WO2019007037A1 - Mobile robot, working surface recognition method and control method - Google Patents

Abstract

A working surface recognition method for a mobile robot, comprising: (S100) acquiring a current speed of the mobile robot in real time; (S200) acquiring a current speed of the mobile robot and a current duty ratio when the current speed is greater than the preset speed; (S300) Calculating a ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio; (S400) determining a current working surface type of the mobile robot based on a ratio of the current duty ratio to the current speed. In addition, a control method of a mobile robot and a mobile robot are also disclosed.

Description

Mobile robot, working surface recognition method and control method Technical field

The invention belongs to the field of mobile robots, in particular to a working surface recognition method for a mobile robot and a mobile robot, and a control method based on a working surface.

Background technique

Existing covered mobile robots (such as sweeping robots and mowing robots) often have a single working mode, and the same working mode is adopted when working on different working surfaces, which results in low working efficiency and poor working effect of the mobile robot.

In view of the above problems, the prior art mostly realizes the recognition of the working surface by the mobile robot by detecting the working current of the motor. For example, the patent document of Chinese Patent Application No. 200510050557.7 discloses a scheme for judging the type of the ground by detecting the operating current of the rotating electrical machine. However, due to the low precision of the single-chip ADC and the loss of the external circuit, the detection error may occur. There is a misjudgment.

In view of the above problems, the patent document No. 201310757423.3 discloses a scheme for identifying the type of work surface based on image analysis, but the scheme involves image processing and matching algorithms, and the scheme is complicated and the implementation cost is high.

Therefore, it is necessary to design a work surface recognition scheme for mobile robots with high precision and low cost.

Summary of the invention

One of the objects of the present invention is to overcome the deficiencies in the background art and provide a working surface recognition method for a mobile robot. The specific solution is as follows:

A working surface recognition method for a mobile robot, comprising:

Get the current speed of the mobile robot in real time;

Obtaining a current speed of the mobile robot and a current duty ratio when the current speed is greater than a preset speed;

Calculating a ratio of a current duty ratio to a current speed based on the current speed and a current duty ratio;

A current working surface type of the mobile robot is determined based on a ratio of the current duty ratio to the current speed.

Further, the step of acquiring the current speed of the mobile robot in real time further includes:

A mapping table of the normal working speed, the preset speed, and the ratio of the duty ratio to the speed and the type of the working surface of the mobile robot is preset.

Further, when the current speed is greater than the preset speed, the step of acquiring the current speed of the mobile robot and the current duty ratio further includes:

When the current speed is not greater than the preset speed, the current speed of the mobile robot is acquired again after the preset time and it is determined whether it is greater than the preset speed.

Further, when the current speed is not greater than the preset speed, the step of acquiring the current speed of the mobile robot again after the preset time and determining whether it is greater than the preset speed further includes:

Calculating a speed difference between the normal working speed and the current speed based on the normal working speed and the current speed when the current speed is not greater than the preset speed;

Calculating a value of a duty ratio that needs to be increased to reach a normal operating speed based on the speed difference;

Adjusting the current speed of the mobile robot based on the value of the duty cycle that needs to be increased;

After the preset time, the current speed of the mobile robot is acquired again and it is judged whether it is greater than the preset speed.

Further, the step of calculating the ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio may further be:

Acquiring the current speed of the mobile robot and the current duty ratio multiple times within a preset time;

Calculating a ratio of the current duty ratio to the corresponding current speed based on the current speed of the mobile robot acquired multiple times and the current duty ratio;

Calculating an average value of a ratio of a current duty ratio to a corresponding current speed based on a ratio of the plurality of current duty ratios to a corresponding current speed;

The average value of the ratio of the current duty ratio to the current speed is taken as the ratio of the current duty ratio to the current speed.

Further, the step of determining the current working surface type of the mobile robot based on the ratio of the current duty ratio to the current speed comprises:

The current working surface type is obtained based on the ratio of the current duty ratio to the current speed and the ratio of duty ratio to speed and the type of work surface.

Further, the mobile robot is a sweeping robot, and the sweeping robot includes a driving wheel or a rotating brush.

Further, the mobile robot is a mowing robot, and the mowing robot includes a driving wheel or a rotating cutter.

The invention also provides a control method of a mobile robot based on a work surface, the scheme of which is as follows: A control method of the mobile robot comprises:

Get the current speed of the mobile robot in real time;

Obtaining a current speed of the mobile robot and a current duty ratio when the current speed is greater than a preset speed;

Calculating a ratio of a current duty ratio to a current speed based on the current speed and a current duty ratio;

Determining a current working surface type of the mobile robot based on a ratio of the current duty ratio to a current speed;

The mobile robot is controlled to enter the corresponding working mode according to the type of the working surface.

Further, the step of acquiring the current speed of the mobile robot in real time further includes:

A mapping table of the normal working speed, the preset speed, and the ratio of the duty ratio to the speed and the type of the working surface of the mobile robot is preset.

Further, when the current speed is greater than the preset speed, the step of acquiring the current speed of the mobile robot and the current duty ratio further includes:

When the current speed is not greater than the preset speed, the current speed of the mobile robot is acquired again after the preset time and it is determined whether it is greater than the preset speed.

Further, when the current speed is not greater than the preset speed, the step of acquiring the current speed of the mobile robot again after the preset time and determining whether it is greater than the preset speed further includes:

Calculating a speed difference between the normal working speed and the current speed based on the normal working speed and the current speed when the current speed is not greater than the preset speed;

Calculating a value of a duty ratio that needs to be increased to reach a normal operating speed based on the speed difference;

Adjusting the current speed of the mobile robot based on the value of the duty cycle that needs to be increased;

After the preset time, the current speed of the mobile robot is acquired again and it is judged whether it is greater than the preset speed.

Further, the step of calculating the ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio may further be:

Acquiring the current speed of the mobile robot and the current duty ratio multiple times within a preset time;

Calculating a ratio of the current duty ratio to the corresponding current speed based on the current speed of the mobile robot acquired multiple times and the current duty ratio;

Calculating an average value of a ratio of a current duty ratio to a previous speed based on a ratio of a plurality of current duty ratios to a corresponding current speed;

The average value of the ratio of the current duty ratio to the current speed is taken as the ratio of the current duty ratio to the current speed.

A second object of the present invention is to overcome the deficiencies in the background art, and to provide a mobile robot capable of accurately identifying a type of work surface and having a low implementation cost, and the scheme is as follows:

A mobile robot includes a rotating device, including an acquiring module, a storage module, a judging module and a driving module;

The acquiring module is configured to acquire a current speed of the rotating device of the mobile robot and a current duty ratio;

The storage module is configured to store a mapping table of mobile robot program instructions, a ratio of duty ratio to speed, and a type of work surface;

The determining module is configured to calculate a ratio of a current duty ratio to a current speed according to a current speed of the rotating device acquired by the acquiring module and a current duty ratio; and based on a ratio of the current duty ratio to the current speed and the storage in the storage module Determining the ratio of duty cycle to speed of the rotating device and the mapping table of the working surface type to determine the current working surface type of the mobile robot;

The driving module is configured to drive the rotating device to operate according to an instruction issued by the determining module.

Further, the acquisition module includes a Hall sensor or a photoelectric speed sensor for acquiring the speed of the rotating device and a single chip microcomputer for acquiring the duty ratio of the rotating device;

The storage module is a memory of the single chip microcomputer;

The determining module is a single chip microcomputer;

The drive module is a drive IC.

Further, the mobile robot is a mowing robot, and the rotating device is a driving wheel or a rotating cutter.

Further, the mobile robot is a sweeping robot, and the rotating device is a driving wheel or a rotating brush.

The solution of the invention is based on the fact that the ratio of the duty ratio to the speed of the rotating device is different when the rotating device is operating on different surfaces during normal operation, and the working surface is determined by detecting the ratio of the duty ratio of the rotating device of the mobile robot to the speed in real time. The type has the advantages of high recognition accuracy and low implementation cost.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. For the ordinary technicians, other drawings can be obtained based on these drawings without any creative work.

1 is a flowchart of a working surface recognition method of a mobile robot according to an embodiment of the present invention;

2 is a flowchart of a method for controlling a mobile robot to reach a preset speed according to an embodiment of the present invention;

3 is a flowchart of a method for calculating a ratio of a current duty ratio to a current speed according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a module of a mobile robot according to an embodiment of the present invention.

Reference numerals: 100 is a rotating device, 200 is an acquisition module, 300 is a storage module, 400 is a determination module, and 500 is a drive module.

Detailed ways

The technical solutions of the present invention will be clearly and completely described in the following with reference to the accompanying drawings and specific embodiments. It is obvious that the embodiments described herein are only a part of the embodiments of the invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the specific embodiments described herein are intended to be within the scope of the invention as defined by the appended claims.

Example 1

The mobile robot in this embodiment will be described by taking a sweeping robot as an example.

Please refer to FIG. 1. FIG. 1 is a flowchart of a method for identifying a working surface of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 1, a working surface recognition method of a mobile robot may include the following steps S100 to S400.

Step S100: Acquire the current speed of the mobile robot in real time.

Specifically, in this embodiment, the duty cycle output of the driving wheel of the cleaning robot is controlled by the PID program, and the speed given value V(t) when the cleaning robot is normally operated is set, which is 22 cm/s in this embodiment. That is, no matter what kind of ground, the sweeping robot adjusts the duty ratio through the PID control program, so that the sweeping robot uses V(t) as the speed at normal working. A mapping table of the normal working speed, the preset speed, and the ratio of the duty ratio to the speed and the type of the working surface of the mobile robot is preset. The Hall sensor periodically detects the magnet and transmits it by mounting a magnet (such as a magnet) on the left and right driving wheels (rotating device 100) of the cleaning robot and installing a Hall sensor near the driving wheel so that the left and right driving wheels rotate. The signal is sent to the single chip microcomputer, and the single chip computer calculates the current speed V of the driving wheel according to the obtained signal (the angular speed * the driving wheel radius can obtain the driving wheel speed).

Step S200: Acquire a current speed of the mobile robot and a current duty ratio when the current speed is greater than the preset speed.

Specifically, it is then determined whether the current speed V is greater than the preset speed V0, and V0 is slightly smaller than the normal working speed V(t). When the current speed is not greater than the preset speed, the current speed of the mobile robot is acquired again after the preset time and it is determined whether it is greater than the preset speed. That is, if the current speed V is not greater than V0, the cleaning robot is considered to be in an abnormal working state, and the speed is detected again at intervals (for example, 1 second).

Step S300: Calculate a ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio.

Specifically, when the speed of the left and right driving wheels of the cleaning robot is detected to be greater than V0, the speed V of the driving wheel at the same time and the duty ratio P of the driving wheel are acquired, and then sent to the single-chip microcomputer; the single-chip microcomputer according to the speed V of the driving wheel and the driving wheel The duty cycle P calculates the ratio of the duty cycle P of the drive wheel to the speed V of the drive wheel.

Step S400: Determine the current working surface type of the mobile robot based on the ratio of the current duty ratio to the current speed.

Specifically, the single-chip microcomputer compares the ratio K between the duty ratio P and the speed V obtained at the same time, and then compares K with the ratio of the duty ratio to the speed stored in the memory of the single-chip microcomputer and the mapping table of the working surface type, and further Determine the type of surface where the sweeping robot is currently located.

Please refer to FIG. 2. FIG. 2 is a flowchart of a method for controlling a mobile robot to reach a preset speed according to an embodiment of the present invention.

As shown in FIG. 2, the method of controlling the mobile robot to reach the preset speed may include the following steps S210 to S240.

Step S210: When the current speed is not greater than the preset speed, calculate a speed difference between the normal working speed and the current speed based on the normal working speed and the current speed.

Specifically, after the sweeping robot is started, the PID control program sets the normal working speed V(t)=22 cm/s to the sweeping robot, and the Hall sensor transmits the detected current speed of the driving wheel (in this case, 0) to the single chip microcomputer. When the current speed is not greater than the preset speed V0, the speed difference between the normal working speed V(t) and the current speed is calculated.

Step S220: Calculate a value of a duty ratio that needs to be increased to reach a normal working speed based on the speed difference.

Specifically, based on the speed difference, the PID control program then calculates the value of the duty cycle that needs to be increased based on the speed difference.

Step S230: Adjust the current speed of the mobile robot based on the value of the duty ratio that needs to be increased.

Specifically, the value of the duty ratio that needs to be increased is output to the driving IC to move the driving wheel, and the current speed of the mobile robot is adjusted.

Step S240: After the preset time, the current speed of the mobile robot is acquired again and it is determined whether it is greater than the preset speed.

Specifically, after the preset time, the Hall sensor transmits the actual speed of the current driving wheel (at this time, greater than 0, but still a small value) to the MCU, and then the PID control program according to V(t) and the current speed. The difference is calculated by the duty ratio to be increased, and then output to the drive IC to move the drive wheel, and so on, until the speed of the drive wheel is detected to be greater than the preset value V0 (V0 is set to 18 cm/s in this embodiment).

The main purpose of the method is to confirm that the sweeping robot is in a normal continuous working state and avoid subsequent misjudgment. For example, when the sweeping robot (mobile robot) is in the normal working phase, due to inertia, the speed of the rotating device 100 (drive wheel or rotating brush) is small, in order to quickly reach the set speed V(t), PID control The duty cycle output of the program is higher than the duty cycle or even full load during normal operation. The ratio of duty cycle to speed at this time has no reference value.

Please refer to FIG. 3. FIG. 3 is a flowchart of a method for calculating a ratio of a current duty ratio to a current speed according to an embodiment of the present invention.

As shown in FIG. 3, the method of calculating the ratio of the current duty ratio to the current speed may include the following steps S310 to S340.

Step S310: Acquire the current speed of the mobile robot and the current duty ratio multiple times within a preset time.

Specifically, the speed Vi of the driving wheel and the duty ratio Pi can be obtained multiple times in a period of time, such as acquiring 50 times in 1 second.

Step S320: Calculate a ratio of the current duty ratio to the corresponding current speed based on the current speed of the mobile robot acquired multiple times and the current duty ratio.

Specifically, the speed Vi of the driving wheel and the ratio of the current duty ratio of the corresponding duty cycle Pi to the corresponding current speed are calculated according to the speed Vi and the duty ratio Pi of the driving wheel being acquired multiple times.

Step S330: Calculate an average value of the ratio of the current duty ratio to the corresponding current speed based on the ratio of the current duty ratio to the corresponding current speed.

Specifically, an average value of the duty ratio Pi of the driving wheel and the speed Vi ratio Ki in the period of time is calculated according to a ratio of the plurality of current duty ratios to the corresponding current speed.

Step S340: The average value of the ratio of the current duty ratio to the current speed is used as a ratio of the current duty ratio to the current speed.

Specifically, the average value of the ratio of the current duty ratio to the current speed is used as the ratio of the current duty ratio to the current speed, which can effectively prevent the sweeping robot from crossing the threshold and other short-time state changes during the movement to the ground. Misjudgment of type. It should be noted that the speed V and the duty ratio P here are digital signals, and the accuracy is better than the analog signal obtained by detecting the current.

Specifically, if the mobile robot is a sweeping robot, the sweeping robot includes a driving wheel or a rotating brush.

Specifically, if the mobile robot is a mowing robot, the mowing robot comprises a driving wheel or a rotating cutter.

In this embodiment, calculating the ratio Ki of the duty ratio Pi of the driving wheel and the speed Vi for a plurality of times in a period of time, and calculating the average value of Ki; or obtaining the duty ratio P and the speed V of the driving wheel at a time. Ratio K. Then, the average value of K or Ki is compared with the preset ratio of duty ratio to speed stored in the memory of the single chip microcomputer and the mapping table of the working surface type, thereby determining the type of the surface of the sweeping robot at the current time. The sweeping robot works on ordinary floor, the driving wheel is less resisted, and the duty ratio when controlling the sweeping robot to advance at 22cm/s is about 25%, that is, the duty ratio required for the average 1cm/s speed is 1.126%; On ordinary carpets, the driving wheel is subjected to a large resistance, and the duty ratio for controlling the sweeping robot to advance at a speed of 22 cm/s is about 52%, that is, the duty ratio required for an average speed of 1 cm/s is 2.36%; on a long-haired carpet, The duty ratio for controlling the sweeping robot to advance at a speed of 22 cm/s is about 75%, that is, the duty ratio required for an average speed of 1 cm/s is 3.41%. Therefore, by comparing the ratio K with the corresponding floor surface type, when the ratio K is less than 1.8, it is determined that the working surface of the sweeping robot is the floor at the current time or the current time period; when the ratio K is between 1.8 and 2.8, it is judged that The working surface of the sweeping robot is a normal carpet at the current time or the current time period; when the ratio K is above 2.8, it is judged that the working surface of the sweeping robot is a long-haired carpet at the current time or the current time period.

The embodiment further provides a control method of the mobile robot. According to the working surface recognition method of the mobile robot, the working surface type of the mobile robot is obtained, and then the mobile robot is controlled to enter the corresponding working mode according to the working surface type.

Specifically, the memory of the single-chip microcomputer stores the working mode of the cleaning robot on different grounds, and is associated with the threshold K ratio of the duty ratio P and the speed V, and the sweeping robot according to a certain time ratio K or a certain period of time The average value of the ratio Ki enters the corresponding working mode. The differences between the modes include: different suction forces of the vacuum fan, different rotational speeds of the rotating brushes, and different cleaning methods. Thereby, the corresponding ground is cleanly cleaned to achieve better cleaning effect and improve cleaning efficiency.

In this embodiment, the ground type of the working of the sweeping robot can also be recognized by detecting the speed and the duty ratio of the rotating brush of the cleaning robot. At this time, the rotating brush needs to continuously contact the ground to detect the resistance of different grounds.

As shown in FIG. 4, FIG. 4 is a schematic structural diagram of a module of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 4 , the cleaning robot in this embodiment includes a rotation device 100 , an acquisition module 200 , a storage module 300 , a determination module 400 , and a drive module 500 . Specifically, the acquiring module 200 is configured to acquire a current speed of the rotating device 100 of the mobile robot and a current duty ratio; the storage module 300 is configured to store a mobile robot program command, a ratio of duty ratio to speed, and a working surface type. The determining module 400 is configured to calculate a ratio of the current duty ratio to the current speed according to the current speed of the rotating device 100 acquired by the acquiring module 200 and the current duty ratio; and based on the current duty ratio and the current speed The ratio and the ratio of the ratio of the duty ratio of the rotating device 100 stored in the storage module 300 to the working surface type are determined, and the current working surface type of the mobile robot is determined; the driving module 500 is configured to be driven according to an instruction issued by the determining module 400. The rotating device 100 operates. The rotating device 100 is a left and right driving wheel; the obtaining module 200 includes a Hall sensor for acquiring the driving wheel speed and a single chip for obtaining the driving wheel duty ratio; the storage module 300 is a memory of the single chip microcomputer of the cleaning robot; the determining module 400 is a single chip microcomputer; Module 500 is a driver IC.

The single-chip microcomputer in this embodiment is implanted with a PID program to control the rotational speed of the driving wheel; the memory of the single-chip microcomputer (ie, the storage module 300) includes a ROM and a RAM, wherein the ROM is used to store the mobile robot program instructions, the duty ratio and speed of the rotating device 100. The threshold range of the ratio and the corresponding work surface type; RAM is used to store the duty cycle of the PID program real-time calculation. The microcontroller PID control program can directly read and modify the duty cycle of the drive wheel stored in the RAM, and then the microcontroller outputs the duty cycle information to the drive IC, and the drive wheel is rotated by the drive IC; the Hall sensor detects the drive wheel speed and transmits To the microcontroller, compare the drive wheel speed set by the PID program, and then increase or decrease the duty cycle according to the comparison result to control the drive wheel speed.

The rotating device 100 in this embodiment may also be a rotating brush of the cleaning robot; the acquiring module 200 for acquiring the driving wheel speed may also adopt a photoelectric speed measuring sensor. Since the Hall sensor and the photoelectric velocity sensor are prior art to those skilled in the art, the implementation process will not be described.

In the embodiment of the present invention, the principle that the sweeping robot recognizes the ground type is: when the driving speed of the sweeping robot is greater than a certain value and the uniform speed is moved, the duty ratio P of the driving wheel changes within a small range, and therefore, the driving wheel is occupied. The ratio of the ratio P to the speed V(t) of the drive wheel also varies within a small range. When the ground resistance suddenly increases, the driving wheel load suddenly increases, and the driving wheel duty ratio has not been updated in time, the driving wheel speed will decrease. In order to keep the driving wheel speed at the set value, the driving wheel duty cycle P will increase. When the driving wheel speed V reaches the set value V(t), the driving wheel speed V remains unchanged, the driving wheel duty ratio increases, and the ratio K of the driving wheel duty ratio P to the driving wheel speed V increases; The surface resistance suddenly decreases, the driving wheel load suddenly decreases, and the driving wheel speed is not updated in time. The driving wheel speed will increase. In order to keep the driving wheel speed at the set value, the driving wheel duty cycle P will decrease. When the driving wheel speed V reaches the set value V(t), the driving wheel speed V remains unchanged, the driving wheel duty ratio decreases, and the ratio K of the driving wheel duty ratio P to the driving wheel speed V decreases. Therefore, the ratio of the duty cycle to the speed of the driving wheel can represent the resistance of the current ground of the driving wheel, and the ground type can be judged according to the magnitude of the ground resistance.

Example 2

The mobile robot in this embodiment will be described by taking a mowing robot as an example.

The mowing robot in this embodiment includes a rotation device 100, an acquisition module 200, a storage module 300, a determination module 400, and a drive module 500. Specifically, the rotating device 100 in this embodiment is a driving wheel or a rotating cutter head; the acquisition module 200 of the embodiment includes a Hall sensor for acquiring the rotational speed of the driving wheel or the rotating cutter head; and the storage module 300 is a single-chip microcomputer for the mowing robot. The memory of the determination module 400 is a single chip microcomputer.

The lawn type identification method of the mowing robot in this embodiment is basically the same as the ground type identified in the embodiment 1. The difference is that the mowing robot can be detected by detecting the rotation speed and duty ratio of the rotary cutter head of the mowing robot. The condition of the lawn, then enter the corresponding mowing mode to improve the mowing effect and efficiency.

The principle of working lawn condition recognition based on mowing robot is: the higher the height of the lawn, the greater the resistance of the driving wheel and the rotating cutter head, and the driving wheel or rotation while maintaining the driving wheel speed or the rotating cutter wheel speed at the set value. The greater the duty cycle of the cutterhead, the higher the lawn.

The above is only the embodiment of the present invention, and the scope of the present invention is not limited thereto, and thus equivalent changes made in the claims of the present invention are still within the scope of the present invention.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (17)

A working surface recognition method for a mobile robot, comprising: Get the current speed of the mobile robot in real time; Obtaining a current speed of the mobile robot and a current duty ratio when the current speed is greater than a preset speed; Calculating a ratio of a current duty ratio to a current speed based on the current speed and a current duty ratio; A current working surface type of the mobile robot is determined based on a ratio of the current duty ratio to the current speed. The method according to claim 1, wherein the step of acquiring the current speed of the mobile robot in real time further comprises: A mapping table of the normal working speed, the preset speed, and the ratio of the duty ratio to the speed and the type of the working surface of the mobile robot is preset. The method according to claim 2, wherein the step of acquiring the current speed of the mobile robot and the current duty ratio when the current speed is greater than the preset speed further comprises: When the current speed is not greater than the preset speed, the current speed of the mobile robot is acquired again after the preset time and it is determined whether it is greater than the preset speed. The method according to claim 3, wherein when the current speed is not greater than the preset speed, the step of acquiring the current speed of the mobile robot again after the preset time and determining whether it is greater than the preset speed further comprises: Calculating a speed difference between the normal working speed and the current speed based on the normal working speed and the current speed when the current speed is not greater than the preset speed; Calculating a value of a duty ratio that needs to be increased to reach a normal operating speed based on the speed difference; Adjusting the current speed of the mobile robot based on the value of the duty cycle that needs to be increased; After the preset time, the current speed of the mobile robot is acquired again and it is judged whether it is greater than the preset speed. The method according to claim 2, wherein the step of calculating the ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio may further be: Acquiring the current speed of the mobile robot and the current duty ratio multiple times within a preset time; Calculating a ratio of the current duty ratio to the corresponding current speed based on the current speed of the mobile robot acquired multiple times and the current duty ratio; Calculating an average value of a ratio of a current duty ratio to a corresponding current speed based on a ratio of the plurality of current duty ratios to a corresponding current speed; The average value of the ratio of the current duty ratio to the current speed is taken as the ratio of the current duty ratio to the current speed. The method according to claim 1, wherein the step of determining the current working surface type of the mobile robot based on the ratio of the current duty ratio to the current speed comprises: The current working surface type is obtained based on the ratio of the current duty ratio to the current speed and the ratio of duty ratio to speed and the type of work surface. The method of claim 1 wherein: The mobile robot is a sweeping robot, and the sweeping robot includes a driving wheel or a rotating brush. The method of claim 1 wherein: The mobile robot is a mowing robot, and the mowing robot includes a drive wheel or a rotary cutter. A method for controlling a mobile robot, comprising: Get the current speed of the mobile robot in real time; Obtaining a current speed of the mobile robot and a current duty ratio when the current speed is greater than a preset speed; Calculating a ratio of a current duty ratio to a current speed based on the current speed and a current duty ratio; Determining a current working surface type of the mobile robot based on a ratio of the current duty ratio to a current speed; The mobile robot is controlled to enter the corresponding working mode according to the type of the working surface. The method according to claim 9, wherein the step of acquiring the current speed of the mobile robot in real time further comprises: A mapping table of the normal working speed, the preset speed, and the ratio of the duty ratio to the speed and the type of the working surface of the mobile robot is preset. The method according to claim 10, wherein the step of acquiring the current speed of the mobile robot and the current duty ratio when the current speed is greater than the preset speed further comprises: When the current speed is not greater than the preset speed, the current speed of the mobile robot is acquired again after the preset time and it is determined whether it is greater than the preset speed. The method according to claim 11, wherein when the current speed is not greater than the preset speed, the step of acquiring the current speed of the mobile robot again after the preset time and determining whether it is greater than the preset speed further comprises: Calculating a speed difference between the normal working speed and the current speed based on the normal working speed and the current speed when the current speed is not greater than the preset speed; Calculating a value of a duty ratio that needs to be increased to reach a normal operating speed based on the speed difference; Adjusting the current speed of the mobile robot based on the value of the duty cycle that needs to be increased; After the preset time, the current speed of the mobile robot is acquired again and it is judged whether it is greater than the preset speed. The method according to claim 10, wherein the step of calculating the ratio of the current duty ratio to the current speed based on the current speed and the current duty ratio may further be: Acquiring the current speed of the mobile robot and the current duty ratio multiple times within a preset time; Calculating a ratio of the current duty ratio to the corresponding current speed based on the current speed of the mobile robot acquired multiple times and the current duty ratio; Calculating an average value of a ratio of a current duty ratio to a corresponding current speed based on a ratio of the plurality of current duty ratios to a corresponding current speed; The average value of the ratio of the current duty ratio to the current speed is taken as the ratio of the current duty ratio to the current speed. A mobile robot comprising a rotating device (100), characterized in that: The method includes an obtaining module (200), a storage module (300), a determining module (400), and a driving module (500); The obtaining module (200) is configured to acquire a current speed of the rotating device (100) of the mobile robot and a current duty ratio; The storage module (300) is configured to store a mapping table of mobile robot program instructions, a ratio of duty ratio to speed, and a type of work surface; The determining module (400) is configured to calculate a ratio of a current duty ratio to a current speed according to a current speed of the rotating device (100) acquired by the acquiring module (200) and a current duty ratio; and based on the current duty ratio and the current Determining the current working surface type of the mobile robot by the ratio of the speed and the ratio of the duty ratio of the rotating device (100) stored in the storage module (300) to the working surface type; The driving module (500) is configured to drive the rotating device to operate according to an instruction issued by the determining module. A mobile robot according to claim 14, wherein: The acquisition module (200) includes a Hall sensor or a photoelectric speed sensor for acquiring the speed of the rotating device (100) and a single chip microcomputer for acquiring the duty ratio of the rotating device (100); The storage module (300) is a memory of the single chip microcomputer; The determining module (400) is a single chip microcomputer; The drive module (500) is a drive IC. A mobile robot according to claim 14, wherein: The mobile robot is a mowing robot, and the rotating device (100) is a drive wheel or a rotary cutter. A mobile robot according to claim 14, wherein: The mobile robot is a sweeping robot, and the rotating device (100) is a driving wheel or a rotating brush.

Images