CN113080792B - Sweeping robot and its working scene judgment method - Google Patents

Abstract

The invention relates to a method for judging the working scene of a sweeping robot. The computer performs the following steps under configuration: using a PWM signal to control the cleaning motor of the sweeping robot to work at a preset speed; calculating the period of the high/low level signal of the PWM signal The time ratio within the period; obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed; determine the sweeping according to the calculated time ratio and the corresponding relationship In the working scene of the robot, when the cleaning motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle and the matching accuracy of the working scene are higher than the matching accuracy of the reflectivity and the working scene in the background technology. Walking motors The matching accuracy of the electric current and the working scene can improve the accuracy of the working scene judgment of the sweeping robot.

Description

Sweeping robot and its working scene judgment method

【Technical field】

The invention relates to a robot, in particular to a sweeping robot and a method for judging its working scene.

【Background technique】

In the traditional technology, the sweeping robot relies on its own rollers to move and work in the working area. Sweeping robots can work on smooth surfaces, such as tiled floors, wooden floors, or rough surfaces, such as carpeted floors. The sweeping robot can have a mopping function. Mopping is divided into dry mopping and wet mopping. When the robot vacuum moves to work on the carpet, especially when it is wet mopping, it will cause damage to the carpet.

In the process of realizing the traditional technology, the inventor found that there are the following technical problems:

Usually, the sweeping robot can judge the working scene of the sweeping robot by the reflectivity of the ground and the working current of the sweeping robot when it is walking, for example, judging the working scene of the sweeping robot on the wooden floor, or judging the working scene of the sweeping robot on the carpeted floor . However, the difference between the reflectivity of matte smooth ground and the reflectivity of carpeted ground is small, which may easily lead to misjudgment of the working scene of the sweeping robot. When there are obstacles that are difficult to pass on the smooth ground, the working current of the sweeping robot will increase significantly when it is walking, which is not much different from the working current when the sweeping robot is walking on a carpeted floor, which may easily lead to misjudgment of the working scene of the sweeping robot.

Therefore, it is necessary to improve the prior art to overcome the defects in the prior art.

【Content of invention】

Based on this, it is necessary to provide a solution for the technical problem of easy misjudgment in the above-mentioned work scene.

A method for judging a working scene of a sweeping robot, the computer performs the following steps under configuration:

Use the PWM signal to control the cleaning motor of the sweeping robot to work at the preset speed;

Calculate the time ratio of the high/low level signal of the PWM signal within the period;

Obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset rotational speed;

According to the calculated time ratio and the corresponding relationship, the working scene of the cleaning robot is determined.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

In one of the embodiments, the step of obtaining the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset speed specifically includes:

Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed;

Different working scenarios of the sweeping robot are formed according to different materials;

Determine the corresponding relationship between the working scene and the time ratio.

The precise correspondence between the working scene and the time ratio interval can be obtained, so as to improve the accuracy of the working scene judgment of the sweeping robot.

In one of the embodiments, the step of obtaining the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset speed specifically includes:

Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the period.

The historical data of the corresponding relationship between the working scene and the time ratio interval can be directly imported. Therefore, it is possible to use the historically accumulated corresponding relationship between working scenarios and time ratio intervals without having to collect data on working scenarios and time ratio intervals again, thereby improving the efficiency of executing the method for judging working scenarios.

In one of the embodiments, the step of determining the working scene of the sweeping robot specifically includes:

looking up said time ratio in said correspondence;

A working scenario is determined according to the time ratio in the corresponding relationship.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

The application also provides a sweeping robot, including:

The drive module is used to control the cleaning motor of the sweeping robot to work at a preset speed by using a PWM signal;

Calculation module, for calculating the time ratio of the high/low level signal of the PWM signal in the cycle;

An acquisition module, configured to obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset rotational speed;

The matching module is configured to determine the working scene of the sweeping robot according to the calculated time ratio and the corresponding relationship.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

In one of the embodiments, the acquisition module is specifically used for:

Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed;

Different working scenarios of the sweeping robot are formed according to different materials;

Determine the corresponding relationship between the working scene and the time ratio.

The precise correspondence between the working scene and the time ratio interval can be obtained, so as to improve the accuracy of the working scene judgment of the sweeping robot.

In one of the embodiments, the acquisition module is specifically used for:

Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the period.

The corresponding relationship between the historically accumulated working scene and the time ratio interval can be used without collecting the data of the working scene and the time ratio interval again, so as to improve the execution efficiency of the method for judging the working scene.

In one of the embodiments, the matching module is specifically used for:

looking up said time ratio in said correspondence;

A working scenario is determined according to the time ratio in the corresponding relationship.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

【Description of drawings】

FIG. 1 is a flow chart of a method for judging a working scene of a sweeping robot provided in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a sweeping robot provided by an embodiment of the present application.

【Detailed ways】

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Fig. 1 is a flow chart of the working scene judgment method of the sweeping robot provided by the embodiment of the present application, which specifically includes the following steps:

S100: Use the PWM signal to control the cleaning motor of the sweeping robot to work at a preset speed.

PWM (Pulse Width Modulation, Pulse Width Modulation) obtains the desired waveform equivalently by modulating the width of a series of pulses. PWM control technology can be applied to fields such as measurement, communication, power control and conversion. In the embodiments provided in this application, the PWM signal is used to control the rotation speed of the cleaning motor of the cleaning robot. The preset speed can be set, and the pulse width can be further modulated to realize the cleaning motor working at the preset speed. The preset rotational speed can be reasonably set according to the actual working conditions of the sweeping robot.

S200: Calculate the time ratio of the high/low level signal of the PWM signal within a period.

It can be understood that the pulse width of the PWM signal is related to the output power, the output voltage or the preset rotational speed here. The pulse width is reflected in the specific waveform diagram as the duration of the high-level signal, or in other words, the time ratio of the high-level signal within the period or the time ratio of the low-level signal within the period.

S300: Obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the period and the working scene at the preset rotational speed.

In this application, the defined work scene is related to the material of the ground where the sweeping robot walks or works. For example, a working scene where carpets are laid on the ground or a carpet surface, a working scene where wooden boards are laid on the ground or wooden boards are laid on the ground, a working scene where tiles are laid on the ground or the ground surface is ceramic tiles, etc.

When the sweeping robot works on the surface of different materials, on the basis of maintaining the sweeping motor at the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle is different. It is conceivable that for materials with a large friction coefficient, on the basis of maintaining the cleaning motor at the preset speed, the time ratio of the high-level signal in the cycle is relatively large; On the basis of the preset rotational speed, the time ratio of the high-level signal in the cycle is small. Conversely, for materials with a large friction coefficient, on the basis of maintaining the cleaning motor at the preset speed, the time ratio of the low-level signal in the cycle is small; On the basis of setting the speed, the time ratio of the low-level signal in the cycle is relatively large.

Further, in another embodiment provided by the present application, the step of obtaining the corresponding relationship between the working scene and the motor speed specifically includes:

Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed;

Different working scenarios of the sweeping robot are formed according to different materials;

Determine the corresponding relationship between the working scene and the time ratio.

In the experiment or in the actual use process, the time ratio of the high/low level signal in the cycle of the sweeping robot working on the ground of different materials can be counted at the preset speed, and different working scenes can be formed according to different materials. Therefore, the corresponding relationship between the working scene and the time ratio is determined. The material of the ground or the material of the surface can be subdivided into a cement surface, a tile surface, a solid wood surface, a pressed wood surface, and a carpeted surface. The intervals of the time ratios of different material surfaces can be counted. For example, it is possible to form a two-dimensional table with the time ratio as the column, the material as the horizontal row, and the time ratio section as the content. Thereby, the precise corresponding relationship between the working scene and the time ratio interval can be obtained, so as to improve the accuracy of judging the working scene of the cleaning robot.

Further, in another embodiment provided by the present application, the step of obtaining the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed specifically includes:

Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the cycle.

In addition, in practice, the corresponding relationship between work scenarios and time ratio intervals can form historical data. Therefore, it is also possible to directly import the historical data of the corresponding relationship between the working scene and the time ratio interval. Therefore, it is possible to use the historically accumulated corresponding relationship between working scenarios and time ratio intervals without having to collect data on working scenarios and time ratio intervals again, thereby improving the efficiency of executing the method for judging working scenarios.

S400: Determine a working scene of the cleaning robot according to the calculated time ratio and the corresponding relationship.

Further, in another embodiment provided by the present application, the step of determining the working scene of the sweeping robot specifically includes:

looking up said time ratio in said correspondence;

A working scenario is determined according to the time ratio in the corresponding relationship.

Find the upper and lower values of the time ratio interval. Comparing the calculated time ratio, that is, the time ratio in S200 with the upper limit and lower limit of the time ratio interval, determines the time ratio interval in which the time ratio falls. Then, according to the corresponding relationship between the time ratio interval and the working scene, the working scene corresponding to the time ratio is determined, and the working scene of the sweeping robot is determined.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

The above is the method provided by the embodiment of the present application. Based on the same idea, please refer to FIG. 2 , which is the sweeping robot provided by the embodiment of the present application.

The application also provides a sweeping robot, including:

The drive module 11 is used to control the cleaning motor of the sweeping robot to work at a preset speed by using a PWM signal;

Calculation module 12, for calculating the time ratio of the high/low level signal of the PWM signal in the period;

The obtaining module 13 is used to obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed;

The matching module 14 is configured to determine the working scene of the cleaning robot according to the calculated time ratio and the corresponding relationship.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

Further, in yet another embodiment provided by this application, the acquiring module 13 is specifically used for:

Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed;

Different working scenarios of the sweeping robot are formed according to different materials;

Determine the corresponding relationship between the working scene and the time ratio.

In the experiment or in the actual use process, the time ratio of the high/low level signal in the cycle of the sweeping robot working on the ground of different materials can be counted at the preset speed, and different working scenes can be formed according to different materials. Therefore, the corresponding relationship between the working scene and the time ratio is determined. The material of the ground or the material of the surface can be subdivided into a cement surface, a tile surface, a solid wood surface, a pressed wood surface, and a carpeted surface. The intervals of the time ratios of different material surfaces can be counted. For example, it is possible to form a two-dimensional table with the time ratio as the column, the material as the horizontal row, and the time ratio section as the content. Thereby, the precise corresponding relationship between the working scene and the time ratio interval can be obtained, so as to improve the accuracy of judging the working scene of the cleaning robot.

Further, in yet another embodiment provided by this application, the acquiring module 13 is specifically used for:

Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the cycle.

In addition, in practice, the corresponding relationship between work scenarios and time ratio intervals can form historical data. Therefore, it is also possible to directly import the historical data of the corresponding relationship between the working scene and the time ratio interval. Therefore, it is possible to use the historically accumulated corresponding relationship between working scenarios and time ratio intervals without having to collect data on working scenarios and time ratio intervals again, thereby improving the efficiency of executing the method for judging working scenarios.

Further, in yet another embodiment provided by this application, the matching module 14 is specifically used for:

looking up said time ratio in said correspondence;

A working scenario is determined according to the time ratio in the corresponding relationship.

Find the upper and lower values of the time ratio interval. Compare the calculated time ratio with the upper limit and lower limit of the time ratio interval to determine the time ratio interval that the time ratio falls into. Then, according to the corresponding relationship between the time ratio interval and the working scene, the working scene corresponding to the time ratio is determined, and the working scene of the sweeping robot is determined.

When the sweeping motor maintains the preset speed, the time ratio of the high/low level signal of the PWM signal in the cycle matches the working scene with higher accuracy than the matching accuracy of the reflectivity and the working scene in the background technology, and the current of the walking motor and the working scene The accuracy of the matching can improve the accuracy of the working scene judgment of the sweeping robot.

The specific application scenarios implemented by this application are introduced below:

The processor of the sweeping robot or the server managing the sweeping robot obtains the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene of the cleaning motor of the sweeping robot at the preset speed. Specifically, the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed can be accumulated by means of statistical experimental data or working data. It is also possible to directly import the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene accumulated in the history at the preset speed to the processor of the sweeping robot or the server that manages the sweeping robot. When the sweeping robot is working, the PWM signal is used to control the cleaning motor of the sweeping robot to work at a preset speed. Then, the time ratio of the high/low level signal of the PWM signal within a period is calculated. The working scene of the sweeping robot is determined according to the calculated time ratio and the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset rotational speed. For example, find the upper and lower bounds of a time ratio interval in a corresponding relationship. The calculated time ratio is compared with the upper limit value and the lower limit value of the time ratio interval to determine the time ratio interval in which the calculated time ratio falls. Then, according to the corresponding relationship between the time ratio interval and the working scene, the working scene corresponding to the time ratio is determined, and the working scene of the sweeping robot is determined.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (7)

1. A method for judging the working scene of a sweeping robot, characterized in that the computer performs the following steps under configuration: Use the PWM signal to control the cleaning motor of the sweeping robot to work at the preset speed; Calculate the time ratio of the high/low level signal of the PWM signal within the period; Obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal at the preset speed and the working scene in the cycle; wherein, the corresponding relationship includes the corresponding relationship between the working scene and the time ratio interval, and the time ratio The interval is the interval defined by the upper limit value and the lower limit value of the time ratio of the high/low level signal of the PWM signal at the preset speed in the cycle; different working scenes correspond to different ground materials; Comparing the calculated time ratio with the upper limit and lower limit of the time ratio interval in the corresponding relationship, to determine the time ratio interval in which the time ratio falls; According to the corresponding relationship between the falling time ratio interval and the working scene, the working scene of the sweeping robot is determined. 2. The method according to claim 1, wherein the step of obtaining the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed specifically includes : Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed; Different working scenarios of the sweeping robot are formed according to different materials; Determine the corresponding relationship between the working scene and the time ratio. 3. The method according to claim 1, characterized in that the step of obtaining the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed specifically includes : Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the cycle. 4. A sweeping robot, characterized in that it comprises: The drive module is used to control the cleaning motor of the sweeping robot to work at a preset speed by using a PWM signal; Calculation module, for calculating the time ratio of the high/low level signal of the PWM signal in the period; The obtaining module is used to obtain the corresponding relationship between the time ratio of the high/low level signal of the PWM signal in the cycle and the working scene at the preset speed; wherein, the corresponding relationship includes the corresponding relationship between the working scene and the time ratio interval , the time ratio interval is the interval defined by the upper limit value and the lower limit value of the time ratio of the high/low level signal of the PWM signal in the cycle at the preset speed; different working scenarios correspond to different grounds material; The matching module is used to compare the calculated time ratio with the upper limit and lower limit of the time ratio interval in the corresponding relationship, and determine the time ratio interval that the time ratio falls into; according to the falling time ratio interval and the working scene The corresponding relationship to determine the working scene of the sweeping robot. 5. The sweeping robot according to claim 4, wherein the acquisition module is specifically used for: Statistics of the time ratio of the high/low level signal of the sweeping robot working on the ground of different materials at the preset speed; Different working scenarios of the sweeping robot are formed according to different materials; Determine the corresponding relationship between the working scene and the time ratio. 6. The sweeping robot according to claim 4, wherein the acquisition module is specifically used for: Import the corresponding relationship between the working scene and the time ratio of the high/low level signal of the PWM signal within the period. 7. A method for judging a working scene of a robot, characterized in that, the robot processor and/or the server that manages the robot inputs or automatically accumulates the high/low level signal of the PWM signal of the robot at a preset speed within a period The corresponding relationship between the time ratio and the working scene, wherein the corresponding relationship includes the corresponding relationship between the working scene and the time ratio interval, and the time ratio interval is the high/low level signal of the PWM signal at the preset speed. In the interval defined by the upper limit and lower limit of the time ratio in the cycle, different working scenarios correspond to different ground materials; based on the friction coefficient of different surface materials, the high/low level signal of the PWM signal of the robot motor The ratio of time in the period varies; When the sweeping robot uses the PWM signal to control the cleaning motor of the sweeping robot to work at the preset speed, compare the time ratio of the high/low level signal of the PWM signal in the cycle with the upper limit of the time ratio interval in the corresponding relationship Value and lower limit value, determine the time ratio interval that the time ratio falls into; according to the corresponding relationship between the falling time ratio interval and the working scene, determine the working scene of the sweeping robot.

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