference signs:

10-Sweeping robot, 110-main body, 111-forward part, 112-rear part, 120-perception module, 121 position determination sensor, 122-forward collision structure, 130-human-computer interaction module, 140-revolver, 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-partition, 30-area to be cleaned.

Detailed ways

In the following description, numerous specific details are given in order to provide a more thorough understanding of the invention. However, it will be obvious to a person skilled in the art that the invention may be practiced without one or at least three of these details. In other examples, some technical features that are well known in the art are not described in order to avoid confusion with the present invention.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, it should also be understood that when the terms "comprising" and/or "includes" are used in this specification, they indicate the presence of features, integers, steps, operations, elements and/or components but do not exclude the presence or addition of a or at least three other features, integers, steps, operations, elements, components and/or combinations thereof.

Now, exemplary embodiments according to the present invention will 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 understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concepts of these exemplary embodiments to those skilled in the art.

The optical sensor 20 provided by the embodiment of the present invention can be applied to self-moving cleaning equipment. Specifically, the optical sensor 20 can be used as a cliff sensor. Among them, self-mobile cleaning equipment is equipment that automatically travels in the area 30 to be cleaned and automatically performs cleaning operations, such as sweeping robots, mopping robots, floor polishing robots or weeding robots. For ease of description, this embodiment takes the sweeping robot 10 as an example to describe the technical solution of the present disclosure.

Further, as shown in FIGS. 1 and 2 , the sweeping robot 10 includes a main body 110 , a sensing module 120 , a controller, a driving module, a cleaning system 150 , an energy system and a human-computer interaction module 130 . As shown in Figure 1, the main body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and can also have other shapes, including but not limited to an approximate D of a front and rear circle. shape and a rectangular or square shape at the front and rear.

As shown in FIG. 1 , the sensing module 120 includes a position determining device 121 located on the main body 110 , a collision sensor provided on the forward collision structure 122 of the forward portion 111 of the main body 110 , and a proximity sensor (wall sensor) located on the side of the machine. , the cliff sensor provided at the lower part of the main body 110, and the magnetometer, accelerometer, gyroscope, odometer and other sensing devices provided inside the main body 110, are used to provide various position information and motion status information of the machine to the controller. The position determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name: Laser Distance Sensor). In some preferred implementations, the position determining device 121 (such as a camera, laser sensor 20) is located on the front side of the main body 110, that is, the front end of the forward portion 111, so as to more accurately sense the position in front of the sweeping robot. environment to achieve precise positioning. The controller is also used to execute the control method of the self-moving cleaning equipment provided by this application.

As shown in Figure 1, the forward portion 111 of the main body 110 can carry the forward collision structure 122. When the driving wheel module 141 propels the sweeping robot 10 to walk on the ground during the cleaning process, the forward collision structure 122 passes through the sensor system provided on it. For example, a collision sensor or a proximity sensor (infrared sensor) detects one or more events in the driving path of the sweeping robot 10. The sweeping robot 10 can be controlled by events detected by the front collision structure 122, such as obstacles and walls. The driving module enables the sweeping robot 10 to respond to events, such as performing obstacle avoidance operations away from obstacles.

The controller is disposed on the circuit motherboard in the main body 110 and includes a computing processor, such as a central processing unit and an application processor, communicating with non-transitory memory, such as a hard disk, flash memory, and random access memory. The application processor is configured according to The obstacle information fed back by the laser ranging device uses positioning algorithms, such as Simultaneous Localization and Mapping (SLAM, full name: Simultaneous Localization And Mapping), to draw a real-time map of the environment where the sweeping robot 10 is located. And combined with the distance information and speed information fed back by the sensors provided on the front collision structure 122, the cliff sensor 123, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, the current working state of the sweeping robot 10 is comprehensively determined. Where it is, as well as the current posture of the sweeping robot 10, etc., such as crossing a threshold, getting on the carpet, being on a cliff, being stuck above or below, being full of dust bins, being picked up, etc. Specific instructions will also be given for different situations. The next action strategy enables the sweeping robot 10 to have better cleaning performance and user experience.

As shown in FIG. 2 , the driving module may maneuver the body 110 to travel across the ground based on a driving command with distance and angle information. The driving module includes a main driving wheel module, which can control the left wheel 140 and the right wheel 141. In order to control the movement of the machine more accurately, it is preferred that the main driving wheel module includes a left driving wheel module and a right driving wheel module respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the body 110 . In order for the sweeping robot 10 to move more stably on the ground or to have stronger movement ability, the sweeping robot 10 may include one or more driven wheels 142 , and the driven wheels 142 include but are not limited to universal wheels. The main drive wheel module includes a drive motor and a control circuit that controls the drive motor. The main drive wheel module can also be connected to a circuit that measures drive current and an odometer. And the left wheel 140 and the right wheel 141 may have a biased drop suspension system, movably fastened, such as rotatably attached to the body 110, and receive a spring bias biased downwardly and away from the body 110. The spring bias allows the driving wheel to maintain contact and traction with the ground with a certain grounding force, and at the same time, the cleaning element of the sweeping robot 10 also contacts the ground with a certain pressure.

Energy systems include rechargeable batteries such as nickel metal hydride and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit. The charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit. The host is charged by connecting to the charging pile through the charging electrode 160 provided on the side or below of the fuselage.

The human-computer interaction module 130 includes buttons on the host panel, which allow the user to select functions; it may also include a display screen and/or indicator lights and/or a speaker. The display screen, indicator lights, and speaker show the user the current mode or mode of the machine. Function options; can also include mobile client programs. For the path navigation type sweeping robot 10, the mobile client can show the user a map of the environment where the device is located, as well as the location of the machine, and can provide the user with richer and more user-friendly functions. Specifically, the sweeping robot 10 has multiple modes, such as a working mode, a self-cleaning mode, and so on. Among them, the working mode refers to the mode in which the sweeping robot 10 performs automatic cleaning operations, and the self-cleaning mode refers to the sweeping robot 10 removing dirt on the roller brush and side brush 152 on the base, and automatically collecting the dirt, and/or automatically Mode for cleaning and drying mops.

The 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 embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and carries it to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box 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 an axis of rotation angled relative to the floor for moving debris into the roller brush area of the cleaning system 150 .

As shown in Figures 2 and 3, the wet cleaning system 153 provided by the embodiment of the present disclosure may include: a cleaning head 1531, a driving unit 1532, a water supply mechanism, a liquid storage tank, etc. Among them, the cleaning head 1531 can be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head 1531 through the water supply 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 can also be directly sprayed onto the surface to be cleaned, and the cleaning head 1531 achieves cleaning of the surface by evenly applying the cleaning liquid.

The cleaning head 1531 is used to clean the surface to be cleaned, and the driving unit 1532 is used to drive the cleaning head 1531 to substantially reciprocate along the target surface, and the target surface is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned. A mop is provided on the contact surface between the cleaning head 1531 and the surface to be cleaned. The driving unit 1532 drives the mop of the cleaning head 1531 to reciprocate and generate high-frequency friction with the surface to be cleaned, thereby removing the mop to be cleaned. Clean stains on the surface; or the mop can be provided in a floating manner and always maintain contact with the cleaning surface during the cleaning process without the need for the driving unit 1532 to drive its reciprocating motion.

As shown in Figure 3, the driving unit 1532 may also 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 can be lifted and lowered driven by the driving platform 1533 .

Among them, the wet cleaning system 153 can be connected to the main body 110 through an active lifting module. When the wet cleaning system 153 is temporarily not involved in the work, for example, the sweeping robot stops at the base station from the mobile cleaning device 10 to clean the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank; or when the wet cleaning system 153 cannot be used to perform the work, When the surface to be cleaned is cleaned, the wet cleaning system 153 is raised through the active lifting module.

The optical sensor 20 on the self-moving cleaning device is described in detail below. As shown in FIG. 4 , the optical sensor 20 includes a light emitting part 210 and a light receiving part 220 . The light emitting part 210 is used to emit outgoing light to the area to be cleaned 30; the light receiving part 220 is used to receive at least part of the reflected light. The reflected light is formed by the outgoing light of the light emitting part 210 being reflected by the surface of the area to be cleaned 30. light.

Among them, the area to be cleaned 30 is an area where the mobile cleaning equipment needs to perform cleaning operations. This area can be set by the user. In this application, the light emitting part 210 emits outgoing light to the entire area 30 to be cleaned, that is to say, the light emits The part 210 emits outgoing light to the safe area in the area to be cleaned 30 and also emits outgoing light to other areas (ie, non-safety areas) in the area to be cleaned.

Further, as shown in FIG. 4 , a first convex lens 230 is provided on the emission light path of the light emitting part 210 . The first convex lens 230 is used to convert the outgoing light emitted by the light emitting part 210 into approximately parallel parallel light. A second convex lens 240 is provided on the receiving light path of the light receiving part 220. The second convex lens 240 is used to convert the light rays directed to the light receiving part 220 into converged light rays. Further, a partition 250 is provided between the light emitting part 210 and the light receiving part 220. The partition 250 is made of an opaque material, thereby preventing the light emitted from the light emitting part 210 from not passing through the mobile cleaning equipment. The surface reflection of the area to be cleaned 30 is directly received by the light receiving part 220 .

As shown in FIG. 4 , when the optical sensor 20 is working, the light emitting part 210 emits outgoing light, and the outgoing light is converted into approximately parallel parallel light through the first convex lens 230 , and the parallel light is emitted from the area to be cleaned 30 of the mobile cleaning device. The surface reflects to form approximately parallel reflected light, and then at least part of the reflected light is converted into condensed light through the second convex lens 240 and is received by the light receiving part 220. The controller determines the intensity value of the reflected light received by the light receiving part 220. , determine whether there is a cliff in the area to be cleaned 30, 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 there is no cliff in the area to be cleaned 30; if the light intensity value received by the light receiving part 220 If the intensity value of the reflected light is less than the light intensity threshold, it is determined that there is a cliff in the area 30 to be cleaned.

A control method for a self-moving cleaning equipment provided by an embodiment of the present invention will be described in detail below. Specifically, as shown in Figures 4 and 5, embodiments of the present invention provide a control method for self-moving cleaning equipment, including:

Step S101: Obtain the positions of all safe areas in the area to be cleaned 30.

The safe area is an area where the optical sensor 20 is prone to misjudgment, for example, obstacles higher than the surface of the area to be detected, such as door stones, thresholds, etc., or light-absorbing areas such as dark carpets. The safety area can be set by the user in the area to be cleaned 30 , for example, the area where door stones, thresholds, and dark carpets are located is set as a safe area. The number of safe areas can be determined by the user according to the actual situation, and is not strictly limited in this embodiment.

Step S102: When the mobile cleaning equipment travels to any safe area, obtain the current detection parameters of the optical sensor 20 of the mobile cleaning equipment.

Step S103: Adjust the current detection parameters of the optical sensor 20 to the target detection parameters to reduce the detection accuracy of the optical sensor 20.

Reducing the detection accuracy of the optical sensor 20 in the safe area can avoid the optical sensor 20 misjudging the safe area as a cliff, so that the self-mobile cleaning equipment can smoothly perform corresponding tasks in the safe area (such as climbing over obstacles or cleaning deep areas). colored carpets, etc.) to facilitate the user's use of the self-moving cleaning equipment, and the optical sensor 20 that reduces the detection accuracy still has a certain detection capability, so that when the optical sensor 20 detects the presence of a cliff in the safe area, the self-moving cleaning equipment is controlled to execute avoidance strategy, thereby reducing the probability of self-mobile cleaning equipment falling due to cliffs in safe areas, thereby improving the reliability of self-mobile cleaning equipment operating in safe areas.

Step S104: Based on the target detection parameters, determine whether there is a cliff in the safe area. If yes, execute step S105; if not, execute step S106.

Step S105: Execute avoidance strategy.

When the optical sensor 20 determines that there is a cliff in the safe area, the self-mobile cleaning equipment is controlled to execute an avoidance strategy, thereby avoiding damage to the self-mobile cleaning equipment caused by falling off the cliff.

The avoidance strategy may be a strategy for controlling the retreat from the mobile cleaning equipment. Of course, other avoidance strategies may also be adopted, which are not strictly limited in this embodiment.

Step S106: Complete the tasks corresponding to the safe area.

When the optical sensor 20 determines that there is no cliff in the safe area, the autonomous mobile cleaning equipment is controlled to complete tasks corresponding to the safe area, such as climbing over obstacles such as door stones and thresholds, or cleaning dark carpets.

Step S107: When the mobile cleaning equipment moves out of the safe area, adjust the target calibration detection parameters to the current detection parameters to restore the detection accuracy of the optical photoreceptor.

When the mobile cleaning equipment moves out of the safe area, the target calibration detection parameters are adjusted to the current detection parameters to restore the detection accuracy of the optical sensor, thereby ensuring the detection accuracy of the optical sensor 20 in other areas.

In specific applications, for different current detection parameters, the corresponding ways of reducing the detection accuracy of the optical sensor 20 are also different.

In some embodiments, the current detection parameters include a current detection threshold, and the current detection threshold is used to compare with the light intensity value of the reflected light received by the light receiving part 220, thereby determining other areas in the area to be worked excluding the safe area ( That is, non-safety area) whether there is a cliff. The current detection threshold can be set by the staff according to the actual situation, and is not strictly limited in this embodiment.

In the case where the current detection parameters include the current detection threshold, in one implementation, as shown in Figure 6, step S103 includes:

Step S1031a: Obtain the first weight value corresponding to the current detection threshold.

The first weight value corresponding to the current detection threshold can be set by the staff themselves, and is not strictly limited in this embodiment. The first weight values corresponding to different current detection thresholds can be the same, thereby reducing the workload of the staff.

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

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

Step S1033a: Determine whether the initial calibration threshold is less than the preset threshold. If yes, execute step S1034a. If not, execute step S1035a.

The preset threshold can be set by the staff themselves, and is not strictly limited in this embodiment. Compare the initial calibration threshold with the preset threshold, and determine the target calibration threshold based on the comparison result, so that the target calibration threshold is not too low, thereby avoiding the target calibration threshold being too small, resulting in the optical sensor 20 having too low precision and being unable to detect The situation of exiting the cliff of the safe area occurs, thereby ensuring that the optical sensor 20 still has a certain detection accuracy.

Step S1034a: Determine the preset threshold as the target calibration threshold.

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, then the target calibration threshold is 20.

Step S1035a: Determine the initial calibration threshold 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, then the target calibration threshold is 50.

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

The current detection threshold is adjusted to the target calibration threshold, that is to say, the current detection threshold is lowered, thereby achieving the purpose of reducing the detection accuracy of the optical sensor 20. In this way, when the autonomous mobile cleaning equipment performs corresponding tasks in the safe area, the optical sensor 20 receives The light intensity value of the reflected light, that is, when the current received light intensity value decreases, the detection result obtained by the optical sensor 20 is still that there is no cliff in the safe area, so that the self-moving cleaning equipment will not execute the avoidance strategy to ensure the completion of the corresponding task. Goes smoothly.

For example, in the prior art, when a self-mobile cleaning device climbs over an obstacle in a safe area, the main body of the self-mobile cleaning device will tilt, causing a large amount of outgoing light emitted by the light emitting part 210 of the optical sensor 20 to change. Diffusion causes the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 to be greatly reduced, for example, from 120 to 55. Then assuming that the current detection threshold is 90, when the mobile cleaning equipment climbs over the obstacle , the light intensity value 55 of the reflected light received by the light receiving part 220 is less than the current detection threshold 90, so the detection result of the optical sensor 20 is that there is a cliff, causing the mobile cleaning equipment to execute an avoidance strategy, thus interrupting the task of climbing over the obstacle. , making it impossible for the self-mobile cleaning equipment to successfully climb over obstacles.

In this application, the current detection threshold 90 is adjusted to the target calibration threshold 45, so that when the mobile cleaning equipment climbs over the obstacles in the safe area, the intensity of the reflected light received by the light receiving part 220 of the optical sensor 20 will The value is reduced from 120 to 55. The light intensity value 55 of the reflected light received by the light receiving part 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 the self-moving cleaning equipment will not An avoidance strategy is implemented, which means that the self-moving cleaning device can still continue to climb over obstacles.

For another example, in the prior art, when the mobile cleaning equipment travels to a safe area covered with dark carpet, due to the light absorption of the dark carpet, the light receiving part 220 of the optical sensor 20 receives reflected light. The light intensity value of The detection result is that there is a cliff, which causes the self-mobile cleaning equipment to perform an avoidance strategy, thereby interrupting the task of cleaning dark carpets, making it impossible for the self-mobile cleaning equipment to clean dark carpets smoothly.

In this application, the current detection threshold 90 is adjusted to the target calibration threshold 45, so that when the dark carpet is cleaned by the mobile cleaning equipment, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 is: 120 is reduced to 60, and the light intensity value 60 of the reflected light received by the light receiving part 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 the self-moving cleaning equipment will not perform avoidance. strategy, which means that the self-mobile cleaning equipment can still continue to clean dark carpets.

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

Step S1031b: Obtain the corresponding relationship between each preset detection threshold interval and each second weight value.

Each detection threshold interval and the corresponding second weight value can be set by the staff, and are not strictly limited in this embodiment. The second weight values corresponding to each detection threshold interval may be partially the same or all different. In some embodiments, the second weight value increases as the value of the detection threshold interval decreases to avoid the subsequent target calibration threshold being exceeded. Small, the precision of the optical sensor 20 is too low, and the cliff in the safe area cannot be detected, so that the optical sensor 20 still has a certain detection accuracy. For example, for the detection threshold interval of 80-100, the corresponding second weight value is 0.5; for the detection threshold interval of 30-50, the corresponding second weight value is 0.7.

Step S1032b: Find the second weight value corresponding to the current detection threshold in the corresponding relationship between each preset detection threshold interval and each second weight value.

For example, assuming that 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: Calculate the 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 and the second weight value. For example, assuming that the current detection threshold is 35 and the first weight value is 0.7, then the initial calibration threshold is 35*0.7=22.5.

Step S1034b: Adjust the current detection threshold to the 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, and the target calibration threshold can be obtained directly, which improves the processing efficiency and also improves the target calibration threshold. accuracy.

As shown in Figure 8, in step S104, based on the target detection parameters, it is determined whether there is a cliff in the safe area, including:

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

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 part of the optical sensor 20 .

Step S1042a: Determine whether the current received light intensity value is greater than or equal to the target calibration threshold. If yes, execute step S1043a. If not, execute step S1044a.

Step S1043a: Determine that there is no cliff in the safe area.

Step S1044a: Determine that there is a cliff in the safe area.

For example, assuming that the target calibration threshold is 45, if the current received light intensity value is 60, that is, the current received light intensity value is greater than the target calibration threshold, then it is identified that there is no cliff in the safe area, and the self-mobile cleaning equipment can continue to complete its work in safety. regional tasks.

And if the current received light intensity value is 30, that is, the current received light intensity value is less than the target calibration threshold, then it is identified that there is a cliff in the safe area, and the mobile cleaning equipment implements an avoidance strategy to avoid damage caused by falling off the cliff.

In this embodiment, by comparing the current received light intensity value with the target detection threshold, it is determined whether there is a cliff in the safe area, which can avoid the optical sensor being damaged due to the mobile cleaning equipment climbing over obstacles or dark carpets. When misjudgment occurs, the optical sensor 20 which can ensure that the detection accuracy is reduced still has a certain detection capability. In this way, when the optical sensor 20 detects that there is a cliff in the safe area, the self-moving cleaning equipment is controlled to execute an avoidance strategy, thereby reducing the risk of accidents. The probability of mobile cleaning equipment falling due to cliffs in safe areas thus improves the reliability of self-mobile cleaning equipment operating in safe areas.

Further, in the above embodiment, step S107 includes:

When the mobile cleaning equipment moves out of the safe area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical light sensor.

When the self-mobile cleaning equipment moves out of the safe area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical light sensor. That is to say, when the self-mobile cleaning equipment moves out of the safe area, the optical sensor 20 receives The intensity value of the reflected light is compared with the current detection threshold to determine whether there is a cliff, thereby ensuring the accuracy of detection by the optical sensor 20 in other areas.

In some embodiments, the current detection parameter includes the current received light intensity value, that is, the current light intensity value of the reflected light received by the light receiving part 220 .

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

Step S1031c: Obtain the third weight value corresponding to the current received light intensity value.

The third weight value can be set by the staff themselves, and is not strictly limited in this embodiment.

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

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

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

Adjust the current received light intensity value to the target received light intensity, that is to say, reduce the current detection threshold, thereby achieving the purpose of reducing the detection accuracy of the optical sensor 20. In this way, when the autonomous mobile cleaning equipment performs corresponding tasks in the safe area, the optical sensor 20 The light intensity value of the received reflected light, that is, when the current received light intensity value decreases, the detection result obtained by the optical sensor 20 is still that there is no cliff in the safe area, so that the self-moving cleaning equipment will not execute the avoidance strategy to ensure The corresponding tasks are carried out smoothly.

For example, in the prior art, when a self-mobile cleaning device climbs over an obstacle in a safe area, the main body of the self-mobile cleaning device will tilt, causing a large amount of outgoing light emitted by the light emitting part 210 of the optical sensor 20 to change. Diffusion causes the current light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 to be greatly reduced, for example, from 120 to 60, then assuming that the current detection threshold is 90, so When the self-mobile cleaning equipment climbs over an obstacle, the current received light intensity value 60 is less than the current detection threshold 90, so the detection result of the optical sensor 20 is that there is a cliff, causing the self-mobile cleaning equipment to execute an avoidance strategy, thus interrupting the task of climbing over the obstacle. , making it impossible for the self-mobile cleaning equipment to successfully climb over obstacles.

In this application, the current received light intensity value is 60. By multiplying it with the third weight value 2, the target received light intensity value is calculated to be 120. In this way, when the mobile cleaning equipment climbs over the obstacles in the safe area, it will The target received light intensity value 120 is compared with the current detection threshold 90. 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 there is no cliff. Therefore, the mobile cleaning equipment will not execute the avoidance strategy, and This means that the self-moving cleaning equipment can still continue to climb over obstacles.

For another example, in the prior art, when the mobile cleaning equipment travels to a safe area covered with dark carpet, due to the light absorption of the dark carpet, the light receiving part 220 of the optical sensor 20 receives reflected light. The light intensity value (i.e., the current received light intensity value) is greatly reduced, for example, from 100 to 50, then assume that the current detection threshold is 90, so that the current received light intensity value of 50 is less than the current detection threshold of 90, so that the detection of the optical sensor 20 The result is that there is a cliff, which causes the self-mobile cleaning equipment to perform an avoidance strategy, thereby interrupting the task of cleaning dark carpets, making it impossible for the self-mobile cleaning equipment to clean dark carpets smoothly.

In this application, the current received light intensity value is 50. By multiplying it with the third weight value 2, the target received light intensity value is calculated to be 100. In this way, the target received light intensity value of 100 is compared with the current detection threshold of 90. , 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 there is no cliff, so the self-moving cleaning equipment will not execute the avoidance strategy, that is to say, the self-moving cleaning equipment can still continue to deal with dark carpets. Perform cleaning.

As shown in Figure 10, in step S104, based on the target detection parameters, it is determined whether there is a cliff in the safe area, including:

Step S1041b: Obtain the current detection threshold value received by the optical sensor 20 .

Step S1042b: Determine whether the target received light intensity value is greater than or equal to the current detection threshold. If yes, execute step S1043b. If not, execute step S1044b.

Step S1043b: Determine that there is no cliff in the safe area.

Step S1044b: Determine that there is a cliff in the safe area.

For example, assuming that the current calibration threshold is 90, if the target received light intensity value is 100, that is, the current received light intensity value is greater than the target calibration threshold, then it is identified that there is no cliff in the safe area, and the self-moving cleaning equipment can continue to complete its work in safety. regional tasks.

And if the current received light intensity value is 70, that is, the current received light intensity value is less than the target calibration threshold, then it is identified that there is a cliff in the safe area, and the mobile cleaning equipment implements an avoidance strategy to avoid damage caused by falling off the cliff.

In this embodiment, by comparing the target received light intensity value with the current detection threshold, it is determined whether there is a cliff in the safe area, which can avoid the optical sensor being damaged due to the mobile cleaning equipment climbing over obstacles or dark carpets. When misjudgment occurs, the optical sensor 20 which can ensure that the detection accuracy is reduced still has a certain detection capability. In this way, when the optical sensor 20 detects that there is a cliff in the safe area, the self-moving cleaning equipment is controlled to execute an avoidance strategy, thereby reducing the risk of accidents. The probability of mobile cleaning equipment falling due to cliffs in safe areas thus improves the reliability of self-mobile cleaning equipment operating in safe areas.

Further, in the above embodiment, step S107 includes:

When the mobile cleaning equipment moves out of the safe 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.

When the self-mobile cleaning equipment moves out of the safe 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 to say, when the self-mobile cleaning equipment moves out of the safe area, the optical sensor The current intensity value of the reflected light received by 20 is compared with the current detection threshold to determine whether there is a cliff, thereby ensuring the accuracy of detection by the optical sensor 20 in other areas.

Furthermore, in the area to be cleaned 30, the preset distance from the cliff is a non-safety area, so the optical sensor 20 cannot reduce the detection accuracy in this area, thereby preventing the optical sensor 20 from being used in areas such as steps and cliffs and their vicinity. It may happen that the detection accuracy is reduced and a cliff formed by steps such as steps cannot be detected.

Among them, the preset distance can be set by the staff and is not strictly limited in this implementation. In some embodiments, the preset distance is 1 m.

Further, in the above embodiment, step S107 includes:

When the area to be cleaned 30 is updated, all safe areas are eliminated.

When the area to be cleaned 30 is updated, the original safety area is also eliminated, which means that the user needs to set a new safety area in the new area 30 to be cleaned, so that the safety area changes as the area 30 to be cleaned changes. Change.

The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of illustration and illustration, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention. These variations and modifications all fall within the scope of the protection claimed by the present invention. within range. The protection scope of the present invention is defined by the appended claims and their equivalent scope.

Claims (13)

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

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.

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:

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.

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:

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;

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

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;

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.

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:

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.

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:

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.

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;

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.

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:

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.

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.