CN106137042B - The control method and control device of sweeping robot and sweeping robot - Google Patents
The control method and control device of sweeping robot and sweeping robot Download PDFInfo
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- CN106137042B CN106137042B CN201510127536.4A CN201510127536A CN106137042B CN 106137042 B CN106137042 B CN 106137042B CN 201510127536 A CN201510127536 A CN 201510127536A CN 106137042 B CN106137042 B CN 106137042B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 194
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 103
- 239000000428 dust Substances 0.000 claims description 66
- 230000005856 abnormality Effects 0.000 claims description 50
- 238000001514 detection method Methods 0.000 claims description 33
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 238000005406 washing Methods 0.000 claims description 7
- 241001417527 Pempheridae Species 0.000 claims description 5
- 241000208340 Araliaceae Species 0.000 claims description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 244000045410 Aegopodium podagraria Species 0.000 description 2
- 235000007237 Aegopodium podagraria Nutrition 0.000 description 2
- 235000014429 Angelica sylvestris Nutrition 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The invention discloses a kind of control methods of sweeping robot comprising following steps：The perceptibility signal of the gyroscope of the sweeping robot is detected, and detects the running parameter of the round brush of the sweeping robot；According to the switching of the operating mode of sweeping robot described in the operating parameter control of the perceptibility signal of the gyroscope and the round brush, wherein the operating mode includes common cleaning modes and powerful cleaning modes.The control method of the sweeping robot switches the operating mode of sweeping robot by the double check of the running parameter of perceptibility and round brush to gyroscope, greatly improves judging nicety rate, sweeping robot is avoided to malfunction.The invention also discloses a kind of control devices of sweeping robot and a kind of sweeping robot.
Description
Technical field
The present invention relates to Intelligent life technical field of electric appliances, more particularly to a kind of control method of sweeping robot, one kind
The control device of sweeping robot and a kind of sweeping robot with the control device.
Background technology
With the high speed development of science and technology, more and more Intelligent life electric appliances enter huge numbers of families, greatly improve people
Life comfort and convenience.
Currently, dust catcher such as sweeping robot has obtained the favor of users, and sweeping robot is worked
It needs to select cleaning modes according to home environment to meet the needs of users in journey.And sweeping robot one in the related technology
As be that rotating speed by detecting round brush and electric current judge whether current sweeping robot walks on carpet, still, if
There are foreign matters from being blocked, sweeping robot just to will appear erroneous judgement on round brush, to will appear malfunction, influences the use of user.
Invention content
The purpose of the present invention aims to solve at least above-mentioned technological deficiency.
For this purpose, first purpose of the present invention is to propose a kind of control method of sweeping robot, by gyroscope
Perceptibility and the double check of running parameter of round brush switch the operating mode of sweeping robot, greatly improve accuracy of judgement
Rate avoids sweeping robot from malfunctioning.
Second object of the present invention is to propose a kind of control device of sweeping robot.Third object of the present invention
It is to propose a kind of sweeping robot.
In order to achieve the above objectives, a kind of control method for sweeping robot that first aspect present invention embodiment proposes, packet
Include following steps：The perceptibility signal of the gyroscope of the sweeping robot is detected, and detects the round brush of the sweeping robot
Running parameter；According to sweeping robot described in the operating parameter control of the perceptibility signal of the gyroscope and the round brush
The switching of operating mode, wherein the operating mode includes common cleaning modes and powerful cleaning modes.
The control method of sweeping robot according to the ... of the embodiment of the present invention passes through the work of perceptibility and round brush to gyroscope
Make the double check of parameter to control the switching of the operating mode of sweeping robot, such as passes through perceptibility to gyroscope and rolling
The double check of the running parameter of brush can be accurately judged to current sweeping robot walking on carpet or in ground ash
Control sweeping robot is worked with powerful cleaning modes when dirt more region, not only greatly improves judging nicety rate,
Sweeping robot is avoided to malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
According to one embodiment of present invention, when the running parameter of the perceptibility signal of the gyroscope and the round brush is equal
When in normal condition, controls the sweeping robot and worked with the common cleaning modes；When the sense of the gyroscope
When the running parameter of degree of knowing signal and the round brush is in abnormality, the sweeping robot is controlled with the powerful cleaning
Pattern works；When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in
When the abnormality, controls the sweeping robot and worked with the common cleaning modes, and control the sweeper
Device human hair goes out round brush and abnormal prompt message occurs；When the perceptibility signal of the gyroscope is in the abnormality and described
When the running parameter of round brush is in the normal condition, controls the sweeping robot and carry out work with the powerful cleaning modes
Make.
According to one embodiment of present invention, according on the basis of the run time of the sweeping robot or described sweeping the floor
Whether the running parameter of perceptibility signal and the round brush that the gyroscope is judged on the basis of the travel distance of robot is in
The normal condition.
According to one embodiment of present invention, the control method of the sweeping robot further includes：It sweeps the floor described in detection
The sucking amount of dust of robot, wherein when the perceptibility signal of the gyroscope is in the abnormality, the work of the round brush
When making parameter and being in the sucking amount of dust that is continuously detected in the normal condition and preset time and be more than preset value, control
Sweeping robot is stated to work with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in the abnormal shape
State, the round brush running parameter to be in the sucking amount of dust being continuously detected in the abnormality and preset time big
When the preset value, control is stated sweeping robot and is worked with the powerful cleaning modes；When the perception of the gyroscope
Signal is in the normal condition to degree, the running parameter of the round brush is in the abnormality and preset time and persistently detects
When the sucking amount of dust arrived is more than the preset value, control states sweeping robot and carries out work with the powerful cleaning modes
Make；When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, control states sweeping robot with institute
Powerful cleaning modes are stated to work；When the perceptibility signal of the gyroscope is in the abnormality, the work of the round brush
Make parameter be in the sucking amount of dust that is continuously detected in the abnormality and preset time be less than or equal to it is described default
When value, control is stated sweeping robot and is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in
The normal condition, the round brush running parameter be in the suction being continuously detected in the abnormality and preset time
When entering amount of dust less than or equal to the preset value, controls the sweeping robot and worked with the common cleaning modes, and
It controls the sweeping robot and sends out the prompt message that exception occurs in round brush.
In order to achieve the above objectives, a kind of control device for sweeping robot that second aspect of the present invention embodiment proposes, packet
It includes：First detection module, the perceptibility signal of the gyroscope for detecting the sweeping robot；Second detection module, is used for
Detect the running parameter of the round brush of the sweeping robot；Control module, for according to the perceptibility signal of the gyroscope and
The switching of the operating mode of sweeping robot described in the operating parameter control of the round brush, wherein the operating mode includes general
Logical cleaning modes and powerful cleaning modes.
The control device of sweeping robot according to the ... of the embodiment of the present invention detects sweeping robot by first detection module
Gyroscope perceptibility signal and the second detection module detection sweeping robot round brush running parameter, to realize to top
The double check of the perceptibility of spiral shell instrument and the running parameter of round brush, control module is according to the work of perceptibility and round brush to gyroscope
Make the double check of parameter to control the switching of the operating mode of sweeping robot, such as passes through perceptibility to gyroscope and rolling
The double check of the running parameter of brush can be accurately judged to current sweeping robot walking on carpet or in ground ash
Control sweeping robot is worked with powerful cleaning modes when dirt more region, not only greatly improves judging nicety rate,
Sweeping robot is avoided to malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
According to one embodiment of present invention, when the running parameter of the perceptibility signal of the gyroscope and the round brush is equal
When in normal condition, the control module is controlled the sweeping robot and is worked with the common cleaning modes；Work as institute
When the running parameter of the perceptibility signal and the round brush of stating gyroscope is in abnormality, described in the control module control
Sweeping robot is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in the normal condition
And the running parameter of the round brush, when being in the abnormality, the control module controls the sweeping robot with described general
Logical cleaning modes work, and control the sweeping robot and send out the prompt message that exception occurs in round brush；When the gyro
When the running parameter that the perceptibility signal of instrument is in the abnormality and the round brush is in the normal condition, the control
Module is controlled the sweeping robot and is worked with the powerful cleaning modes.
According to one embodiment of present invention, on the basis of run time of the control module according to the sweeping robot
Or the work of the perceptibility signal and the round brush of the gyroscope is judged on the basis of the travel distance of the sweeping robot
Whether parameter is in the normal condition.
According to one embodiment of present invention, the control device of the sweeping robot further includes third detection module,
The third detection module is used to detect the sucking amount of dust of sweeping robot, wherein when the perceptibility signal of the gyroscope
Running parameter in the abnormality, the round brush is in the institute being continuously detected in the normal condition and preset time
When stating sucking amount of dust more than preset value, the control module control states sweeping robot and carries out work with the powerful cleaning modes
Make；When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, the control module control, which is stated, sweeps
Floor-washing robot is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope be in the normal condition,
The running parameter of the round brush is in the sucking amount of dust being continuously detected in the abnormality and preset time and is more than
When the preset value, the control module control is stated sweeping robot and is worked with the powerful cleaning modes；When the top
The perceptibility signal of spiral shell instrument is in the normal condition, the running parameter of the round brush is in the normal condition and preset time
When the sucking amount of dust being inside continuously detected is more than the preset value, the control module control states sweeping robot with institute
Powerful cleaning modes are stated to work；When the perceptibility signal of the gyroscope is in the abnormality, the work of the round brush
Make parameter be in the sucking amount of dust that is continuously detected in the abnormality and preset time be less than or equal to it is described default
When value, the control module control is stated sweeping robot and is worked with the powerful cleaning modes；When the sense of the gyroscope
Degree of knowing signal is in the normal condition, the running parameter of the round brush is in the abnormality and preset time and persistently examines
When the sucking amount of dust measured is less than or equal to the preset value, the control module controls the sweeping robot with described
Common cleaning modes work, and control the sweeping robot and send out the prompt message that exception occurs in round brush.
In addition, the embodiment of the present invention also proposed a kind of sweeping robot comprising the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention, which can be realized, carries out the perceptibility of gyroscope and the running parameter of round brush
Double check, and according to the double check of the running parameter of perceptibility and round brush to gyroscope come switching working mode, such as
It can be accurately judged to be currently walking in carpet by the double check of the running parameter of perceptibility and round brush to gyroscope
It is worked with powerful cleaning modes when upper either region more in floor-dust, accuracy of judgement can not only be improved
Rate avoids the occurrence of malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the control method of the sweeping robot of the embodiment of the present invention；
Fig. 2 is the schematic diagram for judging sweeping robot and walking on carpet according to one embodiment of the invention；
Fig. 3 is to judge sweeping robot in the more region walking of floor-dust according to one embodiment of the invention
Schematic diagram；
Fig. 4 is the block diagram according to the control device of the sweeping robot of the embodiment of the present invention；And
Fig. 5 is the block diagram according to the control device of the sweeping robot of one embodiment of the invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may realize that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
The structure of "upper" may include the embodiment that the first and second features are formed as being in direct contact, and can also include other feature shape
At the embodiment between the first and second features, such first and second feature may not be to be in direct contact.
In the description of the present invention, it should be noted that unless otherwise specified and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, can also be the connection inside two elements, it can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The control method of the sweeping robot proposed according to embodiments of the present invention, machine of sweeping the floor described with reference to the accompanying drawings
The control device of people and sweeping robot with the control device.
Fig. 1 is the flow chart according to the control method of the sweeping robot of the embodiment of the present invention.As shown in Figure 1, this is swept the floor
The control method of robot includes the following steps：
S1, detects the perceptibility signal of the gyroscope of sweeping robot, and detects the work ginseng of the round brush of sweeping robot
Number.
Wherein, the running parameter of round brush include the rotating speed of round brush, round brush control pulse or round brush operating current in
Any one is several.
S2, according to cutting for the operating mode of the perceptibility signal of gyroscope and the operating parameter control sweeping robot of round brush
It changes, wherein operating mode includes common cleaning modes and powerful cleaning modes.It should be noted that common cleaning mould here
For formula is relatively powerful cleaning modes, being primarily referred to as sweeping robot is worked with normal cleaning modes, and strong
Strength cleaning modes refer to sweeping robot cleaning motor and dust sucting motor with bigger rotating speed and Power operation.
According to one embodiment of present invention, when the running parameter of the perceptibility signal of the gyroscope and the round brush is equal
When in normal condition, controls the sweeping robot and worked with the common cleaning modes；When the sense of the gyroscope
When the running parameter of degree of knowing signal and the round brush is in abnormality, the sweeping robot is controlled with the powerful cleaning
Pattern works；When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in
When the abnormality, controls the sweeping robot and worked with the common cleaning modes, and control the sweeper
Device human hair goes out round brush and abnormal prompt message occurs；When the perceptibility signal of the gyroscope is in the abnormality and described
When the running parameter of round brush is in the normal condition, controls the sweeping robot and carry out work with the powerful cleaning modes
Make.
Wherein it is possible to according on the basis of the run time of the sweeping robot or the walking of the sweeping robot away from
Whether the running parameter of perceptibility signal and the round brush that the gyroscope is judged from the basis of is in the normal condition.
Specifically, when the run time benchmark with sweeping robot is judged, if the gyroscope detected
Perceptibility be constantly in default perceptibility section and maintain normal range always, can determine whether the perceptibility of the gyroscope
Signal is in the normal condition, and if the perceptibility of the gyroscope detected is not in default perceptibility section and exists
Non-normal range maintains certain time, then can determine whether that the perceptibility signal of the gyroscope is in the abnormality；If inspection
The running parameters such as the control pulse of the rotating speed of the round brush measured, the operating current of the round brush or the round brush are tieed up always
It holds and then can determine whether that the running parameter of the round brush is in the normal condition in normal range, if the rolling detected
The running parameters such as the control pulse of the rotating speed of brush, the operating current of the round brush or the round brush maintain one in non-normal range
It fixes time, then can determine whether that the running parameter of the round brush is in the abnormality.
When being judged on the basis of the travel distance of sweeping robot, if the perceptibility of the gyroscope detected
It is constantly in default perceptibility section and maintains normal range always, can determine whether that the perceptibility signal of the gyroscope is in
The normal condition, and sweeping robot walked in certain distance if the perceptibility of the gyroscope detected always
Default perceptibility section is not in i.e. in non-normal range, then can determine whether that the perceptibility signal of the gyroscope is in the exception
State；If works such as the control pulses of operating current or the round brush of the rotating speed of the round brush detected, the round brush
Make parameter and maintain normal range always, then can determine whether that the running parameter of the round brush is in the normal condition, and is sweeping
The rotating speed of the round brush detected in certain distance if floor-washing robot has been walked, the operating current or described of the round brush
The running parameters such as the control pulse of round brush then can determine whether that the running parameter of the round brush is in described different always in non-normal range
Normal state.
For example, as shown in Fig. 2, the travel distance in sweeping robot is in I, if the sense of the gyroscope detected
Degree of knowing is not in always default perceptibility section i.e. in non-normal range, and the rotating speed of the round brush detected, the round brush
Operating current or the round brush the running parameters such as control pulse always in non-normal range, then can determine whether sweeping robot
On carpet, control sweeping robot opens powerful cleaning modes, is worked with powerful cleaning modes for current walking.Such as Fig. 3
It is shown, sweeping robot travel distance be II in, if the perceptibility of the gyroscope detected be not in always it is pre-
If perceptibility section is i.e. in non-normal range, and the rotating speed of the round brush detected, the operating current of the round brush or institute
It states the running parameters such as the control pulse of round brush and maintains normal range always, then can determine whether sweeping robot currently walking in ash
The more region of dirt, control sweeping robot are opened powerful cleaning modes, are worked with powerful cleaning modes.
Therefore, the work that the control method of the sweeping robot of the embodiment of the present invention passes through perceptibility and round brush to gyroscope
Make the double check of parameter distinguishing sweeping robot currently and be walking in ground or carpet (or the more area of dust
Domain) so that sweeping robot accurately selects suitable operating mode, fully meet the needs of users.
Further, according to one embodiment of present invention, the control method of above-mentioned sweeping robot further includes：Detection
The sucking amount of dust of the sweeping robot.Wherein, when the perceptibility signal of the gyroscope is in the abnormality, described
The running parameter of round brush is in the sucking amount of dust being continuously detected in the normal condition and preset time more than default
When value is the dust abnormal signal detected, control is stated sweeping robot and is worked with the powerful cleaning modes；When described
The perceptibility signal of gyroscope is in the abnormality, the running parameter of the round brush is in the abnormality and it is default when
When the interior sucking amount of dust being continuously detected is more than the preset value, control states sweeping robot with the powerful cleaning
Pattern works；When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in
When the sucking amount of dust being continuously detected in the abnormality and preset time is more than the preset value, control, which is stated, sweeps the floor
Robot is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in the normal condition, institute
The running parameter for stating round brush is in the sucking amount of dust being continuously detected in the normal condition and preset time more than institute
When stating preset value, control is stated sweeping robot and is worked with the powerful cleaning modes；When the perceptibility of the gyroscope is believed
Number running parameter in the abnormality, the round brush, which is in, to be continuously detected in the abnormality and preset time
The sucking amount of dust is less than or equal to the preset value when being that the dust signal that detects is normal, and control states sweeping robot with institute
Powerful cleaning modes are stated to work；When the perceptibility signal of the gyroscope is in the normal condition, the work of the round brush
Make parameter be in the sucking amount of dust that is continuously detected in the abnormality and preset time be less than or equal to it is described default
When value, controls the sweeping robot and worked with the common cleaning modes, and control the sweeping robot and send out rolling
Brush out existing abnormal prompt message.
In the present embodiment, pass through the triple of the running parameter of perceptibility, round brush to gyroscope and sucking amount of dust
Detection can accurately judge sweeping robot currently and be walking in carpet, ground or the more region of dust, to
It is switched to corresponding operating mode, sweeping robot can not only be avoided to malfunction, moreover it is possible to ensure cleaning effect.
The control method of sweeping robot according to the ... of the embodiment of the present invention passes through the work of perceptibility and round brush to gyroscope
Make the double check of parameter or three re-detections of the perceptibility of gyroscope, the running parameter of round brush and sucking amount of dust are come
The switching of the operating mode of sweeping robot is controlled, such as passes through the dual of the running parameter of perceptibility and round brush to gyroscope
Detection can be accurately judged to three re-detections of the perceptibility of gyroscope, the running parameter of round brush and sucking amount of dust
Current sweeping robot walking controls sweeping robot with powerful on carpet or region more in floor-dust
Cleaning modes work, and not only greatly improve judging nicety rate, and sweeping robot is avoided to malfunction, moreover it is possible to ensure cleaning effect
Fruit fully meets the needs of users.
Fig. 4 is the block diagram according to the control device of the sweeping robot of the embodiment of the present invention.As shown in figure 4, should
The control device of sweeping robot includes first detection module 10, the second detection module 20 and control module 30.
Wherein, first detection module 10 is used to detect the perceptibility signal of the gyroscope of the sweeping robot, the second inspection
Survey module 20 be used for detect the sweeping robot round brush running parameter such as round brush rotating speed, round brush control pulse or
In the operating current of round brush any one or it is several, control module 30 for according to the gyroscope perceptibility signal and institute
State the switching of the operating mode of sweeping robot described in the operating parameter control of round brush, wherein the operating mode includes common
Cleaning modes and powerful cleaning modes.It should be noted that for common cleaning modes here are relatively powerful cleaning modes
, it is to be worked with normal cleaning modes, and powerful cleaning modes refer to sweeping robot to be primarily referred to as sweeping robot
Cleaning motor and dust sucting motor with bigger rotating speed and Power operation.
According to one embodiment of present invention, when the running parameter of the perceptibility signal of the gyroscope and the round brush is equal
When in normal condition, control module 30 is controlled the sweeping robot and is worked with the common cleaning modes；When described
When the perceptibility signal of gyroscope and the running parameter of the round brush are in abnormality, control module 30 controls described sweep the floor
Robot is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in the normal condition and institute
When stating the running parameter of round brush and being in the abnormality, control module 30 controls the sweeping robot with the common cleaning
Pattern works, and controls the sweeping robot and send out the prompt message that exception occurs in round brush；When the sense of the gyroscope
When the running parameter that degree of knowing signal is in the abnormality and the round brush is in the normal condition, control module 30 controls
The sweeping robot is worked with the powerful cleaning modes.
Wherein, control module 30 can be according on the basis of the run time of the sweeping robot or the sweeping robot
Travel distance on the basis of judge the gyroscope perceptibility signal and the round brush running parameter whether in it is described just
Normal state.
Further, according to one embodiment of present invention, as shown in figure 5, the control device of above-mentioned sweeping robot
Further include third detection module 40, third detection module 40 is used to detect the sucking amount of dust of sweeping robot.Wherein, when described
The perceptibility signal of gyroscope is in the abnormality, the running parameter of the round brush is in the normal condition and it is default when
When the interior sucking amount of dust being continuously detected is more than preset value, the control of control module 30 states sweeping robot with described strong
Strength cleaning modes work；When the perceptibility signal of the gyroscope is in the abnormality, the work ginseng of the round brush
When the sucking amount of dust that number is continuously detected in the abnormality and preset time is more than the preset value, control
The control of module 30 is stated sweeping robot and is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in
The normal condition, the round brush running parameter be in the suction being continuously detected in the abnormality and preset time
When entering amount of dust more than the preset value, the control of control module 30 states sweeping robot and carries out work with the powerful cleaning modes
Make；When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, the control of control module 30, which is stated, sweeps the floor
Robot is worked with the powerful cleaning modes；When the perceptibility signal of the gyroscope is in the abnormality, institute
The running parameter for stating round brush is in the sucking amount of dust that is continuously detected in the abnormality and preset time and is less than etc.
When the preset value, the control of control module 30 is stated sweeping robot and is worked with the powerful cleaning modes；When the top
The perceptibility signal of spiral shell instrument is in the normal condition, the running parameter of the round brush is in the abnormality and preset time
When the sucking amount of dust being inside continuously detected is less than or equal to the preset value, control module 30 controls the sweeping robot
It is worked with the common cleaning modes, and controls the sweeping robot and send out the prompt message that exception occurs in round brush.
In the present embodiment, pass through the triple of the running parameter of perceptibility, round brush to gyroscope and sucking amount of dust
Detection can accurately judge sweeping robot currently and be walking in carpet, ground or the more region of dust, to
Control sweeping robot is switched to corresponding operating mode, sweeping robot can not only be avoided to malfunction, moreover it is possible to ensure cleaning
Effect.
The control device of sweeping robot according to the ... of the embodiment of the present invention detects sweeping robot by first detection module
Gyroscope perceptibility signal and the second detection module detection sweeping robot round brush running parameter, to realize to top
The double check of the perceptibility of spiral shell instrument and the running parameter of round brush, or sucking amount of dust is also detected by third detection module,
To realize to the perceptibility of gyroscope, the running parameter of round brush and suck amount of dust three re-detections, control module according to
The double check of the running parameter of perceptibility and round brush to gyroscope or running parameter to the perceptibility of gyroscope, round brush
And three re-detections of amount of dust are sucked to control the switching of the operating mode of sweeping robot, such as pass through the sense to gyroscope
The double check of the running parameter of degree of knowing and round brush or to the perceptibility of gyroscope, the running parameter of round brush and sucking dust
Three re-detections of amount can be accurately judged to current sweeping robot and walk on carpet or more in floor-dust
Sweeping robot is controlled when region to work with powerful cleaning modes, is not only greatly improved judging nicety rate, is avoided sweeper
Device people malfunctions, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
In addition, the embodiment of the present invention also proposed a kind of sweeping robot comprising the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention, which can be realized, carries out the perceptibility of gyroscope and the running parameter of round brush
Double check or to the perceptibility of gyroscope, the running parameter of round brush and three re-detections for sucking amount of dust, and according to right
The double check of the perceptibility of gyroscope and the running parameter of round brush or to the running parameter of the perceptibility of gyroscope, round brush with
And three re-detections of sucking amount of dust come switching working mode, such as the running parameter by perceptibility and round brush to gyroscope
Double check or to the perceptibility of gyroscope, the running parameter of round brush and suck amount of dust three re-detections can be accurate
Judge it is currently that walking carries out work at either region more in floor-dust on carpet with powerful cleaning modes
Make, judging nicety rate can not only be improved, avoid the occurrence of malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (7)
1. a kind of control method of sweeping robot, which is characterized in that include the following steps：
The perceptibility signal of the gyroscope of the sweeping robot is detected, and detects the work ginseng of the round brush of the sweeping robot
Number；
According to the Working mould of sweeping robot described in the operating parameter control of the perceptibility signal of the gyroscope and the round brush
The switching of formula, wherein the operating mode includes common cleaning modes and powerful cleaning modes,
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, sweep the floor described in control
Robot is worked with the common cleaning modes；
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in abnormality, sweep the floor described in control
Robot is worked with the powerful cleaning modes；
When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in the exception
When state, controls the sweeping robot and worked with the common cleaning modes, and control the sweeping robot and send out
There is abnormal prompt message in round brush；
When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in described normal
When state, controls the sweeping robot and worked with the powerful cleaning modes.
2. the control method of sweeping robot as described in claim 1, which is characterized in that according to the fortune of the sweeping robot
Perceptibility signal and the institute of the gyroscope are judged on the basis of the row time or on the basis of the travel distance of the sweeping robot
Whether the running parameter for stating round brush is in the normal condition.
3. the control method of sweeping robot as claimed in claim 1 or 2, which is characterized in that further include：
Detect the sucking amount of dust of the sweeping robot, wherein
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than preset value, control states sweeping robot with described strong
Strength cleaning modes work；
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, control states sweeping robot with institute
Powerful cleaning modes are stated to work；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, control states sweeping robot with institute
Powerful cleaning modes are stated to work；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, control states sweeping robot with institute
Powerful cleaning modes are stated to work；
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is less than or equal to the preset value, sweeping robot is stated in control
It is worked with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is less than or equal to the preset value, machine of sweeping the floor described in control
People is worked with the common cleaning modes, and is controlled the sweeping robot and sent out the prompt message that exception occurs in round brush.
4. a kind of control device of sweeping robot, which is characterized in that including：
First detection module, the perceptibility signal of the gyroscope for detecting the sweeping robot；
Second detection module, the running parameter of the round brush for detecting the sweeping robot；
Control module, for according to sweeper described in the perceptibility signal of the gyroscope and the operating parameter control of the round brush
The switching of the operating mode of device people, wherein the operating mode includes common cleaning modes and powerful cleaning modes,
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, the control module
The sweeping robot is controlled to work with the common cleaning modes；
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in abnormality, the control module
The sweeping robot is controlled to work with the powerful cleaning modes；
When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in the exception
When state, the control module is controlled the sweeping robot and is worked with the common cleaning modes, and is swept described in control
Floor-washing robot sends out round brush and abnormal prompt message occurs；
When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in described normal
When state, the control module is controlled the sweeping robot and is worked with the powerful cleaning modes.
5. the control device of sweeping robot as claimed in claim 4, which is characterized in that the control module is swept according to
The sense of the gyroscope is judged on the basis of the run time of floor-washing robot or on the basis of the travel distance of the sweeping robot
Whether the running parameter of degree of knowing signal and the round brush is in the normal condition.
6. the control device of sweeping robot as described in claim 4 or 5, which is characterized in that further include third detection module,
The third detection module is used to detect the sucking amount of dust of sweeping robot, wherein
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than preset value, sweeper is stated in the control module control
Device people is worked with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, the control module control, which is stated, sweeps
Floor-washing robot is worked with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, the control module control, which is stated, sweeps
Floor-washing robot is worked with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the normal shape
When the sucking amount of dust being continuously detected in state and preset time is more than the preset value, the control module control, which is stated, sweeps
Floor-washing robot is worked with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the abnormality, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is less than or equal to the preset value, the control module control
Sweeping robot is stated to work with the powerful cleaning modes；
When the perceptibility signal of the gyroscope is in the normal condition, the running parameter of the round brush is in the abnormal shape
When the sucking amount of dust being continuously detected in state and preset time is less than or equal to the preset value, the control module control
The sweeping robot is worked with the common cleaning modes, and is controlled the sweeping robot and sent out round brush appearance exception
Prompt message.
7. a kind of sweeping robot, which is characterized in that include the control of the sweeping robot as described in any one of claim 4-6
Device processed.
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| CN201410817319 | 2014-12-24 | ||
| CN2014108173193 | 2014-12-24 |
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| CN106137042B true CN106137042B (en) | 2018-10-19 |
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| WO2019104563A1 (en) * | 2017-11-29 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Cleaning method of robot cleaner, and robot cleaner |
| CN107981791B (en) * | 2017-12-04 | 2020-01-14 | 深圳市无限动力发展有限公司 | Sweeping method and device of visual sweeper and visual sweeper |
| WO2019109227A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Cleaning method and device for vision-aided robotic vacuum cleaner, and vision-aided robotic vacuum cleaner |
| CN107997692A (en) * | 2017-12-07 | 2018-05-08 | 北海市天硌打印耗材有限公司 | A kind of control method of sweeping robot |
| CN108508886B (en) * | 2018-02-11 | 2020-10-27 | 浙江科聪智能科技有限公司 | Integrated controller for explosion-proof inspection robot and control system thereof |
| CN108762247B (en) * | 2018-04-21 | 2021-06-11 | 广东宝乐机器人股份有限公司 | Obstacle avoidance control method for self-moving equipment and self-moving equipment |
| CN109124493A (en) * | 2018-09-10 | 2019-01-04 | 河南巨捷电子科技有限公司 | A kind of domestic intelligent regulation sweeping robot |
| CN109352650B (en) * | 2018-10-17 | 2020-09-22 | 广东宝乐机器人股份有限公司 | Working mode switching method and device of robot and robot |
| CN112971613A (en) * | 2019-12-13 | 2021-06-18 | 苏州宝时得电动工具有限公司 | Control method and device for cleaning roller brush and cleaning roller brush |
| CN115153365A (en) * | 2021-04-02 | 2022-10-11 | 速感科技（北京）有限公司 | Cleaning robot, method for controlling rotation speed of main brush of cleaning robot, and storage medium |
| CN114587190B (en) * | 2021-08-23 | 2023-07-04 | 北京石头世纪科技股份有限公司 | Control method, system, equipment and computer readable storage medium for cleaning equipment |
| CN114947626B (en) * | 2022-07-08 | 2023-08-18 | 深圳市优必选科技股份有限公司 | Side brush state determining method and device, sweeper and computer readable storage medium |
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