CN111557619B - Sweeping robot anti-falling method, sweeping robot and computer readable medium - Google Patents
Sweeping robot anti-falling method, sweeping robot and computer readable medium Download PDFInfo
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- CN111557619B CN111557619B CN202010335257.8A CN202010335257A CN111557619B CN 111557619 B CN111557619 B CN 111557619B CN 202010335257 A CN202010335257 A CN 202010335257A CN 111557619 B CN111557619 B CN 111557619B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The invention relates to a falling prevention method for a sweeping robot, the sweeping robot and a computer readable medium, wherein the method comprises the following steps: acquiring pressure values acquired by pressure sensors on a plurality of walking rollers; determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values; if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values; and controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy. According to the invention, the falling risk of the sweeping robot can be judged through the pressure value, and the sweeping robot is prevented from falling in time according to the corresponding falling prevention control strategy, so that the sweeping robot is prevented from being damaged.
Description
Technical Field
The invention relates to the technical field of intelligent household cleaning equipment, in particular to a sweeping robot anti-falling method, a sweeping robot and a computer readable medium.
Background
At present, along with the gradual development and landing of the 5G technology, the development of the Internet of things is very rapid, and the quality of life of people is gradually improved due to the development of the Internet of things. The cleaning robot is really a headache thing, and is absolutely a good news for people with the symptoms of nodules and lazy cancer. Actually in 1996, a vacuum cleaner was published as the sweeping robot, and the sweeping robot is more and more intelligent, so that the sweeping robot has new functions, such as falling prevention by using infrared sensing distance measurement, automatic planning of sweeping paths, laser scanning mapping, sweeping and supporting integration and the like. The technologies bring convenience to people and also bring some potential safety hazards to people.
For example, although the infrared sensing ranging fall prevention method can calculate the distance between the sweeping robot and the ground by using infrared rays to prevent falling, the infrared rays can be absorbed, and particularly when the infrared rays are directly irradiated to a black object, the infrared rays cannot be reflected, so that the sweeping robot can misjudge when calculating the distance, and if the floor of one family is supposed to be dark, the sweeping robot cannot work at all under the condition.
Disclosure of Invention
In order to solve the technical problem of falling of the sweeping robot, the invention provides a sweeping robot anti-falling method, a sweeping robot and a computer readable medium.
In a first aspect, the present invention provides a method for preventing a robot cleaner from falling down, where a plurality of walking rollers of the robot cleaner are respectively provided with a pressure sensor, and the method includes:
acquiring pressure values acquired by pressure sensors on a plurality of walking rollers;
determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values;
if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values;
and controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy.
Optionally, the determining whether the sweeping robot has a falling risk according to the change of the plurality of pressure values includes:
judging whether any pressure value in the pressure values is zero or not, and judging whether pressure values larger than a larger boundary threshold value in a preset normal pressure range exist in the rest pressure values or not, wherein the preset normal pressure range is determined according to the pressure value acquired by a pressure sensor when the sweeping robot walks on a plane;
if any pressure value in the pressure values is zero and the pressure values larger than the larger boundary threshold value exist in the rest pressure values, calculating the sum of the pressure values;
and if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
Optionally, determining a corresponding anti-falling control strategy according to the plurality of pressure values includes:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a universal roller, determining a preset backward control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
Optionally, determining a corresponding anti-falling control strategy according to the plurality of pressure values includes:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a driving roller, determining a preset alarm control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling the alarm module to give an alarm.
Optionally, determining whether the sweeping robot has a falling risk according to the change of the plurality of pressure values further includes:
if the pressure value which is zero does not exist in the pressure values, determining whether the pressure value which is smaller than a smaller boundary threshold value in a preset normal pressure range exists in the pressure values, and determining whether the pressure value which is larger than a preset steep slope pressure threshold value exists in the rest pressure values, wherein the preset steep slope pressure threshold value is determined according to the pressure value which is collected by a pressure sensor when the sweeping robot climbs a steep slope, and the preset steep slope pressure threshold value is larger than the larger boundary threshold value;
if the pressure values smaller than the smaller boundary threshold value exist in the pressure values, and the pressure values larger than a preset steep slope pressure threshold value exist in the rest pressure values, calculating the sum of the pressure values;
and if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
Optionally, determining a corresponding anti-falling control strategy according to the plurality of pressure values includes:
determining a preset back control strategy as an anti-falling control strategy;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
Optionally, when a preset reverse control strategy is used as the fall prevention control strategy, the method further includes:
and if the pressure value output by the pressure sensor positioned on the universal roller is still zero after a preset time period, controlling an alarm module to give an alarm.
In a second aspect, the present invention provides a sweeping robot, comprising: a plurality of pressure sensors, a processor, a communication interface, a memory, and a communication bus;
the processor, the communication interface and the memory are communicated with each other through a communication bus; the memory has stored therein a computer program operable on the processor, which when executed by the processor performs the steps of the method of the first aspect.
Optionally, the pressure sensor is arranged at the upper connection part of the roller and the transmission mechanism.
In a third aspect, the invention provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
according to the method provided by the embodiment of the invention, pressure values acquired by pressure sensors on a plurality of walking rollers are acquired; determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values; if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values; and controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy.
According to the embodiment of the invention, whether the sweeping robot has a falling risk or not can be determined according to the obtained change condition of the plurality of pressure values, if the sweeping robot has the falling risk, the type of the falling risk can be determined according to the plurality of pressure values, so that the falling prevention control strategy corresponding to the type of the falling risk is determined, and the sweeping robot is controlled to execute the corresponding falling prevention action according to the falling prevention control strategy, therefore, the falling risk of the sweeping robot can be judged through the pressure values, the sweeping robot is prevented from falling in time according to the corresponding falling prevention control strategy, and the damage of the sweeping robot is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a method for preventing a robot cleaner from falling down according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for preventing a robot cleaner from falling down according to another embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for preventing a robot cleaner from falling down according to another embodiment of the present invention;
fig. 4 is a structural diagram of a sweeping robot according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Although the infrared sensing distance measurement falling prevention method can be used for calculating the distance between the sweeping robot and the ground by using infrared rays to prevent falling, the infrared rays can be absorbed, and particularly when the infrared rays are directly irradiated to a black object, the infrared rays cannot be reflected, so that the sweeping robot can judge by mistake when the distance is calculated, and the sweeping robot cannot work under the condition if the floor of one family is supposed to be dark. Therefore, the method provided by the embodiment of the invention can be applied to a sweeping robot, as shown in fig. 1, a plurality of walking rollers of the sweeping robot are respectively provided with a pressure sensor, and the method for preventing the sweeping robot from falling down can include the following steps:
step S101, acquiring pressure values acquired by pressure sensors on a plurality of walking rollers;
in the embodiment of the invention, the walking rollers can be movable rollers of the sweeping robot, and the sweeping robot can be provided with a plurality of walking rollers, so that the pressure sensors can be respectively arranged on the walking rollers of the sweeping robot to respectively obtain the pressure value at each movable roller.
Illustratively, the robot of sweeping the floor has 3 walking gyro wheels, sets up pressure sensor respectively on 3 walking gyro wheels, acquires the pressure value of each activity gyro wheel department respectively.
In the step, after the pressure sensors are respectively arranged on the plurality of walking rollers of the sweeping robot, the pressure value collected by the pressure sensor on each walking roller is obtained.
Step S102, determining whether the sweeping robot has a falling risk or not according to the change situation of the pressure values;
in the embodiment of the invention, the falling risk refers to the risk that the sweeping robot may fall from a high place, and the falling risk may be of the type of climbing a steep obstacle or falling from a stair.
Illustratively, whether the sweeping robot has a falling risk is determined according to the change situation of the 3 pressure values.
In the step, the change situation of the pressure values is judged according to the obtained pressure values, and then whether the sweeping robot has the falling risk or not is determined.
Step S103, if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values;
in the embodiment of the invention, the anti-falling control strategy refers to a control strategy for preventing the robot from falling, and exemplarily includes controlling a walking roller of the sweeping robot to keep still, retreat or give an alarm.
In the step, if the sweeping robot has a falling risk, determining the type of the falling risk of the sweeping robot according to a plurality of pressure values, and determining a corresponding anti-falling control strategy.
And step S104, controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy.
In the step, different anti-falling strategies correspond to different anti-falling actions, so that the sweeping robot is controlled to execute the corresponding anti-falling actions according to the anti-falling control strategy.
According to the method provided by the embodiment of the invention, pressure values acquired by pressure sensors on a plurality of walking rollers are acquired; determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values; if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values; and controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy.
According to the embodiment of the invention, whether the sweeping robot has a falling risk or not can be determined according to the obtained change condition of the plurality of pressure values, if the sweeping robot has the falling risk, the type of the falling risk is determined according to the plurality of pressure values, so that the falling prevention control strategy corresponding to the type of the falling risk is determined, and the sweeping robot is controlled to execute the corresponding falling prevention action according to the falling prevention control strategy, therefore, the falling risk of the sweeping robot can be judged according to the pressure values, the sweeping robot is prevented from falling in time according to the corresponding falling prevention control strategy, and the damage of the sweeping robot is avoided.
On the basis of the above embodiment, the present invention further provides a method for preventing a robot cleaner from falling off, as shown in fig. 2, step S102 includes:
step S201, judging whether any pressure value in the pressure values is zero, and whether pressure values larger than a larger boundary threshold value in a preset normal pressure range exist in the rest pressure values, wherein the preset normal pressure range is determined according to the pressure values collected by a pressure sensor when the sweeping robot walks on a plane;
in the embodiment of the invention, because different sweeping robots have different structures, and pressure values acquired by the pressure sensor when the sweeping robot walks on a plane are also different, a preset normal pressure range needs to be determined according to the different sweeping robots, and the preset normal pressure range is 2 (newton) -3 (newton) exemplarily.
Illustratively, there are 3 pressure values in total, the 1 st pressure value is zero (newton), the 2 nd and 3 rd pressure values are both 4 (newton), it is determined whether any pressure value in the 3 pressure values is zero, and whether a pressure value greater than the larger boundary threshold value 3 (newton) in the preset normal pressure range exists in the remaining 2 pressure values, in this step, it is determined whether any pressure value in the plurality of pressure values is zero, and whether a pressure value greater than the larger boundary threshold value in the preset normal pressure range exists in the remaining pressure values.
Step S202, if any pressure value in the pressure values is zero and the pressure values larger than the larger boundary threshold value exist in the rest pressure values, calculating the sum of the pressure values;
illustratively, since the 1 st pressure value is zero (newton), the 2 nd and 3 rd pressure values are both 4 (newton), and are greater than the larger boundary threshold of 3 (newton) in the preset normal pressure range, the sum of the 3 pressure values is calculated: zero (newton) +4 (newton) ═ 8 (newton).
In this step, if any pressure value in the plurality of pressure values is zero and the pressure values greater than the larger boundary threshold value exist in the rest of the pressure values, the sum of the plurality of pressure values is continuously calculated, and whether the sweeping robot has a falling risk is further judged.
And S203, if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
In the embodiment of the present invention, the preset planar total pressure range value is a value within a planar total pressure range set by a system, and for example, the preset planar total pressure range value is a value within a planar total pressure range from 6 (newton) to 7 (newton).
Illustratively, the fact that the sum of 8 (newton) is larger than the value in the preset plane total pressure range from 6 (newton) to 7 (newton) determines that the sweeping robot has the falling risk.
In the step, the sum is compared with a preset plane total pressure range value, and if the sum is larger than the preset plane total pressure range value, the sum is larger than the maximum value of the preset plane total pressure range, and the fact that the sweeping robot has a falling risk is determined.
The method provided by the embodiment of the invention judges whether any pressure value in the pressure values is zero, and whether pressure values larger than a larger boundary threshold value in a preset normal pressure range exist in other pressure values, if any pressure value in the pressure values is zero, and the pressure values larger than the larger boundary threshold value exist in other pressure values, the sum of the pressure values is calculated; and if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk, and therefore determining that the sweeping robot has a falling risk through the sum of the pressure value and the pressure value.
On the basis of the above embodiment, the present invention further provides a robot floor sweeping anti-falling method, wherein step S103 includes:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a universal roller, determining a preset backward control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
in the embodiment of the invention, the sweeping robot is assumed to have 3 walking rollers, namely 1 universal roller at the front part of the sweeping robot and 2 driving rollers at the rear part of the sweeping robot;
establishing a preset pressure strategy corresponding relation table 1 according to multiple experiments:
TABLE 1
Illustratively, if the walking roller where the pressure sensor outputting the pressure value of zero is located is a front universal roller, that is, the universal roller is suspended, it can be known from the look-up table 1 that the preset back-up control strategy is determined as the anti-drop control strategy according to the preset pressure strategy corresponding relationship.
In this step, if the walking roller where the pressure sensor outputting the pressure value of zero is located is the universal roller, the preset backward control strategy where the walking roller where the pressure sensor outputting the pressure value of zero is located is the universal roller is determined as the anti-falling control strategy according to the preset pressure strategy corresponding relationship.
Step S104 includes:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
Illustratively, when the universal rollers of the sweeping robot are suspended, the other 2 driving rollers of the sweeping robot are controlled to rotate reversely.
In the step, when the universal idler wheel at the front part of the sweeping robot is suspended, the plurality of walking idler wheels of the sweeping robot are controlled to rotate reversely, so that the suspended universal idler wheel is separated from a suspended state.
According to the method provided by the embodiment of the invention, if the walking roller where the pressure sensor with the output pressure value of zero is located is the universal roller, the preset back control strategy is determined as the falling prevention control strategy according to the corresponding relation of the preset pressure strategy, and the plurality of walking rollers of the sweeping robot are controlled to rotate reversely, so that the plurality of walking rollers of the sweeping robot can be controlled to rotate reversely through the determined falling prevention control strategy, and the sweeping robot is prevented from falling.
On the basis of the above embodiment, the present invention further provides a robot floor sweeping anti-falling method, wherein step S103 includes:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a driving roller, determining a preset alarm control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
illustratively, if the walking roller where the pressure sensor outputting the pressure value of zero is located is the driving roller at the rear part, that is, the driving roller is suspended, it can be known from the look-up table 1 that the preset alarm control strategy is determined as the anti-falling control strategy according to the preset pressure strategy corresponding relation.
In this step, if the walking roller where the pressure sensor outputting the pressure value of zero is located is the driving roller, the preset alarm control strategy, in which the walking roller where the pressure sensor outputting the pressure value of zero is located is the driving roller, is determined as the anti-falling control strategy according to the preset pressure strategy corresponding relationship.
Step S104 includes:
and controlling the alarm module to give an alarm.
For example, when the driving roller of the sweeping robot is suspended, the alarm module of the sweeping robot is controlled to give an alarm, and the alarm can be a voice alarm, a flashing prompt lamp or the like.
In the step, when the driving roller at the rear part of the sweeping robot is suspended, the alarm module of the sweeping robot is controlled to give an alarm to remind a user of processing in time.
According to the method provided by the embodiment of the invention, if the walking roller where the pressure sensor with the output pressure value of zero is located is the driving roller, the preset alarm control strategy is determined as the falling prevention control strategy according to the corresponding relation of the preset pressure strategy, and the alarm module is controlled to give an alarm, so that the alarm module of the sweeping robot can be controlled to give an alarm through the determined falling prevention control strategy, a user is reminded to process the alarm in time, and the sweeping robot is prevented from falling.
On the basis of the above embodiment, the present invention further provides a method for preventing a robot cleaner from falling off, as shown in fig. 3, step S102 further includes:
step S301, if a pressure value which is zero does not exist in the pressure values, determining whether a pressure value which is smaller than a smaller boundary threshold value in a preset normal pressure range exists in the pressure values, and determining whether a pressure value which is larger than a preset steep slope pressure threshold value exists in the rest pressure values, wherein the preset steep slope pressure threshold value is determined according to the pressure value which is collected by a pressure sensor when the sweeping robot climbs a steep slope, and the preset steep slope pressure threshold value is larger than the larger boundary threshold value;
in the embodiment of the present invention, the preset steep slope pressure threshold is determined according to a pressure value collected by the pressure sensor when the sweeping robot climbs a steep slope, and the preset steep slope pressure threshold is greater than a larger boundary threshold in a preset normal pressure range, for example, the preset steep slope pressure threshold is 4 (newtons).
Illustratively, there are 3 pressure values in total, the 1 st pressure value is 1 (newton), the 2 nd and 3 rd pressure values are both 4.5 (newton), the preset normal pressure range is 2 (newton) -3 (newton), it is determined whether a pressure value smaller than the smaller boundary threshold value 2 (newton) in the preset normal pressure range exists in the 3 pressure values, and whether a pressure value larger than the preset steep slope pressure threshold value 4 (newton) exists in the remaining pressure values.
In this step, if there is no pressure value that is zero among the plurality of pressure values, it is determined whether there is a pressure value that is smaller than a smaller boundary threshold value in a preset normal pressure range among the plurality of pressure values, and whether there is a pressure value that is larger than a preset steep slope pressure threshold value among the remaining pressure values.
Step S302, if a pressure value smaller than the smaller boundary threshold value exists in the pressure values, and a pressure value larger than a preset steep slope pressure threshold value exists in the rest pressure values, calculating the sum of the pressure values;
illustratively, since the 1 st pressure value 1 (newton) is less than the smaller boundary threshold 2 (newton) and the remaining 2 pressure values 4.5 (newton) are each greater than the preset steep pressure threshold 4 (newton), the sum of the 3 pressure values is calculated: 1 (newton) +4.5 (newton) ═ 10 (newton).
In this step, if a pressure value smaller than the smaller boundary threshold value exists in the plurality of pressure values, and a pressure value larger than the preset steep slope pressure threshold value exists in the rest of the pressure values, the sum of the plurality of pressure values is calculated, and whether the sweeping robot has a falling risk is further judged.
And S303, if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
Illustratively, the value of the total pressure range of the preset plane is a value in the range from 6 (newton) to 7 (newton), and the total value of 10 (newton) is greater than the value in the range from 6 (newton) to 7 (newton), so that the sweeping robot is determined to have the risk of falling.
In the step, the sum is compared with a preset plane total pressure range value, and if the sum is larger than the preset plane total pressure range value, the sum is larger than the maximum value of the preset plane total pressure range, and the fact that the sweeping robot has a falling risk is determined.
According to the method provided by the embodiment of the invention, if no pressure value which is zero exists in the pressure values, whether a pressure value which is smaller than a smaller boundary threshold value in a preset normal pressure range exists in the pressure values or not is determined, and whether pressure values which are larger than a preset steep slope pressure threshold value exist in the rest pressure values or not is determined, if the pressure values which are smaller than the smaller boundary threshold value exist in the pressure values and the pressure values which are larger than the preset steep slope pressure threshold value exist in the rest pressure values, the sum of the pressure values is calculated, and if the sum is larger than a preset plane total pressure range value, it is determined that the sweeping robot has a falling risk, so that the falling risk of the sweeping robot can be determined through the sum of the pressure values and the pressure values.
On the basis of the above embodiment, the present invention further provides a robot floor sweeping anti-falling method, wherein step S103 includes:
determining a preset back control strategy as an anti-falling control strategy;
step S104 includes:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
In the step, when the preset reverse control strategy is determined as the anti-falling control strategy, the plurality of walking rollers of the sweeping robot are controlled to rotate reversely according to the reverse control strategy.
According to the method provided by the embodiment of the invention, the preset back control strategy is determined as the falling prevention control strategy, and the plurality of walking rollers of the sweeping robot are controlled to rotate reversely, so that the sweeping robot can be controlled to execute the corresponding falling prevention action through the determined falling prevention control strategy.
On the basis of the above embodiment, the invention further provides a falling prevention method for a sweeping robot, wherein when a preset back control strategy is used as a falling prevention control strategy, the method further comprises the following steps:
and if the pressure value output by the pressure sensor positioned on the universal roller is still zero after a preset time period, controlling an alarm module to give an alarm.
In this step, if the pressure value that is located the pressure sensor output on universal gyro wheel is zero, when universal gyro wheel was suspended, the walking gyro wheel antiport that can control robot of sweeping the floor to make universal gyro wheel break away from unsettled state, if after the predetermined time quantum, the pressure value that is located the pressure sensor output on universal gyro wheel still is zero, explains that universal gyro wheel still is unsettled, so need control alarm module and send the warning.
Illustratively, the preset time period is 5 minutes, and if the pressure value output by the pressure sensor on the universal roller is still zero after 5 minutes, the alarm module is controlled to give an alarm.
According to the method provided by the embodiment of the invention, if the pressure value output by the pressure sensor positioned on the universal roller is still zero after the preset time period, the alarm module is controlled to give an alarm, so that a user can be reminded of processing in time, and the sweeping robot is prevented from falling.
In another embodiment of the present invention, there is also provided a sweeping robot, including: the sweeping robot comprises a plurality of pressure sensors, a processor, a communication interface, a memory and a communication bus, wherein the pressure sensors are respectively arranged on walking rollers of the sweeping robot, and the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory stores a computer program that can be run on the processor, and the processor executes the computer program to implement the steps of the method of the above-mentioned method embodiments.
On the basis of the above embodiment, the present invention further provides a sweeping robot, including:
the pressure sensor is arranged at the joint of the upper part of the roller and the transmission mechanism.
According to the terminal provided by the embodiment of the invention, the processor acquires the pressure values acquired by the pressure sensors on the plurality of walking rollers by executing the program stored in the memory; determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values; if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values; according to the falling prevention control strategy, the sweeping robot is controlled to execute corresponding falling prevention actions, the falling risk of the sweeping robot is judged according to the pressure value, the sweeping robot is prevented from falling in time according to the corresponding falling prevention control strategy, and the damage of the sweeping robot is avoided.
The communication bus 1140 mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.
The communication interface 1120 is used for communication between the terminal and other devices.
The memory 1130 may include a Random Access Memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The processor 1110 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the integrated circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.
In yet another embodiment of the present invention, there is also provided a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of the method embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (ssd)), among others.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The falling prevention method for the sweeping robot is characterized in that pressure sensors are respectively arranged on a plurality of walking rollers of the sweeping robot, and comprises the following steps:
acquiring pressure values acquired by pressure sensors on a plurality of walking rollers;
determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values;
if the sweeping robot has a falling risk, determining a corresponding falling prevention control strategy according to the pressure values;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy;
the determining whether the sweeping robot has a falling risk according to the change conditions of the pressure values comprises the following steps:
judging whether any pressure value in the pressure values is zero or not, and judging whether pressure values larger than a larger boundary threshold value in a preset normal pressure range exist in the rest pressure values or not, wherein the preset normal pressure range is determined according to the pressure value acquired by a pressure sensor when the sweeping robot walks on a plane;
if any pressure value in the pressure values is zero and the pressure values larger than the larger boundary threshold value exist in the rest pressure values, calculating the sum of the pressure values;
and if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
2. The robot sweeper fall prevention method according to claim 1, wherein determining a corresponding fall prevention control strategy from a plurality of pressure values comprises:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a universal roller, determining a preset backward control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
3. The robot sweeper fall prevention method according to claim 1, wherein determining a corresponding fall prevention control strategy from a plurality of pressure values comprises:
if the walking roller where the pressure sensor with the output pressure value of zero is located is a driving roller, determining a preset alarm control strategy as an anti-falling control strategy according to a preset pressure strategy corresponding relation;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling the alarm module to give an alarm.
4. The robot sweeper fall prevention method according to claim 1, wherein the determining whether the robot sweeper falls at risk according to the variation of the pressure values further comprises:
if the pressure value which is zero does not exist in the pressure values, determining whether the pressure value which is smaller than a smaller boundary threshold value in a preset normal pressure range exists in the pressure values, and determining whether the pressure value which is larger than a preset steep slope pressure threshold value exists in the rest pressure values, wherein the preset steep slope pressure threshold value is determined according to the pressure value which is collected by a pressure sensor when the sweeping robot climbs a steep slope, and the preset steep slope pressure threshold value is larger than the larger boundary threshold value;
if the pressure values smaller than the smaller boundary threshold value exist in the pressure values, and the pressure values larger than a preset steep slope pressure threshold value exist in the rest pressure values, calculating the sum of the pressure values;
and if the sum is larger than the total pressure range value of the preset plane, determining that the sweeping robot has a falling risk.
5. The robot sweeper fall prevention method according to claim 4, wherein determining a corresponding fall prevention control strategy from a plurality of pressure values comprises:
determining a preset back control strategy as an anti-falling control strategy;
controlling the sweeping robot to execute corresponding falling prevention actions according to the falling prevention control strategy, wherein the falling prevention actions comprise:
and controlling a plurality of walking rollers of the sweeping robot to rotate reversely.
6. The robot sweeper fall arrest method according to claim 2, characterized in that, when using a preset back control strategy as fall arrest control strategy, the method further comprises:
and if the pressure value output by the pressure sensor positioned on the universal roller is still zero after a preset time period, controlling an alarm module to give an alarm.
7. A sweeping robot comprising: a plurality of pressure sensors, a processor, a communication interface, a memory, and a communication bus;
the processor, the communication interface and the memory are communicated with each other through a communication bus; stored in the memory is a computer program that can be run on the processor, characterized in that the steps of the method according to any of the preceding claims 1 to 6 are implemented when the computer program is executed by the processor.
8. The sweeping robot of claim 7, wherein a pressure sensor is provided at the upper connection of the roller and the transmission mechanism.
9. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1 to 6.
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| CN114747978B (en) * | 2021-01-11 | 2023-04-14 | 宁波方太厨具有限公司 | Traveling system of cleaning robot |
| CN114750171B (en) * | 2021-01-11 | 2024-02-20 | 宁波方太厨具有限公司 | Walking system of cleaning robot |
| CN113443313B (en) * | 2021-07-13 | 2023-01-10 | 深圳市海柔创新科技有限公司 | Robot falling processing method and device, server and storage medium |
| CN118012031A (en) * | 2022-10-28 | 2024-05-10 | 苏州科瓴精密机械科技有限公司 | Control method and device of robot, robot and storage medium |
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