WO2021031395A1 - 一种地面介质的判断阈值的修正方法及其检测方法 - Google Patents
一种地面介质的判断阈值的修正方法及其检测方法 Download PDFInfo
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- WO2021031395A1 WO2021031395A1 PCT/CN2019/117265 CN2019117265W WO2021031395A1 WO 2021031395 A1 WO2021031395 A1 WO 2021031395A1 CN 2019117265 W CN2019117265 W CN 2019117265W WO 2021031395 A1 WO2021031395 A1 WO 2021031395A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/11—Analysing solids by measuring attenuation of acoustic waves
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/14—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/4409—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison
- G01N29/4427—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by comparison with stored values, e.g. threshold values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/4463—Signal correction, e.g. distance amplitude correction [DAC], distance gain size [DGS], noise filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
- G01N29/48—Processing the detected response signal, e.g. electronic circuits specially adapted therefor by amplitude comparison
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/03—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters
- G10L25/18—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters the extracted parameters being spectral information of each sub-band
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
- G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0235—Plastics; polymers; soft materials, e.g. rubber
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/025—Change of phase or condition
- G01N2291/0258—Structural degradation, e.g. fatigue of composites, ageing of oils
Definitions
- the invention belongs to the technical field of ground medium detection, and in particular relates to a method for correcting the judgment threshold of ground medium and a method for detecting ground medium.
- Chinese patent 2019102688381 discloses a carpet detection method. Specifically, a sound sensor is used to collect the sound reflected by the ground medium and from the main brush and fan inside the robot when it is running. According to the carpet's absorption effect on the harmonics of different frequency bands in the sound signal The difference is that within the limited range of the response frequency band of the internal circuit of the sound sensor, the amplitude value of the high-frequency component with obvious absorption and scattering of the carpet is selected and compared with the preset threshold value as the reference amplitude value to complete the carpet detection.
- the present invention adds a sound transmitter on the basis of Chinese patent 2019102688381, and cooperates with the detection information of the sound receiver to modify the parameters of the ground medium detection, thereby avoiding After the mobile robot starts to detect the ground medium, there is a misjudgment.
- the specific technical solution is as follows: a method for correcting the judgment threshold of the ground medium.
- the correction method is used to control the mobile robot equipped with a sound transmitter and a sound receiver in During the process of starting the movement, the parameters for detecting the ground medium are corrected; the correction method includes: Step 1.
- Step 2 After determining the first detection result, stop the sound transmitter to emit sound signals, and only control the sound receiver to receive the sound signals, and then determine the current ground medium according to the relationship between the frequency domain conversion result of the received sound signal and the second preset judgment threshold.
- the detection result to be adjusted among them, the second preset judgment threshold value supports adjustment and correction, and the detection result to be adjusted is the type information of the current ground medium;
- This technical solution modifies the second preset judgment threshold according to the similarities and differences between the first detection result and the detection result to be adjusted, so that in the process of detecting the current ground medium, the revised judgment threshold is used in the subsequent detection of the ground medium, and only the sound reception is turned on
- the device can not only solve the noise problem caused by the machine's active transmission and reception of sound, but also solve the problem of inaccurate sound analysis caused by the long-term aging of the machine, and avoid misjudgment in the process of detecting the ground medium after the mobile robot is started.
- the method for determining the first detection result of the current terrestrial medium according to the relationship between the amplitude of the received sound signal and the first preset judgment threshold includes: The amplitude of the signal to be measured at the first preset frequency is extracted from the sound signal; it is determined whether the amplitude of the signal to be measured at the first preset frequency is less than the first preset judgment threshold, and if yes, the current ground medium is determined
- the first detection result is carpet, otherwise it is determined that the first detection result of the current ground medium is a hard floor; wherein, the first preset judgment threshold is used to measure the impact of the current ground medium on the first preset frequency
- the attenuation capability of the signal under test; the sound signal with the first preset frequency is a sound wave signal with a special frequency modulated and emitted by the sound transmitter.
- This technical solution detects the ground medium by receiving and analyzing the sound signal of the first preset frequency emitted by the sound transmitter and reflected by the ground medium, and uses the attenuation of the sound signal of a specific frequency in the ground medium to detect the ground medium, and overcome the aging zone of mechanical operation The impact of the change noise.
- the method for determining the detection result of the current ground medium to be adjusted according to the relationship between the result of the frequency domain transformation of the received sound signal and the second preset judgment threshold includes: controlling the step 2 performs frequency domain transformation on the received sound signal, and then extracts the amplitude value of the frequency domain signal to be measured at the second preset frequency; judges whether the amplitude value of the frequency domain signal to be measured at the second preset frequency is smaller than the first 2.
- the preset judgment threshold if yes, it is determined that the detection result of the current floor medium to be adjusted is a carpet, otherwise it is determined that the detection result of the current floor medium to be adjusted is a hard floor; wherein the second preset judgment threshold is used for It measures the attenuation ability of the current ground medium to the sound signal in the high frequency band; the second preset frequency is the high frequency component in the response frequency band obtained by the sound signal received in real time by the sound receiver after frequency domain transformation.
- the method for modifying the second preset judgment threshold includes: when the first detection result is a carpet, and the detection result to be adjusted is a hard floor, increasing the second preset judgment threshold Set the judgment threshold until the amplitude value of the frequency-domain signal to be measured at the second preset frequency is less than the second preset judgment threshold, so that the detection result to be adjusted obtained in step 2 is judged to be equal to The first detection result is the same; when the first detection result is a carpet, and the detection result to be adjusted is a carpet, keep the second preset judgment threshold unchanged, so that returning to the step 2 to obtain the waiting The adjustment detection result remains unchanged; when the first detection result is a hard floor and the to-be-adjusted detection result is a carpet, the second preset judgment threshold is reduced until the second preset frequency is to be tested The amplitude value of the frequency domain signal is greater than the second preset judgment threshold, so that the detection result to be adjusted obtained in step 2 is judged to be the same as the first detection result; when the first detection result is a carpet
- this technical solution compares the first detection result with the to-be-detected result, and corrects the first detection result when only the sound receiver is controlled to passively receive the sound signal.
- the judgment threshold is preset, so that the judgment threshold adapts to the influence brought by the change state of the noise generated by the current machine operation.
- a detection method for ground medium is used to control a mobile robot equipped with a sound transmitter and a sound receiver to detect the ground medium during the movement, wherein the mobile robot starts to detect the ground medium after being started;
- the detection method includes : Step S1, control the mobile robot to execute the aforementioned correction method; step S2, when the aforementioned first detection result is the same as the aforementioned detection result to be adjusted, use the detection result to be adjusted as the effective detection result of the current ground medium, and then return to the The step 1; step S3, determine whether the first detection result obtained in step 1 is the same as the current effective detection result of the ground medium, if yes, continue to perform the step 2 and combine the detection result to be adjusted obtained in the step 2 Update the effective detection result of the current ground medium; otherwise, continue to perform the step 2 and the step 3; wherein the effective detection result of the current ground medium is the detection result that affects the mobile robot's current movement strategy on the ground medium .
- the mobile robot From the start of the mobile robot to the subsequent process of crossing different ground media, it dynamically adjusts the preset judgment threshold on the basis of determining the first detection result, overcomes the influence of the sound difference caused by the aging of the machine, and adapts to various Under the aging state of the machine, accurately detect and identify whether the current floor medium is a carpet, and then control the mobile robot to avoid the carpet in real time during the cleaning operation.
- the method of continuing to perform step 2 and step 3 otherwise, and then returning to step S2 includes: when the first detection result is a carpet, and the to-be-adjusted detection result is a hard floor, increasing the The second preset judgment threshold value, until the amplitude value of the frequency domain signal to be measured at the second preset frequency is less than the second preset judgment threshold value, and then return to the step 2 to determine that the detection result to be adjusted is determined by the hard
- the floor becomes a carpet, and the carpet is used as the effective detection result of the current floor medium; when the first detection result is a carpet and the detection result to be adjusted is a carpet, the second preset judgment threshold is kept unchanged, And use carpet as the effective detection result of the current floor medium; when the first detection result is a hard floor and the detection result to be adjusted is a carpet, the second preset judgment threshold is reduced until the first 2.
- the amplitude value of the frequency domain signal to be measured at the preset frequency is greater than the second preset judgment threshold, and then returns to the step 2 to determine that the detection result to be adjusted is changed from carpet to hard floor, and hard floor is used as the The current effective detection result of the ground medium; when the first detection result is a hard floor, and the to-be-adjusted detection result is a hard floor, keep the second preset judgment threshold unchanged, and use the hard floor as the current Effective detection result of ground medium.
- this technical solution uses the first detection result of the X-inch ratio and the result to be detected, and when only the sound receiver is controlled to passively receive the sound signal, the correction
- the second preset judgment threshold makes the result to be detected adapt to the influence of the noise change state generated by the current machine operation, and improves the detection and recognition ability of the mobile robot on the ground medium under various machine aging states.
- Fig. 1 is a flowchart of a method for correcting a judgment threshold of a ground medium according to an embodiment of the present invention.
- Fig. 2 is a flowchart of a method for correcting the judgment threshold of a ground medium according to another embodiment of the present invention.
- Fig. 3 is a flowchart of a ground medium detection method provided by an embodiment of the present invention.
- the embodiment of the present invention provides a method for correcting the judgment threshold of the ground medium, which is used to control a mobile robot equipped with a sound transmitter and a sound receiver to correct the parameters used for detecting the ground medium during the process of just starting to move, To adapt to the current aging state of the machine.
- the present invention adds a sound transmitter on the basis of Chinese patent 2019102688381, and coordinates the detection information of the sound receiver to modify the parameters of detecting the ground medium, so as to avoid misjudgment in the process of detecting the ground medium after the mobile robot is started.
- the sound transmitter The sound receiver is installed on the chassis of the mobile robot, and the sensor is used to detect the audio signal, and then the audio signal is analyzed by the processor.
- the sound transmitter and the sound receiver are separated from each other by a sound insulation structure to strengthen the ground medium
- the detection effect of reflected sound and at the same time, they are also separated from the chassis of the external mobile robot by the sound insulation material, so as to avoid the influence of body conduction noise.
- the mobile robot When the mobile robot is used for cleaning, it produces loud sounds by rotating the main brush (fan). These sounds are on hard floors such as ceramic tiles.
- the high-frequency signals of the sound are relatively rich and the amplitude is relatively large. , The high-frequency signal of the sound is suppressed, and at the same time, the overall sound amplitude is also reduced, which is received by the sound receiver through ground reflection and body conduction. Therefore, this embodiment uses these features to distinguish whether the floor medium is a carpet.
- various motors and mechanical components will age, and the environment will also change. At this time, the audio signal collected by the sound receiver will change accordingly, which is prone to error detection.
- the embodiment of the present invention provides a method for correcting the judgment threshold of the ground medium when the mobile robot has just started to move, as shown in Fig.
- it specifically includes: step S101, controlling the sound transmitter to emit a sound signal of a first preset frequency, and at the same time controlling the sound receiver to receive the sound signal, and then extracting and analyzing the amplitude of the sound signal at the first preset frequency and The relationship of the first preset judgment threshold is used to determine the first detection result of the current ground medium, and then step S102 is entered, where the first preset judgment threshold is a fixed empirical value obtained from an experimental test, and the first detection result is the type of the current ground medium information.
- the absorption effect of the carpet is obvious, resulting in a reduction in the amplitude of the reflected signal; while the absorption of hard ground is less, so by comparing the amplitude of the reflected signal received by the sound receiver
- the size relationship with the first preset judgment threshold can distinguish carpets and hard floors.
- the sound signal at the first preset frequency extracted by the sound receiver is dominated by the sound signal of the first preset frequency emitted by the sound transmitter, but the influence of other external noises with the same frequency is not excluded.
- the sound signal of the preset frequency is the sound wave signal of the special frequency that is modulated and transmitted by the sound transmitter, so the sound signal of the first preset frequency transmitted from the outside world is very small.
- the sound signal at the first preset frequency is extracted and analyzed.
- the ground medium is detected for the first time It is not affected by the sound generated by the main brush and fan inside the mobile robot during operation, but it is not ruled out that a small amount of additional noise in addition to the machine running noise will be caused.
- Step S102 After determining the first detection result, stop the sound transmitter from emitting sound signals, and only control the sound receiver to receive the sound signals, and then determine the current state according to the relationship between the frequency domain transformation result of the received sound signal and the second preset judgment threshold.
- the detection result of the ground medium to be adjusted then proceeds to step S103, where the second preset judgment threshold supports adjustment and correction, and the detection result to be adjusted is the type information of the current ground medium; the current ground medium is determined by the first detection in step S101 Type, this result is not affected by the sound generated by the main brush and fan inside the mobile robot, but it does not rule out that the sound transmitter will bring a small amount of additional noise in addition to the machine running noise, so the first test is completed After that, the sound transmitter is stopped to emit sound signals, and only the sound receiver is controlled to receive the sound signals.
- the sound transmitter that is turned off will not emit the sound signal of the first preset frequency, so as to avoid noise pollution to human ears.
- the sound receiver collects a segment of sound after the mobile robot is started as a sample for analysis. At this time, the collected sound signal mainly comes from the noise of the main brush of the machine.
- the mobile robot Since the mobile robot has a small moving distance, it can be considered that the ground material has not changed, that is, it has not moved from hard ground to carpet, or from carpet to hard ground, and then detects the ground medium again by analyzing the received sound signal. Transform the received sound signal in the frequency domain, then extract the amplitude value of the frequency domain signal to be measured at the second preset frequency from the frequency domain, and determine the current ground based on the relationship between the amplitude value and the second preset judgment threshold The test result of the medium to be adjusted.
- the mobile robot is used as a cleaning robot, and the cleaning robot is equipped with cleaning components on the chassis, such as a main brush for garbage collection and a built-in fan for dust collection. It is easy to damage the carpet during ground operation, so the mobile robot needs to detect and recognize the ground medium when it just starts to move.
- the sound generated by the main brush and fan inside the mobile robot during operation will be transmitted to the ground and be reflected.
- the sound generated by the main brush and fan operation has a larger amplitude and is dominant. Therefore, Stop the sound transmitter from emitting sound signals, and only control the sound receiver to receive the sound signals. What is acquired is the sound signal that is transmitted to the ground and reflected back to the sound receiver when the main brush and fan inside the mobile robot are running.
- Step S103 Determine whether the first detection result is the same as the detection result to be adjusted. If yes, keep the second preset judgment threshold unchanged; otherwise, modify the second preset judgment threshold, and then return to step S102 to return to the step S102 to detect the same in real time.
- the detection result to be adjusted obtained by the sound signal reflected on the ground medium is judged to be consistent with the first detection result. If it is judged that the first detection result is not the same as the detection result to be adjusted, first modify the second preset judgment threshold to be smaller than the frequency domain transform result of the currently received sound signal, and then return to step 2 to determine the detection result to be adjusted;
- the second preset judgment threshold is corrected according to the adjustable margin, and then returns to step 2 to compare with the frequency domain transformation result of the sound signal received in real time.
- the second preset judgment threshold is an adjustable margin
- the adjustable margin is an empirical range value obtained by experimental testing in a certain proportion according to the frequency domain conversion result of the received sound signal, which can improve the accuracy of subsequent correction results ⁇ ;
- the initial value of the second preset judgment threshold is set in the factory state of the machine.
- the first detection result can be considered as the ground medium pre-detection result obtained by the sound transmitter by actively transmitting the sound signal for detecting the first preset frequency.
- This additional noise is the sound signal of the first preset frequency, which is noise to the human ear; on the other hand, the source of the detection result of the ground medium to be adjusted It is obtained by analyzing the frequency spectrum of the sound generated by the main brush and fan during the operation of the machine.
- the state of the machine changes (aging) the operation of the above-mentioned machine will change.
- the high frequency band obtained by the spectrum analysis The signal amplitude value is compared with the fixed judgment threshold value preset at the factory, and the detection result of the ground medium to be detected cannot be applicable to all situations. Therefore, the second preset judgment threshold value used in this embodiment needs to be based on the ground The current pre-detection result of the medium and the current re-detection result of the ground medium are corrected so that the detection result obtained under the revised preset judgment threshold condition is consistent with the first detection result, so that the second preset judgment threshold is adapted to the current machine Aging state.
- the embodiment of the present invention corrects the second preset judgment threshold for the similarities and differences between the first detection result and the detection result to be adjusted, so that in the process of detecting the current ground medium, the revised judgment threshold can solve the sound analysis caused by the long-term aging of the machine
- the problem of inaccuracy prevents misjudgment in the process of detecting the ground medium after the mobile robot is started.
- the second preset judgment threshold is used to judge the sound
- the sound signal collected by the receiver can determine the type of the ground medium, and reduce the noise pollution of the human ear caused by the audio signal of the first preset frequency emitted by the sound transmitter.
- the sound receiver may be a MEMS microphone or an electret microphone; the sound transmitter may be a buzzer, specifically a piezoelectric ceramic buzzer.
- the correction method is used to control a mobile robot equipped with a sound transmitter and a sound receiver to detect ground media during the process of just starting to move, and specifically includes: step S201, controlling the station The sound transmitter emits the sound signal of the first preset frequency; at the same time, the sound receiver is controlled to receive the sound signal, and then the received sound signal is transmitted to the band pass filter, and the band pass filter extracts the first A signal to be measured with a preset frequency, and the amplitude of the signal to be measured at the first preset frequency is extracted therefrom, and then step S202 is entered.
- the sound signal of the first preset frequency is a sound wave signal of a special frequency modulated and emitted by the sound transmitter, it has the characteristic of specificity and is not easily affected by the changing noise caused by the aging state of various machines. Therefore, the sound signal of the first preset frequency transmitted from the outside world is very small, and it is not affected by the sound generated by the main brush and fan inside the mobile robot. However, it is not ruled out that it will cause a small amount of noise in addition to machine operation.
- the sound signal of the first preset frequency is noise for people.
- Step S202 Determine whether the amplitude of the signal to be measured at the first preset frequency is less than the first preset judgment threshold, if yes, go to step S203, otherwise go to step S204.
- the amplitude of the sound signal collected by the sound receiver is relatively stable, and the amplitude of the signal to be measured at the first preset frequency extracted by reflection on the hard ground is significantly higher than that of the carpet, so the first A preset judgment threshold is used to distinguish.
- the first preset judgment threshold is used to measure the attenuation ability of the ground medium to the frequency domain signal to be measured at the first preset frequency, and extract and analyze the sound signal of the first preset frequency that is not affected by the The main brush inside the mobile robot and the sound generated by the fan during operation are described. Therefore, the first preset judgment threshold here may be a preset fixed threshold.
- Step S203 Determine that the first detection result of the current floor medium is a carpet, and then proceed to step S205.
- the attenuation amplitude of the reflected signal of the sound signal is greater than the first preset judgment threshold due to the obvious absorption effect of the carpet;
- the sound wave absorbed by the floor is small, so the attenuation amplitude of the reflected signal of the sound signal is smaller than the first preset judgment threshold.
- Step S205 Control the sound transmitter to turn off and at the same time control the sound receiver to receive the sound signal, and then go to step S207.
- the sound receiver is used to collect a segment of sound after the mobile machine is started as a sample for analysis. At this time, the collected sound signal mainly comes from the noise reflected by the main brush of the machine on the ground, and does not generate the first preset frequency. The sound signal reduces noise pollution.
- Step S207 Control the sound signal received in step S205 to perform frequency domain transformation, and then extract the amplitude value of the frequency domain signal to be measured at the second preset frequency. Then the analyzed samples are transformed in the frequency domain to extract the amplitude value of the frequency domain signal to be measured at the second preset frequency, and then step S209; in this embodiment, the sound signal collected by the sound receiver is continuous in the time domain
- the analog waveform formed by the superposition of harmonics includes an infinite number of sine waves superimposed and synthesized.
- each sine wave decomposed in the time domain corresponds to a frequency component in the frequency domain
- Each frequency component has a corresponding amplitude value
- the high frequency component is used as a subsequent step to determine the first preset frequency of the ground medium.
- the second preset frequency is selected as 6KHz, and the reason for selecting 6KHz is high
- the amplitude of the frequency part is small and discretely distributed, and the limit of the allowable error range of the response frequency band of the sound receiver needs to be considered. Ensure that the amplitude values of the extracted high-frequency components are valid.
- Step S209 Determine whether the amplitude value of the frequency domain signal to be measured at the second preset frequency obtained in step S207 is less than the second preset judgment threshold, if yes, go to step S212, otherwise go to step S210.
- the second preset judgment threshold is a variable margin set on the basis of the amplitude value of the frequency domain signal to be measured at the second preset frequency, and a change in the mechanical aging state will cause propagation to the The sound signal of the ground medium changes, especially the current amplitude corresponding to the second preset frequency changes relative to the initial amplitude.
- Step S212 Determine that the detection result to be adjusted is a carpet, and the first detection result obtained in step S203 is a carpet, which is the same as the detection result to be adjusted determined in this step, indicating that the current second preset judgment threshold will not be caused by mechanical aging A misjudgment occurs when the noise changes, adapt to the current state of the machine, and then go to step S213.
- Step S213 The second preset judgment threshold is not corrected. Based on the correction method, the detection result when the mobile robot starts to move is determined as: the floor medium is a carpet.
- Step S210 It is determined that the detection result of the current floor medium to be adjusted is a hard floor.
- the first detection result obtained in step S203 is carpet, which is different from the currently determined detection result to be adjusted, indicating that the current first detection result is 2.
- the preset judgment threshold is misjudged due to the noise generated by mechanical aging and is not suitable for the current state of the machine, and then it proceeds to step S211 for adjustment.
- Step S211 Increase the second preset judgment threshold so that the amplitude value obtained in Step S207 is smaller than the increased second preset judgment threshold, and then return to Step S209.
- the amplitude value of the frequency domain signal to be measured at the second preset frequency obtained in step S207 take a ratio greater than 1 to obtain a margin, obtain a modified second preset judgment threshold, and then return to step S205 ( The dashed arrow in Fig. 2 points), re-determine the signal amplitude value newly received by the sound receiver and obtained through frequency domain transformation, so as to correct the detection result to be determined as a carpet.
- This step changes the margin set on the basis of the amplitude value of the frequency domain signal to be measured at the second preset frequency, and the adjusted second preset judgment threshold is higher than that of the frequency domain signal to be measured.
- the frequency band amplitude value has a proportional relationship greater than 1.
- the margin is automatically adjusted as the mechanical aging state changes during the operation of the mobile robot, and the initial margin is obtained through repeated mechanical aging tests and noise tests. It is beneficial to correct the preset judgment threshold to adapt to the current state of the machine and ensure the accuracy of the carpet detection result.
- step S203 detects that the ground medium is For carpet, the amplitude value obtained in step S207 is greater than the second preset judgment threshold, then step S209 judges the to-be-adjusted detection result of the floor medium as a hard floor, but this to-be-adjusted detection result is different from the first detection result of step S203. It means that the set second preset judgment threshold is too low.
- step S211 the second preset judgment threshold should be adjusted to 60 to make it greater than 58, then step S209 will adjust the to-be-adjusted value of the ground medium
- the result of the test is judged to be carpet.
- 60 is the result obtained according to a certain ratio on the basis of 58. It shows that the second preset judgment threshold after the increase is adapted to the current machine state and is not affected by machine aging.
- step S209 judges the to-be-adjusted detection result of the floor medium as a carpet.
- This to-be-adjusted detection result is the same as the first detection result of step S204, indicating that The second preset judgment threshold is adapted to the current machine state and is not affected by machine aging.
- Step S204 Determine that the first detection result of the current ground medium is a hard floor, and then proceed to step S206.
- the attenuation amplitude of the reflected signal of the signal to be measured at the first preset frequency is smaller than the first preset judgment threshold.
- Step S206 Control the sound transmitter to turn off and at the same time control the sound receiver to receive the sound signal, and then go to step S208.
- the sound receiver is used to collect a segment of sound after the mobile machine is started as a sample for analysis. At this time, the collected sound signal mainly comes from the noise reflected by the main brush of the machine on the ground, but there is no waiting for the first preset frequency. Noise pollution caused by measurement signal.
- Step S208 Control the sound signal received in step S206 to perform frequency domain transformation, and then extract the amplitude value of the frequency domain signal to be measured at the second preset frequency. Then the analyzed samples are transformed in the frequency domain to extract the amplitude value of the frequency domain signal to be measured at the second preset frequency, and then go to step S214; in this embodiment, the sound signal collected by the sound receiver is continuous in the time domain
- the analog waveform formed by the superposition of harmonics includes an infinite number of sine waves superimposed and synthesized.
- each sine wave decomposed in the time domain corresponds to a frequency component in the frequency domain
- Each frequency component has a corresponding amplitude value
- the high frequency component is used as a subsequent step to determine the first preset frequency of the ground medium.
- the second preset frequency is selected as 6KHz, and the reason for selecting 6KHz is high
- the amplitude of the frequency part is small and discretely distributed, and the limit of the allowable error range of the response frequency band of the sound receiver needs to be considered. Ensure that the amplitude values of the extracted high-frequency components are valid.
- Step S214 Determine whether the amplitude value of the frequency domain signal to be measured at the second preset frequency obtained in step S208 is less than the second preset judgment threshold value, if yes, go to step S215, otherwise go to step S216.
- the second preset judgment threshold is a variable margin set on the basis of the amplitude value of the frequency domain signal to be measured at the second preset frequency, and a change in the mechanical aging state will cause propagation to the The sound signal of the ground medium changes, especially the current amplitude corresponding to the second preset frequency changes relative to the initial amplitude.
- step S215 it is determined that the detection result to be adjusted is a carpet.
- the first detection result obtained in step S204 is a hard floor, which is different from the detection result determined in step S215 to be adjusted, indicating that the current second preset judgment threshold is Misjudgment occurs due to noise generated by mechanical aging, and it is not adapted to the current state of the machine, and then step S218 is entered.
- Step S218 Decrease the second preset judgment threshold so that the amplitude value obtained in step S208 is smaller than the reduced second preset judgment threshold, and then return to step S214. Or, according to the amplitude value of the frequency domain signal to be measured at the second preset frequency obtained in step S208, take a ratio less than 1 to obtain a margin, obtain a modified second preset judgment threshold, and then return to step S206 (pointed by the dotted line in FIG. 2), re-determine the signal amplitude value newly received by the sound receiver and obtained through frequency domain transformation, so as to correct the detection result to be adjusted to a hard floor.
- This step changes the margin set on the basis of the amplitude value of the frequency domain signal to be measured at the second preset frequency, and the adjusted second preset judgment threshold is higher than that of the frequency domain signal to be measured.
- the frequency band amplitude value has a proportional relationship less than 1.
- the margin is automatically adjusted as the mechanical aging state changes during the operation of the mobile robot, and the initial margin is obtained through repeated mechanical aging tests and noise tests. It is beneficial to correct the preset judgment threshold to adapt to the current state of the machine and ensure the accuracy of the carpet detection result.
- step S216 it is determined that the detection result to be adjusted is a hard floor, and the first detection result obtained in step S204 is a hard floor, which is the same as the detection result to be adjusted determined in this step, indicating that the current second preset judgment threshold will not be due to mechanical Misjudgment occurs due to the changing noise generated by aging, adapts to the current state of the machine, and then proceeds to step S217.
- Step S217 The second preset judgment threshold is not corrected. Based on the correction method, the detection result when the mobile robot starts to move is determined to be: the ground medium is a hard floor.
- this embodiment compares the first detection result with the to-be-detected result, and corrects the first detection result in the case that only the sound receiver is controlled to passively receive the sound signal.
- the judgment threshold is preset, so that the judgment threshold adapts to the influence brought by the change state of the noise generated by the current machine operation.
- the first detection result of the current ground medium provided in the foregoing embodiment is not used as the effective detection result of the mobile robot on the current ground medium, but the detection result to be adjusted obtained after correcting the second preset judgment threshold. As an effective detection result of the mobile robot on the ground medium.
- Another embodiment of the present invention provides a method for detecting ground medium, which is used to control a mobile robot equipped with a sound transmitter and a sound receiver to detect the ground medium during movement, wherein the mobile robot is Start testing the ground medium.
- the basic detection principle of the ground medium detection method and the use of the judgment threshold are the same as those in the foregoing modification method embodiment.
- the detection method includes: step S301, controlling the sound transmitter to transmit a sound signal of a first preset frequency, and at the same time controlling the sound receiver to receive the sound signal, and then, extract and analyze the sound signal at the first preset frequency.
- the relationship between the amplitude of the sound signal and the first preset judgment threshold is used to determine the first detection result of the current ground medium, and then enter step S302, where the first preset judgment threshold is a fixed empirical value obtained from an experimental test, and the first detection result is Type information of the current ground medium. Since the sound signal of the first preset frequency is a sound wave signal of a special frequency that is modulated and emitted by the sound transmitter, there are very few sound signals of the first preset frequency transmitted from the outside world. The sound signal at the first preset frequency is extracted and analyzed for the first time It is detected that the ground medium is not affected by the sound generated when the main brush and fan inside the mobile robot are running.
- step S301 of this embodiment the aforementioned method for correcting the judgment threshold of a ground medium has been executed once, and the first detection result, the revised second preset judgment threshold, and the revised method are retained.
- the detection result to be adjusted after the second preset judgment threshold.
- step S301 determines whether the first detection result of the current ground medium is the same as the last effective detection result, if there is no change in the current ground medium, go to step S303; otherwise, the current ground medium If a change occurs, step S304 is entered, which is equivalent to the need to perform the aforementioned steps S205 to S218 again.
- Step S304 After determining the first detection result, stop the sound transmitter from emitting sound signals, and only control the sound receiver to receive the sound signals, and then determine the current state according to the relationship between the frequency domain transformation result of the received sound signal and the second preset judgment threshold.
- the detection result of the ground medium to be adjusted then proceeds to step S305, where the second preset judgment threshold supports adjustment and correction, and the detection result to be adjusted is the type information of the current ground medium; the current ground medium is determined by the first detection in step S301 Type, this result is not affected by the sound generated by the main brush and fan inside the mobile robot when it is running.
- the collected sound signals are mainly from the noise of the main brush of the machine.
- the moving distance of the mobile robot is relatively small, and it can be considered that the ground material has not changed, that is, it has not moved from hard ground to carpet, or from carpet to hard ground, and then received through analysis
- the sound signal detects the ground medium again, transforms the received sound signal into the frequency domain, and then extracts the amplitude value of the frequency domain signal to be measured at the second preset frequency from the frequency domain, and judges based on the amplitude value and the second preset
- the relationship of the threshold value determines the detection result of the current ground medium to be adjusted.
- Step S305 Determine whether the first detection result is the same as the detection result to be adjusted. If yes, keep the second preset judgment threshold unchanged; otherwise, modify the second preset judgment threshold to return to the step S304 to detect the same ground in real time
- the detection result to be adjusted obtained by the sound signal reflected on the medium becomes consistent with the first detection result, and then step S306 is entered. If it is judged that the first detection result is not the same as the detection result to be adjusted, first modify the second preset judgment threshold to be smaller than the frequency domain transform result of the currently received sound signal, and then return to step S304 to determine the detection result to be adjusted;
- the second preset judgment threshold is corrected according to the adjustable margin, and then returns to step S304 to compare with the frequency domain transformation result of the sound signal received in real time.
- the second preset judgment threshold is an adjustable margin
- the adjustable margin is an empirical range value obtained by experimental testing in a certain proportion according to the frequency domain conversion result of the received sound signal, and the second preset judgment threshold The initial value is set in the factory state of the machine.
- Step S303 Stop the sound transmitter from emitting sound signals, and only control the sound receiver to receive the sound signals, and then determine the current ground medium to be adjusted detection based on the relationship between the frequency domain conversion result of the received sound signal and the second preset judgment threshold As a result, it then proceeds to step S306, where the second preset judgment threshold supports adjustment and correction, and the detection result to be adjusted is the type information of the current ground medium; the first detection in step S301 determines the type of the current ground medium, and this result is not affected. The main brush and fan inside the mobile robot are affected by the sound generated during operation. After completing the first detection, stop the sound transmitter to emit sound signals, and only control the sound receiver to receive sound signals.
- the collected sound signals are mainly from the noise of the main brush of the machine.
- the moving distance of the mobile robot is relatively small, and it can be considered that the ground material has not changed, that is, it has not moved from hard ground to carpet, or from carpet to hard ground, and then received through analysis
- the sound signal detects the ground medium again, transforms the received sound signal into the frequency domain, and then extracts the amplitude value of the frequency domain signal to be measured at the second preset frequency from the frequency domain, and judges based on the amplitude value and the second preset
- the relationship of the threshold value determines the detection result of the current ground medium to be adjusted.
- Step S306 Determine the detection result to be adjusted that is consistent with the first detection result obtained in step S301 as the effective detection result of the current ground medium, and then return to step S301 to continue to complete the detection of the ground medium.
- the effective detection result of the current ground medium is the detection result that affects the mobile robot's movement strategy on the current ground medium.
- the detection result to be adjusted comes from the step S305 executed in the case of crossing different ground media, and the step S303 executed in the case of the same ground medium; when the detection result to be adjusted comes from the case of crossing different ground media
- the detection result to be adjusted is the detection result to be adjusted after the modified judgment threshold obtained from steps S205 to S218 is re-executed, and then the detection result to be adjusted is updated the last time.
- the effective detection result of the ground medium is used as the effective detection result of the current ground medium; when the detection result to be adjusted comes from the step S303 performed under the same ground medium, there is no need to modify the second preset judgment threshold, Directly use the second preset judgment threshold to participate in the execution of step S303 to obtain the detection result to be adjusted, and then update the detection result to be adjusted to the effective detection result of the last ground medium as the effective detection of the current ground medium result.
- the mobile robot may dynamically adjust the preset judgment threshold value from the start of the start to the subsequent crossing of different ground media on the basis of the first detection result to overcome the sound difference caused by the aging of the machine. It is suitable for accurately detecting and identifying whether the current floor medium is carpet under various machine aging states, and then controlling the mobile robot to avoid the carpet in real time during the cleaning operation.
- step S305 when the first detection result is a carpet, and the to-be-adjusted detection result is a hard floor, the second preset judgment threshold is increased until the second preset frequency The amplitude value of the frequency domain signal to be measured is less than the second preset judgment threshold, and then returns to the step S304 to determine that the detection result to be adjusted is changed from a hard floor to a carpet, and the carpet is used as an effective detection for the current ground medium Result; when the first detection result is a carpet, and the detection result to be adjusted is a carpet, keep the second preset judgment threshold unchanged, and use the carpet as the effective detection result of the current floor medium; When the first detection result is a hard floor, and the to-be-adjusted detection result is a carpet, the second preset judgment threshold is reduced until the amplitude value of the frequency-domain signal to be measured at the second preset frequency is greater than the The second preset judgment threshold, and then return to the step S304 to determine that the detection result to be adjusted is changed from
- this embodiment compares the first detection result with the to-be-detected result, and corrects the first detection result in the case that only the sound receiver is controlled to passively receive the sound signal. 2. Preset judgment thresholds, so that the result to be detected adapts to the influence of the noise change state generated by the current machine operation, and improves the detection and recognition ability of the ground medium of the mobile robot under various machine aging states.
Abstract
Description
Claims (7)
- 一种地面介质的判断阈值的修正方法,其特征在于,该修正方法用于控制装配有声音发射器和声音接收器的移动机器人在刚启动移动的过程中修正检测地面介质的参数;该修正方法包括:步骤1、控制声音发射器发射第一预设频率的声音信号,同时控制声音接收器接收声音信号,然后根据所接收的声音信号的幅度与第一预设判断阈值的关系来确定当前地面介质的首次检测结果;其中,第一预设判断阈值是实验测试得到的固定经验值,首次检测结果是当前地面介质的类型信息;步骤2、确定首次检测结果后,停止声音发射器发射声音信号,只控制声音接收器接收声音信号,然后根据所接收的声音信号的频域变换结果与第二预设判断阈值的关系来确定当前地面介质的待调节检测结果;其中,第二预设判断阈值是支持调节修正的,待调节检测结果是当前地面介质的类型信息;步骤3、判断首次检测结果与待调节检测结果是否相同,是则保持第二预设判断阈值不变,否则修正第二预设判断阈值,使得返回步骤2获取的待调节检测结果变为与首次检测结果一致,其中,第二预设判断阈值是一个可调节裕量。
- 根据权利要求1所述修正方法,其特征在于,在所述步骤1中,所述根据所接收的声音信号的幅度与第一预设判断阈值的关系来确定当前地面介质的首次检测结果的方法包括:从所述步骤1所接收的声音信号中提取出所述第一预设频率的待测信号的幅度;判断所述第一预设频率的待测信号的幅度是否小于所述第一预设判断阈值,是则确定当前地面介质的所述首次检测结果是地毯,否则确定当前地面介质的所述首次检测结果是硬地板;其中,所述第一预设判断阈值用于衡量所述当前地面介质对所述 第一预设频率的待测信号的衰减能力;所述第一预设频率的声音信号是声音发射器调制发射的专用频率的声波信号。
- 根据权利要求2所述修正方法,其特征在于,在所述步骤2中,所述根据所接收的声音信号的频域变换结果与第二预设判断阈值的关系来确定当前地面介质的待调节检测结果的方法包括:控制所述步骤2中所接收的声音信号进行频域变换,再提取出第二预设频率的待测频域信号的幅度值;判断第二预设频率的待测频域信号的幅度值是否小于所述第二预设判断阈值,是则确定当前地面介质的所述待调节检测结果是地毯,否则确定当前地面介质的所述待调节检测结果是硬地板;其中,所述第二预设判断阈值用于衡量当前地面介质对高频段的声音信号的衰减能力;所述第二预设频率是所述声音接收器实时接收的声音信号经过频域变换得到的响应频段内的高频分量。
- 根据权利要求3所述修正方法,其特征在于,在所述步骤3中,所述修正第二预设判断阈值的方法包括:当所述首次检测结果是地毯,且所述待调节检测结果是硬地板时,增大所述第二预设判断阈值,直到所述第二预设频率的待测频域信号的幅度值小于所述第二预设判断阈值,使得返回所述步骤2获得到的所述待调节检测结果被判断为与所述首次检测结果相同;当所述首次检测结果是地毯,且所述待调节检测结果是地毯时,保持所述第二预设判断阈值不变,使得返回所述步骤2获得到所述待调节检测结果保持不变;当所述首次检测结果是硬地板,且所述待调节检测结果是地毯时,减小所述第二预设判断阈值,直到所述第二预设频率的待测频域信号的幅度值大于所述第二预设判断阈值,使得返回所述步骤2获得到的所述待调节检测结果被判断为与所述首次检测结果相同;当所述首次检测结果是硬地板,且所述待调节检测结果是硬地板时,保持所述第二预设判断阈值不变,使得返回所述步骤2获得到所述待调节检测结果保持不变;其中,所述第二预设频率的待测频域信号的幅度值是所述声音接收器实时接收并经过频域变换获得的信号幅度值。
- 根据权利要求1所述修正方法,其特征在于,所述可调节裕量与实时处理得到的所述第二预设频率的待测频域信号的幅度值存在比例关系。
- 一种地面介质的检测方法,其特征在于,该检测方法用于控制装配有声音发射器和声音接收器的移动机器人在移动过程中检测地面介质,其中,移动机器人从启动后就开始检测地面介质;该检测方法包括:步骤S1、控制所述移动机器人执行权利要求1至5任一项所述修正方法;步骤S2、在权利要求1至5任一项所述首次检测结果与权利要求1至5任一项所述待调节检测结果相同时,将所述待调节检测结果作为当前地面介质的有效检测结果,再返回权利要求1至5任一项所述步骤1;步骤S3、判断权利要求1至5任一项所述步骤1获取的首次检测结果是否与当前地面介质的有效检测结果是否相同,是则继续执行权利要求1至5任一项所述步骤2,并将所述步骤2获得的待调节检测结果更新当前地面介质的有效检测结果;否则继续执行权利要求1至5任一项所述步骤2和所述步骤3,然后返回步骤S2;其中,当前地面介质的有效检测结果是对所述移动机器人在当前地面介质的移动策略起影响作用的检测结果。
- 根据权利要求6所述检测方法,其特征在于,所述否则继续执行权利要求1至5任一项所述步骤2和所述步骤3,然后返回步骤S2的方法包括:当所述首次检测结果是地毯,且所述待调节检测结果是硬地板时,增大所述第二预设判断阈值,直到所述第二预设频率的待测频域信号的幅度值小于所述第二预设判断阈值,然后返回所述步骤2确定出所述待调节检测结果由硬地板变为地毯,将地毯作为所述当前地面介质的有效检测结果;当所述首次检测结果是地毯,且所述待调节检测结果是地毯时,保持所述第二预设判断阈值不变,并将地毯作为所述当前地面介质的有效检测结果;当所述首次检测结果是硬地板,且所述待调节检测结果是地毯时,减小所述第二预设判断阈值,直到所述第二预设频率的待测频域信号的幅度值大于所述第二预设判断阈值,然后返回所述步骤2确定出所述待调节检测结果由地毯变为硬地板,将硬地板作为所述当前地面介质的有效检测结果;当所述首次检测结果是硬地板,且所述待调节检测结果是硬地板时,保持所述第二预设判断阈值不变,并将硬地板作为所述当前地面介质的有效检测结果。
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AU2019462239B2 (en) | 2023-10-12 |
AU2019462239A1 (en) | 2022-03-03 |
CN110514744B (zh) | 2020-05-05 |
US20220280005A1 (en) | 2022-09-08 |
CN110514744A (zh) | 2019-11-29 |
EP4019964A4 (en) | 2022-09-07 |
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