CN112327321B - Sweeper side brush state detection method and device, storage medium and sweeper - Google Patents
Sweeper side brush state detection method and device, storage medium and sweeper Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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Abstract
The invention provides a method and a device for detecting the state of a side brush of a sweeper, a storage medium and the sweeper, wherein the method comprises the following steps: acquiring an infrared pulse signal received in the running process of the sweeper; if the infrared pulse signal comprises the infrared pulses with two amplitudes corresponding to the ground and the side brush and is in periodic variation, the side brush is judged to be in an in-place state; calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period; and when the number of the infrared pulses of any one of the two kinds of amplitude values is larger than the corresponding preset upper limit threshold value, judging whether a locked-rotor state occurs or not according to the current rotating speed of the side brush, determining the locked-rotor degree according to the current rotating speed of the side brush, and executing matched winding-free operation. The invention ensures that the layout of the side brush and the infrared sensor of the sweeper is not limited any more, improves the design freedom of the sweeper, can detect the in-place, rotating speed and locked-rotor state of the side brush in real time and ensures the sweeping effect.
Description
Technical Field
The invention relates to the technical field of household appliances, in particular to a method and a device for detecting the state of a side brush of a sweeper, a storage medium and the sweeper.
Background
In recent years, the intellectualization of household appliances is continuously improved, and the sweeper is gradually popularized. In order to improve the cleaning effect, side brushes are arranged on two sides of the front edge of the sweeper to enlarge the cleaning area in the industry so as to gather the objects to be cleaned in the advancing direction, but the side brushes are special in structure and high in rotating speed detection difficulty and can only adopt rotating speed open-loop control; meanwhile, in order to prevent the sweeper from entering a low position exceeding a preset height by mistake, infrared sensors are often arranged on the front edge of the sweeper body in a circle at the bottom or on two sides of the bottom, the distance from the sweeper body to the ground is detected in real time, and the phenomena of safety hazard, incapability of getting back and the like are avoided; on the relative position problem between them, the overlap of limit brush and infrared sensor on the position is just avoided to conventional way, can avoid the limit brush to shelter from infrared signal like this, guarantees infrared signal's integrality, real-time and accuracy, and the quick-witted front edge ground clearance that also can accurately acquire the fuselage in real time of sweeping the floor, but this must sacrifice limit brush or infrared sensor's cover width, or influence the effect of cleaning or can't ensure safety, and user experience is not good.
In order to guarantee to clean and gather together effect and infrared detection width maximize, the overlap interference can take place for unavoidable meeting of limit brush and infrared sensor in structural position, for this reason, filter the interference signal that the limit brush brought through software among the prior art, only keep corresponding useful distance information, or through improving limit brush structure, install the brush bundle at the edge of circular printing opacity piece to avoid relevant infrared to shelter from and interfere the phenomenon. However, these two solutions not only result in the loss of infrared distance signals and the failure to determine the states of the side brush, such as rotation speed and locked rotor, but also result in increased structural cost and increased volume.
Disclosure of Invention
The invention provides a method and a device for detecting the state of an edge brush of a sweeper, a storage medium and the sweeper, and solves the problems that the detection of the state of the edge brush of the existing sweeper is difficult, and the respective action maximization and the relative structure position restriction of the edge brush and an infrared sensor are solved.
In one aspect of the present invention, a method for detecting a status of an edge brush of a sweeper is provided, the method comprising:
acquiring an infrared pulse signal received in the running process of the sweeper;
if the infrared pulse signals comprise the infrared pulses with two amplitudes corresponding to the ground and the side brush and are in periodic variation, judging that the side brush of the sweeper is in an in-place state;
calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period;
when the number of infrared pulses of any one of the infrared pulses of the two amplitudes corresponding to the ground and the side brush is larger than a corresponding preset upper limit threshold value, judging whether the side brush is in a locked-rotor state or not according to the current rotating speed of the side brush;
and if the side brush has a locked-rotor state, determining the locked-rotor degree according to the current rotating speed of the side brush, and executing preset winding-free operation matched with the locked-rotor degree.
Optionally, the calculating the rotation speed of the side brush according to the variation period of the infrared pulse signal and the number of infrared pulses with two corresponding amplitudes in each variation period includes:
acquiring the amplitude of the first infrared pulse;
judging whether the absolute value of the difference value between the amplitude of the first infrared pulse and the amplitude of the adjacent previous infrared pulse is larger than a preset amplitude threshold value or not;
if the absolute value of the difference is larger than a preset amplitude threshold, performing classified counting on the infrared pulses, and respectively counting the number of first pulses, of which the amplitudes belong to a first threshold interval, transmitted to the side brush arm of the sweeper and the number of second pulses, of which the amplitudes belong to a second threshold interval, transmitted to the ground;
and calculating the interval time of the two adjacent side brush arms passing through the infrared induction area according to the first pulse quantity and the second pulse quantity counted in the current counting period, and calculating the rotating speed of the side brush according to the interval time, the distance between the two adjacent side brush arms and the distance from the infrared induction area to the center of the side brush.
Optionally, the method further comprises:
in the infrared pulse classification counting process, if the absolute value of the difference value between the amplitude of the currently acquired second infrared pulse and the amplitude of the adjacent previous infrared pulse is judged to be larger than a preset amplitude threshold value, and the first pulse number and the second pulse number are both larger than a preset statistical threshold value, the counting of the current statistical period is finished.
Optionally, before determining whether the locked-rotor state of the side brush occurs according to the current rotation speed of the side brush, the method further includes:
detecting whether the current of the side brush motor is larger than a preset current threshold value or not, and judging that the side brush is in a locked-rotor state when the current of the side brush motor is larger than the preset current threshold value;
and determining the degree of locked rotor according to the current rotating speed of the side brush, and executing preset winding-free operation matched with the locked rotor degree.
Optionally, the method further comprises:
when the current of the motor of the side brush is smaller than or equal to a preset current threshold, executing a step of judging whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush;
and if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, judging that the side brush has neglected loading or falls off, and giving an alarm.
Optionally, if it is determined that the locked-rotor state of the edge brush does not occur according to the current rotation speed of the edge brush, it is determined that the edge brush is neglected to be mounted or falls off, including:
if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, switching the emission intensity of the infrared emission signal, and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not;
if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is smaller than or equal to the preset amplitude threshold value, the amplitude of the infrared pulse is unchanged, and the side brush is judged to be neglected to be installed or fall off.
Optionally, the method further comprises: after the emission intensity of the infrared emission signal is switched, if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is larger than the preset amplitude threshold value, the sweeper is judged to enter a ground medium with the same reflection amplitude as that of the side brush arm.
In another aspect of the present invention, there is provided a status detecting apparatus for an edge brush of a sweeper, the apparatus including:
the acquisition unit is used for acquiring infrared pulse signals received in the running process of the sweeper;
the on-site detection unit is used for judging that the side brush of the sweeper is in an on-site state when the infrared pulse signal comprises infrared pulses with two amplitudes corresponding to the ground and the side brush and is in periodic variation;
the rotating speed detection unit is used for calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period;
the locked-rotor detection unit is used for judging whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush when the number of infrared pulses of any one amplitude value of the infrared pulses of the two amplitude values corresponding to the ground and the side brush is larger than a corresponding preset upper limit threshold value;
and the execution unit is used for determining the locked rotor degree according to the current rotating speed of the side brush when the locked rotor state of the side brush occurs, and executing preset winding-free operation matched with the locked rotor degree.
Optionally, the rotation speed detection unit includes:
the detection module is used for acquiring the amplitude of the first infrared pulse;
the first judgment module is used for judging whether the absolute value of the difference value between the amplitude of the first infrared pulse and the amplitude of the adjacent previous infrared pulse is larger than a preset amplitude threshold value or not;
the counting module is used for carrying out infrared pulse classification counting when the absolute value of the difference is larger than a preset amplitude threshold value, and respectively counting the number of first pulses, of which the amplitudes belong to a first threshold interval, transmitted to the side brush arm of the sweeper and the number of second pulses, of which the amplitudes belong to a second threshold interval, transmitted to the ground;
and the calculation module is used for calculating the interval time of the two adjacent side brush arms passing through the infrared induction area according to the first pulse quantity and the second pulse quantity counted in the current counting period, and calculating the rotating speed of the side brush according to the interval time, the distance between the two adjacent side brush arms and the distance from the infrared induction area to the center of the side brush.
Optionally, in the infrared pulse classification counting process, if the first judgment module judges that the absolute value of the difference between the amplitude of the second infrared pulse acquired by the detection module and the amplitude of the previous adjacent infrared pulse is greater than a preset amplitude threshold, and the first pulse number and the second pulse number are both greater than a preset statistical threshold, the counting of the current statistical period is finished.
Optionally, the locked-rotor detection unit is further configured to detect whether a current of the side brush motor is greater than a preset current threshold before determining whether a locked-rotor state of the side brush occurs according to a current rotation speed of the side brush, and determine that the locked-rotor state of the side brush occurs when the current of the side brush motor is greater than the preset current threshold;
and the execution unit is also used for determining the locked rotor degree according to the current rotating speed of the side brush and executing preset winding-free operation matched with the locked rotor degree.
Optionally, the locked-rotor detecting unit is specifically configured to, when the current of the side brush motor is less than or equal to a preset current threshold, perform an operation of determining whether a locked-rotor state occurs in the side brush according to a current rotation speed of the side brush;
and the locked rotor detection unit is also used for judging whether the side brush is neglected to be installed or falls off and giving an alarm when the locked rotor state of the side brush is not determined according to the current rotating speed of the side brush.
Optionally, the locked-rotor detection unit is specifically configured to switch the emission intensity of the infrared emission signal if it is determined that the locked-rotor state of the side brush does not occur according to the current rotation speed of the side brush; and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not, and judging whether the side brush is neglected to be installed or falls off when the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back is smaller than or equal to the preset amplitude threshold value, wherein the infrared pulse amplitude is unchanged.
Optionally, the locked rotor detection unit is further specifically configured to determine that the sweeper enters a ground medium with a reflection amplitude equal to the reflection amplitude of the side brush arm if an absolute value of a difference between amplitudes of the two infrared pulses is greater than a preset amplitude threshold after the emission intensity of the infrared emission signal is switched.
Furthermore, the invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
In addition, the invention also provides a sweeper, which comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor executes the program to realize the steps of the method.
According to the method and the device for detecting the state of the side brush of the sweeper, provided by the embodiment of the invention, the state detection of the side brush is realized by utilizing the characteristics that the amplitude of the infrared signal reflected by the side brush is fixed and certain periodicity exists at a fixed rotating speed, so that the layout of the side brush and an infrared sensor of the sweeper is not limited, the design freedom degree of the sweeper is improved, the gathering effect and the infrared distance measurement effect of side brush sweeping are fully exerted, the in-place state and the rotating speed of the side brush can be detected in real time, the condition of the locked rotation degree of the side brush is obtained, the corresponding sweeping action is adjusted in time to get rid of winding, and the sweeping effect is ensured.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of a method for detecting a status of a side brush of a sweeper according to an embodiment of the present invention;
fig. 2 is a schematic internal flowchart of step S13 in the method for detecting a status of a side brush of a sweeper according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the relative positions of an infrared sensor and an edge brush according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an infrared pulse signal received by an infrared sensor according to an embodiment of the present invention;
FIG. 5 is a schematic view of a trigonometric function formed by the side brush and the infrared sensing area according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for detecting a status of a side brush of a sweeper according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a state detection device of an edge brush of a sweeper provided in an embodiment of the present invention;
fig. 8 is a schematic diagram of an internal structure of a rotation speed detection unit in the state detection device of the side brush of the sweeper provided by the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 schematically shows a flowchart of a method for detecting a status of a side brush of a sweeper according to an embodiment of the present invention. Referring to fig. 1, the method for detecting the status of the side brush of the sweeper provided by the embodiment of the invention specifically includes steps S11-S15, as follows:
and S11, acquiring the infrared pulse signal received in the operation process of the sweeper.
In the embodiment, when the sweeper starts to work, the infrared sensor emits infrared signals with specific frequency, and the side brush moves at several fixed rotating speeds in a normal running state, so that the infrared signals reflected by the side brush and the ground are periodic and matched with the rotating speed of the side brush, and the amplitude of the infrared signals is fixed in a certain range.
S12, if the infrared pulse signals comprise infrared pulses with two amplitudes corresponding to the ground and the side brush and are in periodic variation, judging that the side brush of the sweeper is in an in-place state;
in the embodiment, corresponding edge brush arm identification threshold values are preset according to the infrared emission characteristics of different edge brush materials, a first threshold value interval for edge brush identification is set for ensuring the identification accuracy and the identification rate, and the infrared pulse amplitude in the corresponding first threshold value interval can be identified as an edge brush; the side brush arm, the ground and the lower part exceeding the preset height are positioned below the infrared sensing area by reading the amplitude of the infrared pulse.
Specifically, when the obtained infrared pulse signal comprises two kinds of infrared pulses with amplitudes corresponding to the ground and the side brush and is in periodic variation, the side brush of the sweeper is judged to be in the in-place state, and otherwise, the side brush is judged not to be in the in-place state.
S13, calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period;
s14, when the number of infrared pulses with any amplitude value in the infrared pulses with two amplitude values corresponding to the ground and the side brush is larger than a corresponding preset upper limit threshold value, judging whether the side brush has a locked-rotor state or not according to the current rotating speed of the side brush;
and S15, if the side brush is in a locked-rotor state, determining the locked-rotor degree according to the current rotating speed of the side brush, and executing preset releasing winding operation matched with the locked-rotor degree.
According to the method for detecting the state of the side brush of the sweeper, provided by the embodiment of the invention, the state detection of the side brush is realized by utilizing the characteristics that the amplitude of the infrared signal reflected by the side brush is fixed and certain periodicity exists at a fixed rotating speed, so that the layout of the side brush and an infrared sensor of the sweeper is not limited any more, the design freedom of the sweeper is improved, the gathering effect and the infrared distance measurement effect of the side brush sweeping are fully exerted, the in-situ state and the rotating speed of the side brush can be detected in real time, the condition of the blocking degree of the side brush is obtained, the corresponding sweeping action is timely adjusted to get rid of winding, and the sweeping effect is ensured.
In the embodiment of the present invention, as shown in fig. 2, a specific implementation flow of step S13 is as follows.
S131, acquiring the amplitude of the first infrared pulse.
In the embodiment, when the sweeper starts to work, the infrared sensor transmits an infrared signal with a specific frequency, corresponding edge brush arm identification threshold values are preset according to the infrared emission characteristics of different edge brush materials, a first threshold value interval for edge brush identification is set for ensuring the identification accuracy and the identification rate, and the infrared pulse amplitude in the corresponding first threshold value interval can be identified as an edge brush; the side brush arm, the ground and the lower part exceeding the preset height are positioned below the infrared sensing area by reading the amplitude of the infrared pulse.
Specifically, the specific value of the first threshold interval for edge brush identification may be set according to the infrared emission characteristic of the material of the edge brush and the requirement of identification accuracy, which is not specifically limited in the present invention.
S132, judging whether the absolute value of the difference value between the amplitude of the first infrared pulse and the amplitude of the adjacent previous infrared pulse is larger than a preset amplitude threshold value.
After power-on initialization, firstly, judging whether the amplitude value of two adjacent infrared pulses before and after the power-on initialization is changed, namely whether the absolute value of the difference value between the amplitude value of the current infrared pulse and the amplitude value of the previous adjacent infrared pulse is larger than a preset amplitude threshold value.
Specifically, since the infrared pulse amplitudes of the infrared signal impinging on the side brush arm and the infrared signal impinging on the ground are significantly different, the preset amplitude threshold may be set according to the infrared emission characteristics of the side brush material and the infrared emission characteristics of the ground, which is not specifically limited in the present invention.
S133, if the absolute value of the difference is larger than a preset amplitude threshold, performing infrared pulse classification counting, and respectively counting the number of first pulses, of which the amplitudes belong to a first threshold interval, transmitted to the side brush arm of the sweeper and the number of second pulses, of which the amplitudes belong to a second threshold interval, transmitted to the ground.
In this embodiment, the state detection of the side brush is realized by using the characteristics that the amplitude of the infrared signal reflected by the side brush is fixed and a certain periodicity exists at a fixed rotation speed, if it is determined that the absolute value of the difference between the amplitude of the current first infrared pulse and the amplitude of the adjacent previous infrared pulse is greater than the preset amplitude threshold, the side brush is considered to enter a statistical period, at this time, the infrared pulse classification counting is performed, otherwise, the amplitude of the received infrared pulse is continuously detected, and if the amplitudes of the adjacent infrared pulses are continuously unchanged, it is determined that the side brush is in a locked-rotor state or a missing-loading/dropping state, or the sweeper enters a ground medium with the reflection amplitude being the same as the reflection amplitude of the side brush arm.
S134, calculating the interval time of the two adjacent side brush arms passing through the infrared induction area according to the first pulse quantity and the second pulse quantity counted in the current counting period, and calculating the rotating speed of the side brush according to the interval time, the distance between the two adjacent side brush arms and the distance from the infrared induction area to the center of the side brush.
In this embodiment, in the infrared pulse classification counting process, if it is determined that the absolute value of the difference between the amplitude of the currently acquired second infrared pulse and the amplitude of the adjacent previous infrared pulse is greater than the preset amplitude threshold, and both the first pulse number and the second pulse number are greater than the preset statistical threshold, the counting of the current statistical period is finished.
Specifically, since the infrared signal is applied to the side brush arm and the infrared pulse amplitude applied to the ground will have a significant difference, the present embodiment ensures that there is two drops in the statistical period by determining whether the absolute value of the difference between the front and rear infrared pulse amplitudes is greater than the preset amplitude threshold, and combining that the first pulse number and the second pulse number are both greater than the preset statistical threshold, that is, the counted pulse number is the number of the adjacent two side brush arms passing through the infrared sensing area. Wherein, the preset statistical threshold value can be 2.
According to the invention, the infrared signals reflected by the side brush are subjected to software processing, and in a normal operation state, the side brush moves at several fixed rotating speeds, so that the infrared signals reflected by the side brush have periodicity matched with the rotating speed of the side brush, the amplitude of the infrared signals is fixed in a certain range, when the side brush is incompletely or completely locked, the rotating speed changes, the number of infrared signal pulses with corresponding amplitudes also changes, and further, the current rotating speed of the side brush can be calculated by detecting the infrared signals with specific amplitudes, so that the side brush can be prevented from being wound in advance; and secondly, whether the side brush is installed or not and whether the side brush falls off or not during the operation can be detected during the power-on operation.
Taking the halved three-arm side brush shown in fig. 3 as an example for explanation, when the side brush moves at a fixed rotation speed, the infrared signal reflected by the side brush has periodicity matched with the rotation speed of the side brush, the amplitude of the infrared signal is fixed in a certain range, and the infrared pulse signal received by the infrared sensor is as shown in fig. 4.
Wherein T3 is the time of the side brush rotating for one circle, T2 is the interval time of two adjacent side brush arms passing through the infrared sensing area successively, T1 is the time of the single-arm side brush body passing through the infrared sensor sensing area when rotating, and the time is determined by the rotation speed of the side brush
(rpm/sec), the width D of the single arm of the side brush and the distance R from the infrared sensing area to the center of the side brush are determined, as shown in FIG. 5, according to the trigonometric theorem and the trigonometric function relationship:
according to the constant angular speed relation of one rotation:
and the rotating speed:
(turns/sec)
Therefore, it can be seen that:
furthermore, it can be understood that, taking an example of equally dividing a three-arm side brush, it can be deduced that
If the brush is divided into 5-arm side brushes
If the side brush is not equally divided, based on the actual brush arm spacing distance d1, the following formula is derived from T1:
the interval time of the other adjacent brush arms passing through the infrared induction area is repeated.
Wherein m and n are the corresponding infrared pulse numbers within the time T2 and T1 respectively, m and n between each adjacent brush arms are equal when the brush arms normally run at a constant speed, and the pulse number is determined by the emission period time T of a single infrared pulse, so that the infrared pulse generator has the advantages of simple structure, low cost and high reliability
In the same way
According to the method for detecting the state of the side brush of the sweeper, provided by the embodiment of the invention, the state detection of the side brush is realized by utilizing the characteristics that the amplitude of the infrared signal reflected by the side brush is fixed and certain periodicity exists at a fixed rotating speed, so that the layout of the side brush and an infrared sensor of the sweeper is not limited any more, the design freedom degree of the sweeper is improved, the gathering effect and the infrared distance measurement effect of the side brush sweeping are fully exerted, the rotating speed of the side brush can be detected in real time, the condition of the locked-up degree of the side brush is obtained, the corresponding sweeping action is timely adjusted to get rid of winding, and the sweeping effect is ensured.
In the embodiment of the present invention, before determining whether the stall state of the side brush occurs according to the current rotation speed of the side brush, the method further includes the following steps: detecting whether the current of the side brush motor is larger than a preset current threshold value or not, and judging that the side brush is in a locked-rotor state when the current of the side brush motor is larger than the preset current threshold value; and determining the degree of locked rotor according to the current rotating speed of the side brush, and executing preset winding-free operation matched with the locked rotor degree. When the current of the motor of the side brush is smaller than or equal to a preset current threshold, executing a step of judging whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush; and if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, judging that the side brush has neglected loading or falls off, and giving an alarm.
In this embodiment, if the amplitude of the infrared receiving pulse is unchanged all the time and exceeds the preset upper threshold in the statistical process, it may be determined that the side brush has locked up, dropped, or enters a ground medium with a reflection amplitude the same as that of the side brush arm. And if the incomplete locked rotation is judged, the different releasing winding programs are tried according to the current rotating speed of the side brush, and after the releasing winding programs exceed the releasing times and fail, a side brush locked rotation alarm is sent. And if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, judging that the side brush has neglected loading or falls off, and giving a corresponding alarm.
Further, if it is determined that the locked-rotor state of the side brush does not occur according to the current rotating speed of the side brush, it is determined that the side brush is not installed or falls off, and the method specifically further comprises the following steps: if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, switching the emission intensity of the infrared emission signal, and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not; if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is smaller than or equal to the preset amplitude threshold value, the amplitude of the infrared pulse is unchanged, and the side brush is judged to be neglected to be installed or fall off.
After the emission intensity of the infrared emission signal is switched, if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is larger than the preset amplitude threshold value, the sweeper is judged to enter a ground medium with the same reflection amplitude as that of the side brush arm.
The method for detecting the status of the side brush of the sweeper provided by the invention is explained by a specific embodiment.
As shown in fig. 6, X1 is an average value read from a single infrared pulse, X2 represents an amplitude of a previous infrared pulse, C is an infrared pulse number value when the side brush is judged to be locked, rotating or falling, Ct1 is a pulse number of the single side brush arm hitting the side brush arm when the single side brush arm passes through the infrared sensing region, an initial value is 0, T1 and T2 are the same as T1 and T2 in fig. 3, Ct2 is an interval infrared pulse number of two adjacent side brush arms passing through the infrared sensing region, the initial value is 0, a calculation formula and principle of a rotation speed V1 are the same as those in fig. 5, and a represents an amplitude threshold corresponding to an absolute value of a difference between the previous infrared pulse and a current infrared pulse amplitude.
When the sweeper starts to work, the infrared sensor transmits an infrared signal with a specific frequency, a corresponding edge brush arm identification threshold is preset according to the infrared emission characteristics of different edge brush materials, a first threshold interval for edge brush identification is set for ensuring the identification accuracy and the identification rate, and the infrared pulse amplitude in the corresponding first threshold interval can be identified as an edge brush; the side brush arm, the ground and the lower part exceeding the preset height are positioned below the infrared sensing area by reading the amplitude of the infrared pulse.
After power-on initialization, changes of the amplitude values of the front infrared pulse and the rear infrared pulse are judged firstly, if the amplitude value of the received infrared pulse is unchanged all the time, the current of a motor of the side brush is detected, if the current is over-current, the side brush is not electrified and is not completely locked, different processes of getting rid of winding are tried, if the frequency of trying to get rid of the winding process is exceeded, and the frequency of trying to get rid of the winding process is failed, a side brush locked-rotor alarm is sent out, if the current is not over-current but exceeds a preset upper limit threshold value, namely the quantity of the infrared pulses with the same amplitude is equal to or greater than the preset upper limit threshold value, the side brush is indicated to be neglected in installation or fall off, and at the moment, a user is reminded of installing the side brush.
When detecting that the amplitude change of the infrared pulse exceeds a, namely the absolute value of the difference value between the amplitude of the current infrared pulse and the amplitude of the adjacent previous infrared pulse is greater than a preset amplitude threshold value a, starting an infrared pulse classification counting process, mainly distinguishing the pulse hitting the side brush arm from the pulse hitting the ground, and meanwhile calculating corresponding time T1 and time T2 to ensure that T1+ T2 is just the time when the two adjacent side brush arms pass through the sensing area, so that the side brush rotating speed calculation is started only when the amplitude change of the front and back infrared pulses is greater than a and Ct1 and Ct2 are both greater than 2, because the infrared pulse amplitude hitting the side brush arm and the infrared pulse hitting the ground have obvious difference, and the difference of two times can be ensured by combining Ct1 and Ct2 to be greater than 2, namely the counted pulse number is the number when the two adjacent side brush arms pass through the infrared sensing area, and Ct1 and Ct2 are cleared 0 after the calculation is finished, facilitating the start of the statistics of the next cycle. If the amplitude of the infrared receiving pulse is unchanged all the time and exceeds the preset threshold value in the counting process, the situations that the side brush is locked or falls off or enters a ground medium with the same reflection amplitude as that of the side brush arm and the like can be judged.
When the side brush has the three conditions, the judgment needs to be carried out according to the side brush current, and when the side brush is overcurrent, Ct1, Ct2, T1 and T2 are directly cleaned 0, and the side brush speed measurement cycle is exited to get rid of the winding procedure; when the side brush falls off or enters a ground medium with the same side brush arm reflection amplitude, the current cannot exceed a preset value, and the infrared reflectivities of the side brush and the ground medium at different light intensities and different distances are in a non-equal proportional relation, so that the brush arm and the ground medium with the same reflection amplitude can be distinguished by switching the infrared emission intensity, and meanwhile, the side brush can be detected in place after exiting a speed measurement cycle no matter whether the side brush is over-current or not, and the method can realize the detection of the rotating speed, the locked-rotor state, the in-place state and the falling of the side brush.
According to the invention, the amplitude of the infrared signal reflected by the side brush is fixed, and a certain periodicity exists at a fixed rotating speed, the layout of the side brush and the infrared sensor of the sweeper is not limited any more by processing the corresponding infrared signal, the design freedom of the sweeper is improved, the gathering effect and the infrared distance measuring effect of the side brush sweeping are fully exerted, the rotating speed of the side brush can be detected in real time, the condition of the degree of rotation blockage of the side brush is obtained, the current rotating speed and state of the side brush are calculated in real time, when the side brush of the sweeper is not completely wound, the corresponding winding-free action can be executed in advance, the side brush is prevented from winding, the in-place detection of the side brush, namely whether the side brush is installed or not is realized, a user is reminded of installing the side brush in time, and the sweeping effect is guaranteed.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Fig. 7 schematically shows a structural diagram of a state detection device of an edge brush of a sweeper according to an embodiment of the invention. Referring to fig. 7, the status detection apparatus for a side brush of a sweeper in an embodiment of the present invention specifically includes an obtaining unit 701, an in-place detection unit 702, a rotation speed detection unit 703, a locked-rotor detection unit 704, and an execution unit 705, where:
the acquisition unit 701 is used for acquiring an infrared pulse signal received in the operation process of the sweeper;
the in-place detection unit 702 is configured to determine that the side brush of the sweeper is in an in-place state when the infrared pulse signal includes two kinds of infrared pulses with amplitudes corresponding to the ground and the side brush and changes periodically;
a rotation speed detection unit 703 for calculating the rotation speed of the side brush according to the change period of the infrared pulse signal and the number of infrared pulses of two corresponding amplitudes in each change period;
the locked-rotor detection unit 704 is used for determining whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush when the number of infrared pulses of any one of the infrared pulses of the two amplitudes corresponding to the ground and the side brush is larger than the corresponding preset upper limit threshold;
the executing unit 705 is configured to determine a locked-rotor degree according to the current rotation speed of the side brush when the side brush is in a locked-rotor state, and execute a preset releasing winding operation matched with the locked-rotor degree.
In the embodiment of the present invention, as shown in fig. 8, the rotation speed detecting unit 703 includes a detecting module 7031, a first determining module 7032, a counting module 7033, and a calculating module 7034, where:
a detection module 7031, configured to obtain an amplitude of the first infrared pulse;
a first determining module 7032, configured to determine whether an absolute value of a difference between an amplitude of the first infrared pulse and an amplitude of an adjacent previous infrared pulse is greater than a preset amplitude threshold;
the counting module 7033 is configured to perform classified counting on the infrared pulses when the absolute value of the difference is greater than a preset amplitude threshold, and count a first number of pulses, which have amplitudes belonging to a first threshold interval and are transmitted to the side brush arm of the sweeper, and a second number of pulses, which have amplitudes belonging to a second threshold interval and are transmitted to the ground, respectively;
the calculating module 7034 is configured to calculate an interval time when the two adjacent side brush arms pass through the infrared sensing area according to the first pulse number and the second pulse number counted in the current counting period, and calculate a rotation speed of the side brush according to the interval time, a distance between the two adjacent side brush arms, and a distance from the infrared sensing area to a center of the side brush.
In the embodiment of the present invention, in the infrared pulse classification counting process, if the first determining module 7032 determines that the absolute value of the difference between the amplitude of the second infrared pulse acquired by the detecting module 7031 and the amplitude of the previous adjacent infrared pulse is greater than the preset amplitude threshold, and both the first pulse number and the second pulse number are greater than the preset statistical threshold, the counting module 7033 ends counting of the current statistical period.
In an embodiment of the present invention, the locked-rotor detecting unit 704 is further configured to detect whether a current of the side brush motor is greater than a preset current threshold before determining whether the side brush is in the locked-rotor state according to the current rotation speed of the side brush, and determine that the side brush is in the locked-rotor state when the current of the side brush motor is greater than the preset current threshold;
the executing unit 705 is further configured to determine a locked-rotor degree according to the current rotation speed of the side brush, and execute a preset winding-free operation matching the locked-rotor degree.
Further, the locked-rotor detecting unit 704 is specifically configured to, when the current of the side brush motor is less than or equal to a preset current threshold, perform an operation of determining whether a locked-rotor state of the side brush occurs according to the current rotation speed of the side brush;
the locked-rotor detection unit 704 is further configured to determine that the side brush is not installed or dropped, and perform an alarm when it is determined that the side brush is not in the locked-rotor state according to the current rotation speed of the side brush.
The locked-rotor detection unit 704 is specifically configured to switch the emission intensity of the infrared emission signal if it is determined that the locked-rotor state of the side brush does not occur according to the current rotation speed of the side brush; and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not, and judging whether the side brush is neglected to be installed or falls off when the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back is smaller than or equal to the preset amplitude threshold value, wherein the infrared pulse amplitude is unchanged.
The locked-rotor detection unit 704 is specifically configured to determine that the sweeper enters a ground medium with a reflection amplitude equal to the reflection amplitude of the side brush arm if the absolute value of the difference between the amplitudes of the two infrared pulses is greater than a preset amplitude threshold after the emission intensity of the infrared emission signal is switched.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
According to the method and the device for detecting the state of the side brush of the sweeper, provided by the embodiment of the invention, the state detection of the side brush is realized by utilizing the characteristics that the amplitude of the infrared signal reflected by the side brush is fixed and certain periodicity exists at a fixed rotating speed, so that the layout of the side brush and an infrared sensor of the sweeper is not limited any more, the design freedom degree of the sweeper is improved, the gathering effect and the infrared distance measurement effect of side brush sweeping are fully exerted, the rotating speed of the side brush can be detected in real time, the condition of the blocking degree of the side brush is obtained, the corresponding sweeping action is timely adjusted to get rid of winding, and the sweeping effect is ensured.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method as described above.
In this embodiment, if the module/unit integrated with the status detection device of the side brush of the sweeper is implemented in the form of a software functional unit and sold or used as an independent product, the module/unit may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The sweeper provided by the embodiment of the invention comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps in the state detection method embodiment of the side brush of each sweeper, such as S11-S15 shown in FIG. 1. Alternatively, the processor implements the functions of the modules/units in the above-mentioned embodiment of the status detection device for the side brush of each sweeper when executing the computer program, such as the obtaining unit 701, the in-place detection unit 702, the rotation speed detection unit 703, the locked-rotor detection unit 704 and the execution unit 705 shown in fig. 7.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used for describing the execution process of the computer program in the state detection device of the sweeper side brush. For example, the computer program may be divided into an acquisition unit 701, an in-place detection unit 702, a rotation speed detection unit 703, a locked-rotor detection unit 704, and an execution unit 705.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general processor can be a microprocessor or the processor can be any conventional processor, etc., and the processor is the control center of the sweeper and is connected with various parts of the whole sweeper by various interfaces and lines.
The memory can be used for storing the computer program and/or the module, and the processor can realize various functions of the sweeper by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (16)
1. A state detection method for an edge brush of a sweeper is characterized by comprising the following steps:
acquiring an infrared pulse signal received in the running process of the sweeper;
if the infrared pulse signals comprise the infrared pulses with two amplitudes corresponding to the ground and the side brush and are in periodic variation, judging that the side brush of the sweeper is in an in-place state;
calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period;
when the number of infrared pulses of any one of the infrared pulses of the two amplitudes corresponding to the ground and the side brush is larger than a corresponding preset upper limit threshold value, judging whether the side brush is in a locked-rotor state or not according to the current rotating speed of the side brush;
and if the side brush has a locked-rotor state, determining the locked-rotor degree according to the current rotating speed of the side brush, and executing preset winding-free operation matched with the locked-rotor degree.
2. The method of claim 1, wherein calculating the rotation speed of the side brush according to the variation cycles of the infrared pulse signal and the numbers of the infrared pulses with the two corresponding amplitudes in each variation cycle comprises:
acquiring the amplitude of the first infrared pulse;
judging whether the absolute value of the difference value between the amplitude of the first infrared pulse and the amplitude of the adjacent previous infrared pulse is larger than a preset amplitude threshold value or not;
if the absolute value of the difference is larger than a preset amplitude threshold, performing classified counting on the infrared pulses, and respectively counting the number of first pulses, of which the amplitudes belong to a first threshold interval, transmitted to the side brush arm of the sweeper and the number of second pulses, of which the amplitudes belong to a second threshold interval, transmitted to the ground;
and calculating the interval time of the two adjacent side brush arms passing through the infrared induction area according to the first pulse quantity and the second pulse quantity counted in the current counting period, and calculating the rotating speed of the side brush according to the interval time, the distance between the two adjacent side brush arms and the distance from the infrared induction area to the center of the side brush.
3. The method of claim 2, further comprising:
in the infrared pulse classification counting process, if the absolute value of the difference value between the amplitude of the currently acquired second infrared pulse and the amplitude of the adjacent previous infrared pulse is judged to be larger than a preset amplitude threshold value, and the first pulse number and the second pulse number are both larger than a preset statistical threshold value, the counting of the current statistical period is finished.
4. The method of claim 1, wherein prior to determining whether a stall condition has occurred for the side brush based on the current speed of rotation of the side brush, the method further comprises:
detecting whether the current of the side brush motor is larger than a preset current threshold value or not, and judging that the side brush is in a locked-rotor state when the current of the side brush motor is larger than the preset current threshold value;
and determining the degree of locked rotor according to the current rotating speed of the side brush, and executing preset winding-free operation matched with the locked rotor degree.
5. The method of claim 4, further comprising:
when the current of the motor of the side brush is smaller than or equal to a preset current threshold, executing a step of judging whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush;
and if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, judging that the side brush has neglected loading or falls off, and giving an alarm.
6. The method according to claim 5, wherein the determining that the side brush is missing or falling if it is determined that the locked-rotor state of the side brush does not occur according to the current rotation speed of the side brush comprises:
if the side brush is judged not to have the locked-rotor state according to the current rotating speed of the side brush, switching the emission intensity of the infrared emission signal, and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not;
if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is smaller than or equal to the preset amplitude threshold value, the amplitude of the infrared pulse is unchanged, and the side brush is judged to be neglected to be installed or fall off.
7. The method of claim 6, further comprising: after the emission intensity of the infrared emission signal is switched, if the absolute value of the difference value of the amplitudes of the infrared pulses of the two times is larger than the preset amplitude threshold value, the sweeper is judged to enter a ground medium with the same reflection amplitude as that of the side brush arm.
8. The utility model provides a state detection device of quick-witted limit brush of sweeping floor, its characterized in that, the device includes:
the acquisition unit is used for acquiring infrared pulse signals received in the running process of the sweeper;
the on-site detection unit is used for judging that the side brush of the sweeper is in an on-site state when the infrared pulse signal comprises infrared pulses with two amplitudes corresponding to the ground and the side brush and is in periodic variation;
the rotating speed detection unit is used for calculating the rotating speed of the side brush according to the change period of the infrared pulse signal and the number of the infrared pulses with two corresponding amplitudes in each change period;
the locked-rotor detection unit is used for judging whether the locked-rotor state of the side brush occurs according to the current rotating speed of the side brush when the number of infrared pulses of any one amplitude value of the infrared pulses of the two amplitude values corresponding to the ground and the side brush is larger than a corresponding preset upper limit threshold value;
and the execution unit is used for determining the locked rotor degree according to the current rotating speed of the side brush when the locked rotor state of the side brush occurs, and executing preset winding-free operation matched with the locked rotor degree.
9. The apparatus according to claim 8, wherein the rotation speed detecting unit includes:
the detection module is used for acquiring the amplitude of the first infrared pulse;
the first judgment module is used for judging whether the absolute value of the difference value between the amplitude of the first infrared pulse and the amplitude of the adjacent previous infrared pulse is larger than a preset amplitude threshold value or not;
the counting module is used for carrying out infrared pulse classification counting when the absolute value of the difference is larger than a preset amplitude threshold value, and respectively counting the number of first pulses, of which the amplitudes belong to a first threshold interval, transmitted to the side brush arm of the sweeper and the number of second pulses, of which the amplitudes belong to a second threshold interval, transmitted to the ground;
and the calculation module is used for calculating the interval time of the two adjacent side brush arms passing through the infrared induction area according to the first pulse quantity and the second pulse quantity counted in the current counting period, and calculating the rotating speed of the side brush according to the interval time, the distance between the two adjacent side brush arms and the distance from the infrared induction area to the center of the side brush.
10. The apparatus according to claim 9, wherein the counting module ends counting of the current statistical period if the first determining module determines that the absolute value of the difference between the amplitude of the second infrared pulse acquired by the detecting module and the amplitude of the previous adjacent infrared pulse is greater than a preset amplitude threshold and the first pulse number and the second pulse number are both greater than a preset statistical threshold during the infrared pulse classification counting.
11. The apparatus according to claim 8, wherein the stall detection unit is further configured to detect whether the side brush motor current is greater than a preset current threshold before determining whether the side brush is in the stall state according to the current rotation speed of the side brush, and determine that the side brush is in the stall state when the side brush motor current is greater than the preset current threshold;
and the execution unit is also used for determining the locked rotor degree according to the current rotating speed of the side brush and executing preset winding-free operation matched with the locked rotor degree.
12. The apparatus according to claim 11, wherein the stall detection unit is specifically configured to perform an operation of determining whether the stall state of the side brush occurs according to a current rotation speed of the side brush when the current of the side brush motor is less than or equal to a preset current threshold;
and the locked rotor detection unit is also used for judging whether the side brush is neglected to be installed or falls off and giving an alarm when the locked rotor state of the side brush is not determined according to the current rotating speed of the side brush.
13. The device according to claim 12, wherein the stalling detection unit is specifically configured to switch the emission intensity of the infrared emission signal if it is determined that the stalling state of the side brush does not occur according to the current rotation speed of the side brush; and judging whether the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back within the preset time is larger than a preset amplitude threshold value or not, and judging whether the side brush is neglected to be installed or falls off when the absolute value of the difference value of the amplitudes of the two infrared pulses in the front and the back is smaller than or equal to the preset amplitude threshold value, wherein the infrared pulse amplitude is unchanged.
14. The device according to claim 13, wherein the stalling detection unit is further configured to determine that the sweeper enters the ground medium with the same reflection amplitude as the side brush arm when the absolute value of the difference between the amplitudes of the two infrared pulses is greater than a preset amplitude threshold after the emission intensity of the infrared emission signal is switched.
15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
16. A sweeper comprising a memory, a processor and a computer program stored on the memory and run on the processor, wherein the processor when executing the program implements the steps of the method of any one of claims 1 to 7.
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