CN113812889B

CN113812889B - Self-moving robot

Info

Publication number: CN113812889B
Application number: CN202111168405.2A
Authority: CN
Inventors: 张文福; 梁嘉晋
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-11-29
Anticipated expiration: 2041-09-30
Also published as: CN113812889A

Abstract

The invention relates to the technical field of robots and discloses a self-moving robot. The self-moving robot comprises a robot main body, a walking assembly, a motion sensor, an ultrasonic module and a controller, wherein the motion sensor is used for acquiring motion attitude data of the robot main body, the ultrasonic module is used for transmitting an ultrasonic signal to the surface to be cleaned and acquiring echo data reflected by the surface to be cleaned, and the controller is used for determining the attribute of the surface to be cleaned according to at least one of the motion attitude data acquired by the motion sensor and the echo data acquired by the ultrasonic module. The embodiment can reliably identify the attribute of the surface to be cleaned and provide a basis for judging the cleaning strategy or the walking strategy of the self-moving robot, so that the self-moving robot can be self-adaptive to cleaning or walking of various surfaces to be cleaned, and the working reliability and the user experience of the self-moving robot are improved.

Description

Self-moving robot

Technical Field

The invention relates to the technical field of robots, in particular to a self-moving robot.

Background

With the improvement of living standard and the acceleration of life rhythm of people, more and more middle-aged people want to be relieved from the heavy work of indoor cleaning, and therefore, purchasing cleaning robots to help them solve the indoor daily cleaning problem becomes the best choice.

An existing cleaning robot can automatically navigate and clean on various surfaces to be cleaned in an external environment based on a map construction algorithm, and generally, a single cleaning strategy configured by the existing cleaning robot is only suitable for the surfaces to be cleaned with fixed ground attributes. Due to the complex external environment, when the cleaning robot switches to walk among a plurality of different ground attributes, a single cleaning strategy cannot effectively meet the cleaning requirement required for switching of the ground attributes because the cleaning robot cannot reliably and effectively identify the ground attributes of the surface to be cleaned.

Disclosure of Invention

It is an object of embodiments of the present invention to provide a self-moving robot that addresses at least one technical drawback of the prior art.

In a first aspect, an embodiment of the present invention provides a self-moving robot, including a robot main body, a walking assembly, a motion sensor, an ultrasonic module, and a controller, where the walking assembly is mounted on the robot main body and configured to drive the robot main body to walk on a surface to be cleaned, the motion sensor, the ultrasonic module, and the controller are all disposed on the robot main body, the motion sensor is configured to acquire motion posture data of the robot main body, the ultrasonic module is configured to transmit an ultrasonic signal to the surface to be cleaned and acquire echo data reflected by the surface to be cleaned, the controller is electrically connected to the walking assembly, the motion sensor, and the ultrasonic module, and the controller is configured to determine an attribute of the surface to be cleaned according to at least one of the motion posture data acquired by the motion sensor and the echo data acquired by the ultrasonic module.

Optionally, if the controller determines that the self-moving robot is in a horizontal state according to the motion attitude data acquired by the motion sensor, the controller determines that the echo data acquired by the ultrasonic module is valid, and the controller further determines whether the surface to be cleaned is a carpet surface according to the echo data acquired by the ultrasonic module.

Optionally, when the surface to be cleaned is a carpet surface, the self-moving robot avoids the surface to be cleaned.

Optionally, the controller further determines whether the surface to be cleaned is a carpet surface according to the echo data collected by the ultrasonic module, including:

the controller judges whether the echo data collected by the ultrasonic module meets a preset carpet echo condition according to the echo data collected by the ultrasonic module so as to judge whether the surface to be cleaned is a carpet surface.

Optionally, the controller judges whether the echo data collected by the ultrasonic module satisfies a preset carpet echo condition according to the echo data collected by the ultrasonic module, including:

the controller judges whether a preset sampling interval of the echo data comprises N echo wave crests, wherein N is an integer greater than or equal to 1;

if yes, the controller judges that the echo data collected by the ultrasonic module do not meet a preset carpet echo condition;

if not, the controller judges that the echo data collected by the ultrasonic module meets the preset carpet echo condition.

Optionally, the echo data includes a plurality of first sampling data points in a preset starting time period and a plurality of second sampling data points in the preset sampling time period, where the preset sampling time period is located after the preset starting time period, the plurality of first sampling data points in the preset starting time period are defined as a aftershock waveform interval of the echo data, and the plurality of second sampling data points in the preset sampling time period are defined as a preset sampling interval of the echo data.

Optionally, the preset sampling interval of the echo data includes a plurality of sampling data points in a preset sampling time period, and the controller determines whether the preset sampling interval of the echo data includes N echo peaks, where N is an integer greater than or equal to 1, including:

and the controller executes the operation of sequentially traversing the echo data, extracts an initial echo and a secondary echo which meet the initial condition of the echo, and the average wave peak value of the initial echo is greater than that of the secondary echo.

Optionally, the preset sampling interval of the echo data includes a plurality of sampling data points within a preset sampling time period, a sampling data point at the beginning of the left side of the echo peak is defined as a left side data point, a sampling data point at the end of the right side of the echo peak is defined as a right side data point, a sampling data point at the peak top of the echo peak is defined as a peak top data point, and a sampling data point with the minimum amplitude between the left side data point and the right side data point is defined as a peak bottom data point, wherein the left side data point is a first sampling data point at which the left side of the echo peak is smaller than a preset peak threshold, and the right side data point is a first sampling data point at which the right side of the echo peak is smaller than a preset valley threshold.

Optionally, defining a difference between the peak-top data point and the peak-bottom data point as a first difference, defining a difference between the peak-top data point and the right-side data point as a second difference, and determining, by the controller, whether a preset sampling interval of the echo data includes N echo peaks, where N is an integer greater than or equal to 1, including:

and the controller judges whether the first difference is greater than or equal to a first threshold value or not and whether the second difference is greater than or equal to a second threshold value or not, if so, the corresponding echo wave peak can be extracted, and if not, the corresponding echo wave peak cannot be extracted.

Optionally, the controller calculates a time difference between two adjacent echo peaks according to the N echo peaks, and determines a relative distance between the self-moving device and the surface to be cleaned according to the time difference and the echo transmission speed.

Optionally, if the controller determines that the self-moving robot is in a non-horizontal state according to the motion attitude data collected by the motion sensor, the controller determines that the echo data collected by the ultrasonic module is invalid, and the controller further controls the ultrasonic module to stop working until the self-moving robot returns to a horizontal state.

Optionally, the non-horizontal state is an inclined state or an up-down fluctuation state, and the controller determines that the surface to be cleaned is an inclined surface or an uneven surface when judging that the self-moving robot is in the inclined state or the up-down fluctuation state according to the motion attitude data collected by the motion sensor.

Optionally, if the controller determines that the self-moving robot is in an up-and-down fluctuation state according to the motion attitude data collected by the motion sensor, and the controller detects that the echo data collected by the ultrasonic module is switched between meeting a preset carpet echo condition and not meeting the preset carpet echo condition, the controller determines that the surface to be cleaned is an uneven non-carpet surface.

Optionally, when the controller determines that the echo data collected by the ultrasonic module meets a preset carpet echo condition, the controller controls the walking assembly to drive the robot main body to slow down and advance so as to determine the attribute of the surface to be cleaned again according to the echo data collected again by the ultrasonic module.

Optionally, when the controller determines that the echo data collected by the ultrasonic module does not meet a preset carpet echo condition, the controller controls the walking assembly to drive the robot main body to advance by a preset distance, so as to determine the attribute of the surface to be cleaned again according to the echo data collected again by the ultrasonic module.

Optionally, the ultrasonic module transmits an ultrasonic signal at preset time intervals, and acquires the echo data within a preset time interval after the ultrasonic signal is transmitted, wherein the transmitting frequency and the acquiring frequency of the ultrasonic module are the same.

In the self-moving robot provided by the embodiment of the invention, the walking component is mounted on the robot main body and used for driving the robot main body to walk on a surface to be cleaned, the motion sensor, the ultrasonic module and the controller are all arranged on the robot main body, the motion sensor is used for collecting motion attitude data of the robot main body, the ultrasonic module is used for transmitting ultrasonic signals to the surface to be cleaned and collecting echo data reflected by the surface to be cleaned, the controller is electrically connected with the walking component, the motion sensor and the ultrasonic module, and the controller is used for determining the attribute of the surface to be cleaned according to at least one of the motion attitude data collected by the motion sensor and the echo data collected by the ultrasonic module.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural diagram of a self-moving robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the motion sensor of FIG. 1 configured with a coordinate system;

FIG. 3a is a schematic diagram of a first form of echo data after ADC conversion when the surface to be cleaned is a non-carpet surface;

FIG. 3b is a schematic diagram of a first form of the echo data after ADC conversion when the surface to be cleaned is a carpet surface;

FIG. 4a is a schematic diagram of a first structure of the controller shown in FIG. 1;

FIG. 4b is a schematic diagram of the PWM square wave sent by the control unit to the driving unit shown in FIG. 4 a;

FIG. 4c is a schematic diagram of a second form of the echo data after ADC conversion when the surface to be cleaned is a non-carpet surface;

FIG. 4d is a schematic diagram of a second form of the echo data after ADC conversion when the surface to be cleaned is a carpet surface;

FIG. 5a is a schematic diagram of a third form of echo data after ADC conversion when the surface to be cleaned is a non-carpet surface;

FIG. 5b is a diagram illustrating a fourth embodiment of the echo data converted by the ADC when the surface to be cleaned is a non-carpet surface;

FIG. 5c is a schematic diagram of a fifth embodiment of the echo data after ADC conversion when the surface to be cleaned is a non-carpet surface;

FIG. 5d is a schematic diagram of a third form of the echo data after ADC conversion when the surface to be cleaned is a carpet surface;

FIG. 6 is a partial morphology diagram of the echo data corresponding to the cut-out time points 1 to 101 in FIG. 5 a;

fig. 7 is a schematic diagram of a second structure of a controller according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.

The self-moving robot in the embodiment of the invention comprises a cleaning robot, a pet robot, a carrying robot or a nursing robot, and the like, wherein the cleaning robot comprises but is not limited to a sweeping robot, a dust collecting robot, a mopping robot or a floor washing robot, and the like.

Referring to fig. 1, the self-moving robot 100 includes a robot main body 11, a walking assembly 12, a motion sensor 13, an ultrasonic module 14, and a controller 15.

The robot main body 11 may be configured in any suitable shape, such as a cylindrical shape, an elliptic cylindrical shape, a square shape, or the like, and the robot main body 11 provides a housing space to house various components.

The walking assembly 12 is mounted on the robot main body 11 and is used for driving the robot main body 11 to walk on the surface to be cleaned, wherein the walking assembly 12 can adopt any suitable power mechanism to drive the robot main body 11 to walk.

In some embodiments, the walking assembly 12 includes a left wheel drive unit and a right wheel drive unit, which cooperate to drive the robot main body 11 to walk. Each wheel driving unit comprises a motor, a wheel driving mechanism and a traveling wheel, a rotating shaft of the motor is connected with the wheel driving mechanism, the traveling wheels are connected with the wheel driving mechanism, the motor is electrically connected with the controller 15, and the wheel driving mechanism is controlled to drive the traveling wheels to rotate according to a control instruction sent by the controller 15, so that the robot main body 11 can be driven to move forward or backward or turn.

The motion sensor 13 is provided on the robot main body 11 for collecting motion attitude data of the robot main body 11, wherein the motion attitude data is used to represent an attitude of the robot main body 11 with respect to the surface to be cleaned, and it is understood that any suitable type of motion attitude data may be employed by those skilled in the art to represent an attitude of the robot main body 11 with respect to the surface to be cleaned.

For example, the motion attitude data is an angular velocity or an acceleration or a velocity of the robot body 11 in a designated direction, referring to fig. 2, the motion sensor 13 is disposed at the center of the robot body 11, the motion sensor 13 is configured with a coordinate system, wherein a positive X axis is a walking direction of the robot body 11, a positive Z axis is perpendicular to a surface to be cleaned on which the robot body 11 is located, a positive Y axis is directed to a side of the robot body 11, the designated direction is the positive X axis, and the motion attitude data is an attitude component of the robot body 11 on the positive X axis, which may be the angular velocity or the acceleration or the velocity.

It is understood that the motion posture data may show different morphological characteristics when the self-moving robot 100 walks on the surface to be cleaned with different properties, for example, when the self-moving robot 100 walks on the surface to be cleaned with a flat surface, the angular velocity in the positive Z-axis direction is relatively stable. When the self-moving robot 100 travels on a surface to be cleaned having an uneven surface, the angular velocity in the positive Z-axis direction fluctuates up and down.

For another example, when the self-moving robot 100 walks on a hard surface to be cleaned, the frequency domain amplitude of the acceleration curve in the positive Z-axis direction is greater than the preset frequency domain threshold. When the self-moving robot 100 walks on the surface to be cleaned, which has a soft surface, the vibration from the self-moving robot 100 in the positive Z-axis direction is attenuated by the soft surface relative to the hard surface, and thus the frequency domain amplitude of the acceleration curve in the positive Z-axis direction is made smaller than the preset frequency domain threshold.

In some embodiments, the motion sensor 13 is an inertial measurement unit, a gyroscope, a magnetometer, an accelerometer, a speedometer, or the like.

The ultrasonic module 14 is disposed on the robot body 11 and configured to emit an ultrasonic signal toward the surface to be cleaned and collect echo data reflected by the surface to be cleaned, where the echo data is the ultrasonic data reflected by the surface to be cleaned, and the ultrasonic module 14 may be installed at the bottom or in front of the robot body 11.

It will be appreciated that when the ultrasonic module 14 emits ultrasonic signals toward the surface to be cleaned with different properties, the reflected echo data will show different forms. Referring to fig. 3a, when the surface to be cleaned is a hard and smooth cleaning floor, the controller 15 controls the ultrasonic module 14 to emit the ultrasonic signal toward the surface to be cleaned, and most of the ultrasonic wave can be reflected back from the mobile robot 100, so that the echo data shown in fig. 3a has a plurality of peak forms, for example, the echo data has a first peak 31, a second peak 32, a third peak 33 and a fourth peak 34. In fig. 3a, the aftershock waveform 30 also appears in the echo data, and the aftershock waveform 30 includes a plurality of peaks that fluctuate. Generally, due to the limitation of the hardware characteristic and the time sequence control characteristic of the ultrasonic module, the aftershock waveform 30 appears in the echo data at the starting stage, the determination result of the surface to be cleaned by the aftershock waveform 30 interferes, and after passing through the aftershock waveform 30, the later echo data is in a regular form corresponding to the surface to be cleaned, so that in order to ensure that the attribute of the surface to be cleaned is reliably determined, the aftershock waveform 30 needs to be skipped in engineering application, and the echo data behind the aftershock waveform 30 is selected for analysis.

As can be seen from fig. 3a, for a hard and smooth surface to be cleaned, the echo data will generally exhibit the form of one peak or more than two peaks.

Referring to fig. 3b, when the surface to be cleaned is a carpet surface, the controller 15 controls the ultrasonic module 14 to emit ultrasonic signals toward the surface to be cleaned, and since most of the ultrasonic waves are absorbed by the carpet, only a small amount of the ultrasonic signals are reflected back to the mobile robot 100, so that the shape of the echo data shown in fig. 3b does not show a peak shape, and on the contrary, the shape of the wave trough 35 is shown in fig. 3b, that is, the amplitude of the echo data is fluctuated in a smaller amplitude range.

It can also be understood that, when the ultrasonic module 14 emits ultrasonic signals toward the surfaces to be cleaned with different attributes in different motion postures, the reflected echo data may show different forms, for example, when the self-moving robot 100 is in a climbing/descending state, a threshold-crossing state, or an up-and-down fluctuation state, most of the emitted ultrasonic signals cannot be reflected back to the ultrasonic module 14 because the ultrasonic module 14 is excessively inclined with respect to the surface to be cleaned, even if the self-moving cleaning device is located on a hard and smooth surface to be cleaned, the echo data shows a trough form as shown in fig. 3b, so that the attribute of the surface to be cleaned is easily misjudged by the self-moving robot 100, and therefore, if the motion posture data and the echo data can be combined and analyzed, the judgment probability of the attribute of the surface to be cleaned can be improved.

The controller 15 is disposed on the robot main body 11, and is electrically connected to the walking assembly 12, the motion sensor 13, and the ultrasonic module 14, respectively, and configured to determine an attribute of the surface to be cleaned according to at least one of the motion posture data acquired by the motion sensor 13 and the echo data acquired by the ultrasonic module 14, where the attribute of the surface to be cleaned is used to indicate a material of the surface to be cleaned or indicate a flatness of the surface to be cleaned, and when the attribute of the surface to be cleaned is used to indicate the material of the surface to be cleaned, the attribute of the surface to be cleaned includes a cement surface, a wood surface, a tile surface, a gum surface, a carpet surface, or the like. When the property of the surface to be cleaned is used to indicate the degree of flatness of the surface to be cleaned, the property of the surface to be cleaned includes a flat surface or an uneven surface, or the like.

In some embodiments, referring to fig. 4a, the controller 15 includes: a control unit 151, a driving unit 152 and a signal conditioning unit 153.

The control unit 151, as a control core, is configured with software control logic as set forth herein, and determines attributes of the surface to be cleaned based on at least one of the motion pose data and the echo data, wherein the control unit 151 is a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof.

The driving unit 152 is electrically connected to the control unit 151 and the ultrasonic module 14, respectively, and the driving unit 152 drives the ultrasonic module 14 to transmit an ultrasonic signal with a preset transmitting frequency under the control of the control unit 151, for example, referring to fig. 4b, the control unit 151 sends a plurality of PWM square waves shown in fig. 4b to the driving unit 152, so as to control the driving unit 152 to drive the ultrasonic module 14 to transmit an ultrasonic signal with 300 KHz.

In some embodiments, the driving unit 152 may be a driving chip or a driving circuit built up from various discrete components.

The signal conditioning unit 153 is electrically connected to the control unit 151 and the ultrasonic module 14, the ultrasonic module 14 receives the reflected ultrasonic signal according to the collection frequency under the control of the control unit 151, and the signal conditioning unit 153 also receives the ultrasonic signal collected by the ultrasonic module 14 under the control of the control unit 151, and filters and amplifies the ultrasonic signal collected by the ultrasonic module 14, and finally, the signal conditioning unit 153 outputs an analog signal to the control unit 151, and the control unit 151 can perform analog-to-digital conversion (ADC conversion) on the analog signal to generate echo data.

In some embodiments, the signal conditioning unit 153 is a filtering and amplifying circuit, wherein the signal conditioning unit may adopt any suitable filtering circuit structure and amplifying circuit structure.

In some embodiments, the ultrasound module 14 transmits an ultrasound signal at preset time intervals, and acquires echo data at preset time intervals after the ultrasound signal is transmitted, wherein the transmission frequency and the acquisition frequency of the ultrasound module 14 are the same, for example, the control unit 151 controls the ultrasound module 14 to transmit the ultrasound signal at the transmission frequency during a time period from t1 to t2 through the driving unit 152, and controls the ultrasound module 14 to suspend transmitting the ultrasound signal during a time period from t2 to t3, and controls the ultrasound module 14 to receive the reflected ultrasound signal at the acquisition frequency, and obtains the reflected ultrasound signal through the signal conditioning unit 153, where the time period from t1 to t2 or the time period from t2 to t3 is the preset time interval.

Because the ultrasonic wave module 14 staggers the transmission and the reception of the ultrasonic wave signals, the ultrasonic wave module can ensure that the ultrasonic wave signals are not interfered by the process of receiving the ultrasonic wave signals when being transmitted, can also ensure that the ultrasonic wave signals are not interfered by the process of transmitting the ultrasonic wave signals when being received, and is favorable for obtaining more reliable and accurate echo data. In addition, because the emission frequency is the same with the collection frequency, can guarantee that ultrasonic wave module 14 gathers all ultrasonic signal that launch as far as possible to obtain complete echo data, be favorable to follow-up more accurate analysis echo data reliably.

Referring to fig. 4c, when the surface to be cleaned is not a carpet surface, the echo data converted by the ADC is shown in fig. 4 c. As shown in fig. 4c, in the preset initial time period corresponding to the aftershock waveform 40, the aftershock waveform cyclically changes between rising and falling, but the peak-valley height is high each time the waveform is lowered, i.e. the aftershock waveform rebounds each time the waveform is lowered to a certain depth, and the difference between the peak value and the peak-valley height is generally within 200. In addition, the surface to be cleaned is characterized by a distinct difference between the valleys in the reflected echo data and the dip peaks and valleys, which are typically between 400 and 500 in magnitude, but between 30 and 80 in magnitude, as shown in FIG. 4 c.

In addition, for the establishment of the peak form, it is generally required that the difference between the peak and the valley is at least greater than 300, when the difference between the peak and the valley is at least greater than 300, the form of the peak is considered to be established, and when the difference between the peak and the valley is less than 300, the form of the peak is considered to be not established.

As shown in fig. 4c, the echo data exhibits a first peak 41, a second peak 42, a third peak 43 and a fourth peak 44.

Generally, the duration of the aftershock waveform can be determined, and in the design process, the ultrasonic module can be tested for multiple times, and the preset starting time period of the aftershock waveform is estimated according to the test data. When subsequently analyzing the echo data, the controller 15 skips sampling point data within a preset start time period, and starts analyzing from the first sampling point data after the preset start time period.

Referring to fig. 4d, when the surface to be cleaned is a carpet surface, the echo data converted by the ADC is shown in fig. 4 d. As shown in fig. 4d, the echo data exhibits a trough 45 with an amplitude of 30.

In some embodiments, the controller 15 may determine the attribute of the surface to be cleaned according to the motion attitude data, for example, as described above, the motion attitude data is a motion parameter of the robot main body 11 in a specified direction, and the controller 15 determines whether the motion parameter satisfies a preset motion condition, if so, the attribute of the surface to be cleaned is determined to be a flat surface, and if not, the attribute of the surface to be cleaned is determined to be an uneven surface. When the attribute of the surface to be cleaned is a flat surface, the controller 15 controls the self-moving device 100 to move according to a first preset moving strategy, for example, the first preset moving strategy includes maintaining the original speed or accelerating the moving. When the attribute of the surface to be cleaned is an uneven surface, the controller 15 controls the self-moving device 100 to walk according to a second preset walking strategy, where the second preset walking strategy includes a deceleration advancing or avoiding of the surface to be cleaned.

In some embodiments, the motion parameter is an angular velocity, and the preset motion condition is satisfied that a variation average of the angular velocity in the specified direction is less than or equal to a preset average, wherein the preset average may be self-defined by a user according to engineering experience, and the variation average is an average of derivatives of a plurality of angular velocities with respect to time.

In some embodiments, the motion parameter is an acceleration, and the preset motion condition is satisfied that a frequency domain amplitude of an acceleration curve in the specified direction is smaller than a preset frequency domain threshold, wherein the acceleration curve is formed by a plurality of accelerations which are continuous in time, and the preset frequency domain threshold can be defined by a user according to engineering experience.

In some embodiments, the controller 15 may determine the attribute of the surface to be cleaned according to the echo data, for example, the controller 15 determines whether the echo data collected by the ultrasonic module 14 satisfies a preset carpet echo condition according to the echo data collected by the ultrasonic module 14 to determine whether the surface to be cleaned is a carpet surface, wherein the preset carpet echo condition may be self-established by a user according to engineering experience. And if the echo data meet the preset carpet echo condition, judging that the surface to be cleaned is a carpet surface, and if the echo data do not meet the preset carpet echo condition, judging that the surface to be cleaned is a non-carpet surface.

For the convenience of the reader to understand the embodiment deeply, the embodiment provides four forms of echo data in combination with fig. 5a to 5d to help the reader understand the echo variation when the surface to be cleaned is a carpet surface and a non-carpet surface.

As shown in fig. 5a, when the surface to be cleaned is a non-carpet surface, a plurality of wavy peaks appear in a period of time after the aftershock waveform, and at this time, the controller 15 can determine that the surface to be cleaned is a non-carpet surface based on the echo data.

Similarly, as shown in fig. 5b or 5c, a plurality of wavy peaks also appear in the period after the aftershock waveform, and at this time, the controller 15 can determine that the surface to be cleaned is a non-carpet surface according to the echo data.

As shown in fig. 5d, when the surface to be cleaned is a carpet surface, the valley shape is almost present in the period of time after the aftershock waveform, and a plurality of wavy peaks as shown in fig. 5a to 5c do not appear, and at this time, the controller 15 can determine that the surface to be cleaned is the carpet surface according to the echo data.

In some embodiments, the controller 15 determining whether the echo data collected by the ultrasonic module 14 satisfies the preset carpet echo condition according to the echo data collected by the ultrasonic module 14 includes: the controller 15 judges whether the preset sampling interval of the echo data includes N echo wave crests, wherein N is an integer greater than or equal to 1, if yes, the controller 15 judges that the echo data acquired by the ultrasonic module 14 does not satisfy the preset carpet echo condition, and if not, the controller 15 judges that the echo data acquired by the ultrasonic module 14 satisfies the preset carpet echo condition.

When the surface to be cleaned is of a carpeted surface nature, the controller 15 controls the self-moving device 100 to execute a first cleaning strategy, for example, the first cleaning strategy includes slowing down forward or avoiding the surface to be cleaned or stopping mopping or increasing suction, etc. When the surface to be cleaned is a non-carpeted surface, the controller 15 controls the mobile device 100 to execute a second cleaning strategy, for example, the second cleaning strategy includes maintaining the original speed advance or accelerating the advance or continuing to drag the floor, etc.

In some embodiments, the controller 15 may determine the properties of the surface to be cleaned from the motion pose data and the echo data.

Generally, the embodiment can reliably identify the attribute of the surface to be cleaned, and provide a basis for judging the cleaning strategy or the walking strategy of the self-moving robot, so that the self-moving robot can be self-adaptive to cleaning or walking of various surfaces to be cleaned, and the working reliability and the user experience of the self-moving robot are improved.

In some embodiments, if the controller 15 determines that the self-moving robot is in a horizontal state according to the motion posture data collected by the motion sensor 13, the controller 15 determines that the echo data collected by the ultrasonic module 14 is valid, and the controller 15 further determines whether the surface to be cleaned is a carpet surface according to the echo data collected by the ultrasonic module 14.

For example, the motion attitude data is an angular velocity, the controller 15 obtains the angular velocity in a specific direction, obtains an angular velocity average value within a preset time period according to the angular velocity at each time point, and determines whether the self-moving robot is in a horizontal state according to the angular velocity average value and a preset angle threshold, for example, the angular velocity is recorded as a (i), and the angular velocity average value is recorded as an angular velocity

If the average angular velocity value A is larger than or equal to the preset angular threshold value A', the self-moving robot is not in a horizontal state. And if the average value A of the angular speeds is smaller than a preset angle threshold value A', the self-moving robot is in a horizontal state.

As described above, when the self-moving robot is in a non-horizontal state, for example, the self-moving robot walks over obstacles or on an irregular ground, the self-moving robot is inclined as a whole, the ultrasonic module is easily inclined, and most of ultrasonic signals cannot be effectively reflected back to the ultrasonic module, so that the ultrasonic module is misjudged.

In some embodiments, when the surface to be cleaned is a carpet surface, the self-moving robot avoids the surface to be cleaned, for example, when the surface to be cleaned is a carpet surface, the self-moving robot performs a retreating operation or avoids the surface to be cleaned, and after avoiding the surface to be cleaned, the self-moving robot may continue to perform an original cleaning strategy, such as maintaining a floor mopping operation, and the like.

In some embodiments, the controller 15 further determining whether the surface to be cleaned is a carpet surface according to the echo data collected by the ultrasonic module 14 comprises: the controller 15 judges whether the echo data collected by the ultrasonic module 14 meets a preset carpet echo condition according to the echo data collected by the ultrasonic module so as to judge whether the surface to be cleaned is a carpet surface.

As described above, the echo data reflected from the carpet surface and the echo data reflected from the non-carpet surface have a large difference in form, and a person skilled in the art can configure a carpet echo condition for identifying the attribute of the surface to be cleaned according to the difference, so that the self-moving robot can determine whether the surface to be cleaned is the carpet surface according to the echo data and the carpet echo condition.

For example, the time period of the echo data is tm to tn, wherein the time period from tm to tk is a aftershock waveform interval, and the time period from tk to tn is a preset sampling interval. In the preset sampling interval, if the controller 15 determines that only 1 echo peak exists in the preset sampling interval, the controller 15 determines that the echo data meets the preset carpet echo condition, and if the controller 15 determines that 1 echo peak does not exist in the preset sampling interval, the controller 15 determines that the echo data does not meet the preset carpet echo condition.

For another example, in the preset sampling interval, if the controller 15 determines that there are more than two echo peaks in the preset sampling interval, the controller 15 determines that the echo data meets the preset carpet echo condition. Because the echo data can be judged to meet the preset carpet echo condition by comprehensively judging more than two echo wave crests, and compared with the mode of only judging whether 1 echo wave crest exists in the preset sampling interval, the method can avoid the interference of some factors on the echo data, thereby improving the judgment reliability.

In some embodiments, the echo data includes a plurality of first sampling data points within a preset starting time period and a plurality of second sampling data points within the preset sampling time period, wherein the preset sampling time period is after the preset starting time period, the plurality of first sampling data points within the preset starting time period are defined as a aftershock waveform interval of the echo data, and the plurality of second sampling data points within the preset sampling time period are defined as a preset sampling interval of the echo data.

This is explained below with reference to fig. 6, where fig. 6 is a local morphology diagram of the echo data corresponding to the cut-off time points 1 to 101 in fig. 5 a.

It is understood that the preset starting time period is customized by the user according to engineering experience, as shown in fig. 6, the preset starting time period is a time period from a time point 1 to a time point 15, the preset starting time period includes a plurality of first sampling data points, for example, a first sampling data point C1, a first sampling data point C2, and the like, wherein the plurality of first sampling data points within the preset starting time period may be defined as the aftershock waveform interval.

As shown in fig. 6, the preset sampling time period is a time period from a time point 16 to a time point 101, and the preset sampling time period is located after the preset starting time period, wherein the preset sampling time period includes a plurality of second sampling points, for example, a second sampling data point D1, a second sampling data point D2, a second sampling data point D3, a second sampling data point D4, a second sampling data point D5, and the like, and wherein the plurality of second sampling data points within the preset sampling time period may be defined as a preset sampling interval of the echo data.

In some embodiments, the preset sampling interval of the echo data includes a plurality of sampling data points within a preset sampling time period, and the controller 15 determines whether the preset sampling interval of the echo data includes N echo peaks, where N is an integer greater than or equal to 1, including: the controller 15 performs an operation of sequentially traversing the echo data, and extracts an initial echo and a secondary echo that satisfy an echo initial condition, where an average peak value of the initial echo is larger than an average peak value of the secondary echo.

The echo starting condition is used for assisting in judging whether an initial echo exists in echo data in a preset sampling interval, wherein the initial echo is a first echo peak in the preset sampling interval, and the secondary echo is an echo peak located after the initial echo, that is, the secondary echo may be a first echo peak or a second echo peak or a third echo peak located after the initial echo, and the like.

As can be seen from fig. 5a to 5c, the form of the initial echo is different from the form of the secondary echo, for example, the average peak value of the initial echo is greater than the average peak value of the secondary echo, or the maximum peak value of the initial echo is greater than the peak value of the secondary echo, and so on, so that a person skilled in the art can construct an echo initial condition according to the difference between the initial echo and the secondary echo, so as to extract the initial echo from the preset sampling interval or extract the secondary echo from the preset sampling interval according to the echo initial condition.

Because the initial echo can be extracted in the preset sampling interval and the secondary echo can be extracted in the preset sampling interval, the subsequent embodiment can reliably and accurately judge the attribute of the surface to be cleaned by combining a plurality of echo wave crests.

In some embodiments, the preset sampling interval of the echo data includes a plurality of sampling data points within a preset sampling time period, a sampling data point at the beginning of the left side of the echo peak is defined as a left side data point, a sampling data point at the end of the right side of the echo peak is defined as a right side data point, a sampling data point at the peak top of the echo peak is defined as a peak top data point, and a sampling data point with the minimum amplitude between the left side data point and the right side data point is defined as a peak bottom data point, wherein the left side data point is a first sampling data point at the left side of the echo peak smaller than a preset peak threshold, and the right side data point is a first sampling data point at the right side of the echo peak smaller than a preset valley threshold.

It can be understood that the preset peak threshold is used for assisting in determining the left data point of the echo peak, and the preset valley threshold is used for assisting in determining the right data point of the echo peak, where the preset peak threshold and the preset valley threshold can be customized by a user according to engineering experience.

For example, referring to fig. 6, it is assumed that the predetermined peak threshold is 500 and the predetermined trough threshold is 300. The threshold line corresponding to the preset peak threshold 500 is L1, and the threshold line corresponding to the preset valley threshold 300 is L2, and since the sampled data point D1 is smaller than the preset valley threshold 500 and is closest to the threshold line L1, the sampled data point D1 is a left data point of the initial echo.

Similarly, since the sampled data point D5 is smaller than the preset valley threshold 300 and is closest to the threshold line L2, the sampled data point D5 is the right data point of the initial echo.

Between sampled data point D1 and sampled data point D5, the magnitude of sampled data point D3 is the smallest, and thus sampled data point D3 is the bottom-of-peak data point.

Since sampled data point D4 is located at the peak of the initial echo and the amplitude is highest within the initial echo, sampled data point D4 is the peak data point of the initial echo.

In some embodiments, the difference between the top data point and the bottom data point is defined as a first difference, the difference between the top data point and the right data point is defined as a second difference, and the controller determines whether the preset sampling interval of the echo data includes N echo peaks, where N is an integer greater than or equal to 1.

It is understood that the first and second thresholds may be defined by a user based on engineering experience.

For example, continuing with fig. 6, assuming that the first threshold and the second threshold are both 400, the amplitude of the sampled data point D4 as the peak-top data point is 800, the amplitude of the sampled data point D3 as the peak-bottom data point is 150, and the amplitude of the sampled data point D5 as the right-side data point is 230, so that the first difference =800-150=650 and the second difference =800-230=570, since the first difference 650 is greater than the first threshold 400 and the second difference 570 is greater than the second threshold 400, the controller 15 can extract the initial echo (echo peak) from the echo data.

In some embodiments, after the controller 15 may extract the starting echo from the echo data, the controller 15 sequentially traverses the echo data for the presence of secondary echoes.

In some embodiments, sequentially traversing the echo data by the controller 15 whether there is a secondary echo further comprises: after the right-side data point, the controller 15 determines whether there is a secondary left-side data point satisfying the left-side condition, and if there is a secondary left-side data point, determines whether there is a secondary right-side data point satisfying the right-side condition; if the secondary left data point does not exist, the secondary echo does not exist in the echo data; if the secondary right data point exists, the secondary echo still exists in the echo data, and if the secondary right data point does not exist, the secondary echo does not exist in the echo data.

In some embodiments, after the right data point, the controller 15 determining whether there is a secondary left data point that satisfies the left condition includes: and after the right data point, determining the first sampled data point with the amplitude smaller than the preset left threshold as an initial data point, starting from the initial data point, calculating the left amplitude difference of every two adjacent sampled data points, and judging whether the left amplitude difference is larger than a preset left difference value, if so, a secondary left data point exists, and if not, no secondary left data point exists.

For example, please continue to refer to fig. 6, assume that the preset left threshold is 50 and the preset left difference is 10, wherein the threshold line corresponding to the preset left threshold 50 is L3. After the sampled data point D5, which is the right-side data point, the sampled data point E1 is the starting data point because the amplitude of the sampled data point E1 is the first sampled data point that is less than the preset left-side threshold 50.

Starting from the sampled data point E1, the controller 15 calculates a left amplitude difference between every two adjacent sampled data points, that is, the left amplitude difference Δ h1= y (i + 1) -y (i), where y (i) is an amplitude of the ith sampled data point, and since the left amplitude difference Δ h1 between the sampled data point E2 and the sampled data point E1, the left amplitude difference Δ h1 between the sampled data point E3 and the sampled data point E2, and the left amplitude difference Δ h1 between the sampled data point E4 and the sampled data point E3 are all smaller than the preset left difference value 10, the controller 15 still needs to go on the downward traversal.

Since the left side amplitude difference Δ h1 between the sampled data point E6 and the sampled data point E5 is greater than the preset left side difference value 10, it indicates that the amplitudes are increasing trend from the sampled data point E1 to the sampled data point E6, and the left side morphology of the echo peak is established, so the sampled data point E5 or the sampled data point E6 can be used as a secondary left side data point.

In some embodiments, when the left-side morphology and the right-side morphology are both available, the morphology of one echo peak may be established, and therefore, the controller 15 may further determine whether there is a secondary right-side data point in the echo data that satisfies the right-side condition.

In some embodiments, the controller 15 determining whether the echo data has a secondary right data point that satisfies the right condition comprises: determining a first sampling data point with the amplitude smaller than a preset right-side threshold value as an end data point, determining a secondary peak data point with the maximum amplitude between a starting data point and the end data point, calculating a right-side amplitude difference between the secondary peak data point and the end data point, and judging whether the right-side amplitude difference is larger than a preset right-side difference value, if so, determining that the secondary right-side data point exists, otherwise, determining that the secondary right-side data point does not exist.

For example, referring to fig. 6, it is assumed that the preset right-side threshold is 50 and the preset right-side difference is 400, where a threshold line corresponding to the preset right-side threshold 50 is L4. After the sampled data point E6, which is the starting data point, the sampled data point F1 is the ending data point because the amplitude of the sampled data point F1 is the first sampled data point that is less than the preset right threshold 50.

Between sampled data point E6 and sampled data point F1, the magnitude of sampled data point F2 is the largest, and thus sampled data point F2 is the secondary peak data point.

The amplitude of the sampled data point F1 is 40, the amplitude of the sampled data point F2 is 880, and the right-side amplitude difference Δ h2 between the sampled data point F2 and the sampled data point F1 is greater than the preset right-side difference 400, then a secondary right-side data point exists, where the sampled data point F1 can be regarded as the secondary right-side data point.

Since the secondary left data point and the secondary right data point are provided at the same time, the echo peak shape of the secondary echo is established, which indicates that the controller 15 can extract the secondary echo from the echo data.

In some embodiments, the controller 15 calculates a time difference between two adjacent echo peaks according to the N echo peaks, and determines a relative distance between the mobile device and the surface to be cleaned according to the time difference and the echo transmission speed, for example, referring to fig. 5b, after the controller 15 extracts a plurality of echo peaks from the echo data, a peak time of each echo peak may be recorded, for example, a peak time of the first echo peak 5b1 is t1, a peak time of the second echo peak 5b2 is t2, and a peak time of the third echo peak 5b3 is t3. The controller 15 calculates a time difference Δ t12= t2-t1 between the first echo peak 5b1 and the second echo peak 5b2, and a relative distance S12= v Δ t12/2 from the mobile device to the surface to be cleaned, where v is an echo transmission speed, v =340m/S, and so on, and the controller 15 may determine a relative distance S32= v Δ t32/2 from the mobile device to the surface to be cleaned, Δ t32= t3-t2, from the third echo peak 5b3 and the second echo peak 5b 2. Next, the controller 15 may add the relative distance S12 and the relative distance S32, and calculate an average value of the two, and use the average value as the final relative distance.

Subsequently, the controller 15 identifies the obstacle or performs positioning or cliff determination according to the relative distance, so that the ultrasonic module can be used in this embodiment to determine the attribute of the surface to be cleaned, and also can identify the obstacle or perform positioning or cliff determination, thereby avoiding additional sensors, and reducing the design cost and the design difficulty.

In some embodiments, when the self-moving robot determines the property of the surface to be cleaned during the movement, especially when the surface to be cleaned is a carpet surface, since some local area of the carpet surface is smooth, when the ultrasonic signal is directed to the local area, the ultrasonic signal is reflected to other places and cannot be reflected back to the ultrasonic module, or, as mentioned above, when the self-moving robot is in a non-horizontal state, most of the transmitted ultrasonic signal is not reflected back to the ultrasonic module, so that misjudgment is easily caused.

In some embodiments, the controller performs the filtering operation based on the echo data, including: when the surface to be cleaned is the carpet surface, the controller judges whether the judgment results corresponding to the echo data of the frames with continuous time and preset number are all the carpet surface, if so, the surface to be cleaned is determined to be the carpet surface, and if not, the surface to be cleaned is determined to be the non-carpet surface.

For example, the controller 15 acquires one frame of echo data every 50 milliseconds, continuously acquires 3 frames of echo data, and if the determination results corresponding to the 3 frames of echo data are all carpet surfaces, the controller 15 determines that the surface to be cleaned is a carpet surface, otherwise, it is not.

In some embodiments, if the controller 15 determines that the self-moving robot 100 is in a non-horizontal state according to the motion posture data collected by the motion sensor 13, the controller 15 determines that the echo data collected by the ultrasonic module 14 is invalid, and the controller 15 further controls the ultrasonic module 14 to stop working until the self-moving robot returns to a horizontal state. When the self-moving robot is in a non-horizontal state, for example, the self-moving robot walks across obstacles or on an irregular ground, the self-moving robot integrally inclines, the ultrasonic module is easy to incline, so that most of ultrasonic signals cannot be effectively reflected back to the ultrasonic module, and the ultrasonic module is misjudged. In this way, the present embodiment can ensure that subsequent echo data used to analyze whether an echo peak is present is reliable, thereby providing for subsequent accurate and reliable determination of the properties of the surface to be cleaned.

In some embodiments, the non-horizontal state is an inclined state or an up-down state, and the controller 15 determines that the surface to be cleaned is an inclined surface or an uneven surface when the mobile robot 100 is in the inclined state or the up-down state according to the motion posture data collected by the motion sensor 13.

Specifically, when it is determined that the self-moving robot 100 is in an inclined state according to the motion posture data, the controller 15 determines that the surface to be cleaned is an inclined surface, that is, the surface to be cleaned is arranged obliquely with respect to the self-moving robot 100, for example, when the self-moving robot 100 is in a climbing state or a descending state, the surface to be cleaned is inclined with respect to the self-moving robot 100, and therefore, in order to ensure that echo data providing subsequent analysis is reliable, the controller 15 may set the echo data acquired at this time to be invalid, and the controller 15 further controls the ultrasonic module 14 to stop working until the self-moving robot returns to a horizontal state.

When it is determined that the self-moving robot 100 is in an up-and-down state according to the motion attitude data, the controller 15 determines that the surface to be cleaned is an uneven surface, for example, the motion attitude data is an angular velocity, the controller 15 obtains the angular velocity in the specified direction, calculates a difference between every two adjacent angular velocities, adds up absolute values of the differences to obtain a total difference, calculates an average of the total differences according to the number of the angular velocities to obtain a variation average, determines whether the variation average is less than or equal to a preset average, if so, the controller 15 determines that the self-moving robot is in a horizontal state, the controller 15 determines that the echo data is valid, and may further determine whether the surface to be cleaned is a carpet surface according to the echo data. If the echo data is larger than the echo data, the controller 15 determines that the self-moving robot is in an up-and-down state, the controller 15 can set the acquired echo data as invalid, and the controller 15 further controls the ultrasonic module 14 to stop working until the self-moving robot returns to a horizontal state.

In some embodiments, the controller 15 determining whether the self-moving robot is in the heave state includes: acquiring each angular velocity in the designated direction, curve-fitting each angular velocity, solving the derivative of each angular velocity with respect to time, calculating the variance/standard deviation according to each derivative, and judging whether the self-moving robot is in an up-and-down fluctuation state or not according to the variance/standard deviation.

For example, first, the angular velocities are noted as x (i), the respective angular velocities x (i) are fitted, and the derivative dx (i) of each angular velocity x (i) is found. Next, the derivative difference between every two adjacent derivatives, Δ dx (i) = dx (i + 1) -dx (i), is calculated. Then, from the respective derivatives, the variance/standard deviation S0 is calculated. Finally, when the variance/standard deviation S0 is greater than the preset statistical difference, it indicates that the angular velocity is relatively fluctuated, the attribute of the surface to be cleaned is an uneven surface, and the controller 15 determines that the self-moving robot is in an up-and-down state. When the variance/standard deviation S0 is smaller than the preset statistical difference, it indicates that the change of the angular velocity is relatively stable, and the attribute of the surface to be cleaned is a flat surface, and at this time, the self-moving robot 100 may be in a climbing state, a descending state, or a horizontal state.

In some embodiments, if the controller 15 determines that the mobile robot 100 is in the up-and-down state according to the motion posture data collected by the motion sensor 13, and the controller 15 detects that the echo data collected by the ultrasonic module 14 is switched between meeting the preset carpet echo condition and not meeting the preset carpet echo condition, the controller 15 determines that the surface to be cleaned is a non-carpet surface with unevenness.

For example, when the self-moving robot walks on a surface to be cleaned, such as a cobblestone floor, the controller 15 may determine that the self-moving robot 100 is in an up-and-down state according to the motion attitude data. Because from the mobile robot fall when cobblestone is subaerial, rise often, fall or rise all can make the ultrasonic wave module treat the clean surperficial excessive slope relatively, the emission frequency or the collection frequency of ultrasonic wave module are all higher, all can obtain multiframe echo data in the very short time, this can make controller 15 time and detect echo data and satisfy and predetermine carpet echo condition, it does not satisfy and predetermine carpet echo condition to detect echo data often, detect echo data again often and predetermine carpet echo condition, that is, controller 15 detects echo data and carries out the switching many times between satisfying predetermined carpet echo condition and unsatisfying predetermined carpet echo condition.

Since the cleaning strategy or walking strategy corresponding to the surface to be cleaned is the carpet surface, the cleaning strategy or walking strategy may be different from that in the normal cleaning situation, such as avoiding the carpet or slowing down the speed. In order to provide a basis for judging a subsequent cleaning strategy or a walking strategy more reliably and safely, the embodiment can determine the surface to be cleaned at the moment as an uneven non-carpet surface.

In some embodiments, when the controller 15 determines that the echo data collected by the ultrasonic module 14 satisfies the preset carpet echo condition, the walking assembly 12 is controlled to drive the robot main body 11 to move forward at a reduced speed, so as to determine the property of the surface to be cleaned again according to the echo data collected by the ultrasonic module 14 again.

For example, if the controller 15 determines that the echo data satisfies the predetermined carpet echo condition for the first time, i.e. it determines that the surface to be cleaned is the carpet surface for the first time, in order to improve the detection reliability, the controller 15 controls the walking unit 12 to drive the robot main body 11 to move forward by a predetermined distance in a decelerating manner, for example, to drive the robot main body 11 to move forward by 3 cm in a decelerating manner. After robot main part 11 advanced and predetermines the distance, controller 15 control ultrasonic wave module 14 launches ultrasonic signal again, generate echo data according to the ultrasonic signal who reflects back, judge whether the echo data of reacquiring satisfy and predetermine carpet echo condition, if, avoid treating the clean surface from mobile robot, if not, keep original operating condition from mobile robot, consequently, adopt this kind of doing things, this embodiment can strengthen the reliability of detecting the attribute of treating the clean surface, be favorable to improving the operational reliability from mobile robot.

It can be understood that, for reinforcing the detection reliability many times, the steerable walking subassembly 12 of controller 15 drives the main part 11 of robot and carries out the speed reduction of many times and gos forward the preset distance, after the preset distance is gos forward at every speed reduction, controller 15 all controls ultrasonic module 14 and launches ultrasonic signal again to whether alright judgement echo data gathered again satisfy preset carpet echo condition. The specific times can be customized by the user according to the engineering experience, and are not described herein.

In some embodiments, when the controller 15 determines that the echo data collected by the ultrasonic module 14 does not satisfy the preset carpet echo condition, the walking assembly 12 is controlled to drive the robot main body 11 to advance by a preset distance, so as to determine the property of the surface to be cleaned again according to the echo data collected by the ultrasonic module 14 again.

For example, when the carpet surface is a plastic carpet or a carpet printed with smooth characters or a carpet with a smooth surface, it is easy for the controller 15 to determine that the echo data does not satisfy the preset carpet echo condition for the first time, so as to cause a false determination and identify the carpet surface as a non-carpet surface. In some embodiments, to improve the detection reliability, the controller 15 controls the walking assembly 12 to drive the robot main body 11 to advance by a preset distance, for example, to drive the robot main body 11 to advance by 3 cm. After the robot main body 11 advances to predetermine the distance, controller 15 control ultrasonic wave module 14 launches ultrasonic signal again, generates echo data according to the ultrasonic signal who reflects back, judges whether the echo data of reacquiring satisfy preset carpet echo condition, if not, controller 15 continues to control walking subassembly 12 drive robot main body 11 and advances to predetermine the distance. If so, the self-moving robot keeps the original working state.

After robot main part 11 advances 3 centimetres for the second time, controller 15 judges the attribute of treating the clean surface again according to the echo data of ultrasonic wave module 14 reacquisition, if judge that the echo data of reacquisition satisfy and predetermine carpet echo condition, from mobile robot keeps original operating condition, if judge that the echo data of reacquisition do not satisfy and predetermine carpet echo condition, then confirm to treat that the clean surface is non-carpet surface, adopt this kind of method, this embodiment can strengthen the reliability of detecting the attribute of treating the clean surface, be favorable to improving the operational reliability from mobile robot.

Referring to fig. 7, the controller 700 includes one or more processors 71 and a memory 72. Fig. 7 illustrates an example of one processor 71.

The processor 71 and the memory 72 may be connected by a bus or other means, such as the bus connection in fig. 7.

The memory 72, which is a non-volatile computer-readable storage medium, may be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the surface-to-be-cleaned attribute determination methods described in the various embodiments above. The processor 71 implements the functions of the cleaning surface property determination method provided by the above-described embodiments by executing the nonvolatile software program, instructions, and modules stored in the memory 72.

The memory 72 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 72 may optionally include memory located remotely from the processor 71, and such remote memory may be connected to the processor 71 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The program instructions/modules are stored in the memory 72 and, when executed by the one or more processors 71, perform the logic corresponding to the method for determining a surface property to be cleaned in any of the embodiments described above.

The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module 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.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

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; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-moving robot is characterized by comprising a robot main body, a walking component, a motion sensor, an ultrasonic module and a controller, wherein the walking component is installed on the robot main body and used for driving the robot main body to walk on a surface to be cleaned, the motion sensor, the ultrasonic module and the controller are all arranged on the robot main body, the motion sensor is used for collecting motion attitude data of the robot main body, the ultrasonic module is used for transmitting ultrasonic signals to the surface to be cleaned and collecting echo data reflected by the surface to be cleaned, the controller is electrically connected with the walking component, the motion sensor and the ultrasonic module, and the controller is used for determining the attribute of the surface to be cleaned according to the motion attitude data collected by the motion sensor and the echo data collected by the ultrasonic module;

if the controller judges that the self-moving robot is in a horizontal state according to the motion attitude data collected by the motion sensor, the controller judges that the echo data collected by the ultrasonic module is effective, and the controller further determines whether the surface to be cleaned is a carpet surface according to the echo data collected by the ultrasonic module.

2. The self-moving robot according to claim 1, wherein the self-moving robot avoids the surface to be cleaned when the surface to be cleaned is a carpet surface.

3. The self-moving robot as claimed in claim 1, wherein the controller further determines whether the surface to be cleaned is a carpet surface based on the echo data collected by the ultrasonic module, comprising:

4. The self-moving robot as claimed in claim 3, wherein the controller determines whether the echo data collected by the ultrasonic module satisfies a preset carpet echo condition according to the echo data collected by the ultrasonic module, including:

if yes, the controller judges that the echo data collected by the ultrasonic module do not meet the preset carpet echo condition;

5. The self-moving robot according to claim 4, wherein the echo data includes a plurality of first sampled data points within a preset start time period and a plurality of second sampled data points within a preset sampling time period, wherein the preset sampling time period is located after the preset start time period, the plurality of first sampled data points within the preset start time period are defined as a aftershock waveform interval of the echo data, and the plurality of second sampled data points within the preset sampling time period are defined as a preset sampling interval of the echo data.

6. The self-moving robot of claim 4, wherein the preset sampling interval of the echo data comprises a plurality of sampling data points within a preset sampling time period, and the controller determines whether the preset sampling interval of the echo data comprises N echo peaks, wherein N is an integer greater than or equal to 1, comprising:

and the controller executes the operation of sequentially traversing the echo data, extracts an initial echo and a secondary echo which meet the initial condition of the echo, and the average wave peak value of the initial echo is larger than that of the secondary echo.

7. The self-moving robot of claim 4, wherein the preset sampling interval of the echo data comprises a plurality of sampled data points within a preset sampling time period, the sampled data point at the beginning of the left side of the echo peak is defined as a left side data point, the sampled data point at the end of the right side of the echo peak is defined as a right side data point, the sampled data point at the peak top of the echo peak is defined as a peak top data point, and the sampled data point with the minimum amplitude between the left side data point and the right side data point is defined as a peak bottom data point, wherein the left side data point is the first sampled data point at the left side of the echo peak smaller than a preset peak threshold, and the right side data point is the first sampled data point at the right side of the echo peak smaller than a preset valley threshold.

8. The self-moving robot of claim 7, wherein the difference between the peak-top data point and the peak-bottom data point is defined as a first difference, the difference between the peak-top data point and the right data point is defined as a second difference, and the controller determines whether the preset sampling interval of the echo data includes N echo peaks, where N is an integer greater than or equal to 1, including:

the controller judges whether the first difference is larger than or equal to a first threshold value or not, and whether the second difference is larger than or equal to a second threshold value or not, if yes, the corresponding echo wave peak can be extracted, and if not, the corresponding echo wave peak cannot be extracted.

9. The self-moving robot as claimed in claim 4, wherein the controller calculates a time difference between two adjacent echo peaks according to the N echo peaks, and determines a relative distance between the self-moving robot and the surface to be cleaned according to the time difference and an echo transmission speed.

10. The self-moving robot according to any one of claims 1 to 9, wherein if the controller determines that the self-moving robot is in a non-level state according to the motion posture data collected by the motion sensor, the controller determines that the echo data collected by the ultrasonic module is invalid, and the controller further controls the ultrasonic module to stop working until the self-moving robot returns to the level state.

11. The self-propelled robot of claim 10, wherein the non-horizontal state is an inclined state or an up-down state, and the controller determines that the surface to be cleaned is an inclined surface or an uneven surface when the self-propelled robot is in the inclined state or the up-down state according to the motion attitude data collected by the motion sensor.

12. The self-moving robot as claimed in claim 1, wherein if the controller determines that the self-moving robot is in an up-and-down rolling state according to the motion attitude data collected by the motion sensor, and the controller detects that the echo data collected by the ultrasonic module is switched between meeting a preset carpet echo condition and not meeting the preset carpet echo condition, the controller determines that the surface to be cleaned is an uneven non-carpet surface.

13. The self-propelled robot of claim 12, wherein the controller controls the walking assembly to drive the robot body to slow down and advance when the controller determines that the echo data collected by the ultrasonic module meets a preset carpet echo condition, so as to determine the property of the surface to be cleaned again according to the echo data collected by the ultrasonic module again.

14. The self-propelled robot of claim 12, wherein the controller controls the walking assembly to drive the robot body to advance a predetermined distance when the controller determines that the echo data collected by the ultrasonic module does not satisfy a predetermined carpet echo condition, so as to determine the property of the surface to be cleaned again according to the echo data collected by the ultrasonic module again.

15. The self-moving robot according to any one of claims 1 to 9, wherein the ultrasonic module transmits an ultrasonic signal at every predetermined time interval and collects the echo data at a predetermined time interval after the ultrasonic signal is transmitted, wherein the transmitting frequency and the collecting frequency of the ultrasonic module are the same.