CN114098543B - Floor mopping robot, control method and control device thereof and storage medium - Google Patents
Floor mopping robot, control method and control device thereof and storage medium Download PDFInfo
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- CN114098543B CN114098543B CN202010872024.1A CN202010872024A CN114098543B CN 114098543 B CN114098543 B CN 114098543B CN 202010872024 A CN202010872024 A CN 202010872024A CN 114098543 B CN114098543 B CN 114098543B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 136
- 230000005856 abnormality Effects 0.000 claims abstract description 75
- 239000000463 material Substances 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application relates to a floor mopping robot, a control method, a control device and a storage medium thereof. The floor mopping robot includes: the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or put down; the walking assembly is used for walking according to the moving instruction; the positioning component is used for outputting positioning information; a state recognition component for recognizing state information; the control module is used for generating a moving instruction according to the positioning information output by the positioning assembly and outputting the moving instruction to the walking assembly; and the lifting assembly is also used for controlling the cleaning assembly to lift upwards when the abnormality is judged according to the state information fed back by the state identification assembly. The floor mopping robot can control the module to generate a moving instruction according to the positioning information to control the walking assembly to walk, acquire the state information fed back by the state identification assembly, and control the lifting assembly to drive the cleaning assembly to lift when abnormality occurs according to the state information, so that obstacle crossing capability of the floor mopping robot is improved when the floor mopping robot is trapped.
Description
Technical Field
The application relates to the technical field of intelligent households, in particular to a mopping robot, a control method, a control device and a storage medium thereof.
Background
With the development of intelligent household technology, a cleaning robot technology appears, and floor cleaning work can be automatically completed indoors by means of certain artificial intelligence. For example, the mopping robot is provided with a mop plate, and the mop plate moves in a room closely attached to the ground, so that the mopping function is realized, wet mopping can be performed by humidifying the mop, and the ground is effectively cleaned.
At present, the floor mopping robot can reach a designated place for cleaning according to a set working mode, and the cleaning is performed by storing an indoor map in advance and planning a running route according to the working mode.
However, when the indoor layout is changed (for example, the position of the table and the chair is changed, and an obstacle is added), if the map is not updated in time, the planned running route of the floor mopping robot may not be smoothly performed, and the floor is damaged in the wet mopping mode due to passive shutdown caused by trapping or program error.
Disclosure of Invention
In view of the above, it is desirable to provide a floor mopping robot capable of improving the escape capability, and a control method, a control device, and a storage medium thereof.
A floor mopping robot comprising:
the cleaning assembly is used for cleaning the ground;
the lifting assembly is used for driving the cleaning assembly to lift or drop;
the walking assembly is used for walking according to the moving instruction;
the positioning component is used for outputting positioning information;
a state recognition component for recognizing state information; and
The control module is used for generating the moving instruction according to the positioning information output by the positioning assembly and outputting the moving instruction to the walking assembly; and the lifting assembly is also used for controlling the cleaning assembly to lift upwards when the abnormality is judged according to the state information fed back by the state identification assembly.
In one embodiment, the cleaning assembly includes a humidifying device for humidifying in a wet drag mode;
and the control module is also used for controlling the humidifying device to stop humidifying and controlling the lifting assembly to drive the cleaning assembly to lift when the control module is in the wet dragging mode and judges that the abnormality occurs.
In one embodiment, the state recognition component comprises:
the walking range unit is used for recording an actual walking value;
the control module is also used for judging that an abnormality occurs when the difference value between the actual walking value fed back by the walking range unit and the positioning walking value in the preset first period is larger than a preset first threshold value; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component.
In one embodiment, the state recognition component further comprises:
the gesture recognition unit is used for recognizing the current gesture information;
the control module is also used for judging that an abnormality occurs when the current gesture information fed back by the gesture recognition unit is not matched with the movement instruction.
In one embodiment, the state recognition component comprises:
an obstacle recognition unit for recognizing an obstacle during movement and outputting obstacle collision information;
the control module is also used for recording the times of obtaining the obstacle collision information in a preset second period, and judging that the abnormality occurs when the times of the obstacle collision information are larger than a preset second threshold value.
In one embodiment, the state recognition component further comprises:
the ground material identification unit is used for identifying the ground material;
the control module is used for matching the cleaning mode corresponding to the ground material according to the ground material fed back by the ground material identification unit.
A control method of a floor mopping robot, comprising:
positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
generating a moving instruction according to the positioning information and outputting the moving instruction to a walking assembly; the walking assembly is used for walking according to the moving instruction;
acquiring state information fed back by a state identification component; the state identification component is used for identifying state information;
if the abnormality is judged to occur according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift upwards; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or lower.
In one embodiment, the floor mopping robot control method further includes:
if the cleaning component is in the wet dragging mode, controlling a humidifying device to stop humidifying and controlling the lifting component to drive the cleaning component to lift; the humidifying device is used for humidifying the cleaning assembly in a wet towing mode.
In one embodiment, the state information includes an actual walking value fed back by the walking range unit in a preset first period; the walking range unit is used for recording the actual walking value;
if the abnormality is judged to occur according to the state information, the step of controlling the lifting assembly to drive the cleaning assembly to lift up comprises the following steps:
calculating a positioning walking value in the first period; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component;
calculating a difference value between the actual walking value and the positioning walking value in the first period;
if the difference value is larger than a preset first threshold value, the abnormality is judged to occur, and the lifting assembly is controlled to drive the cleaning assembly to lift.
In one embodiment, the state information includes current gesture information fed back by the gesture recognition unit; the gesture recognition unit is used for recognizing current gesture information;
if the abnormality is judged to occur according to the state information, the step of controlling the lifting assembly to drive the cleaning assembly to lift up comprises the following steps:
judging whether the current gesture information is matched with a moving instruction or not;
if the cleaning components are not matched, the abnormal condition is judged, and the lifting components are controlled to drive the cleaning components to lift.
In one embodiment, the state information includes obstacle collision information fed back by the obstacle recognition unit; the obstacle recognition unit is used for recognizing an obstacle in the moving process and outputting obstacle collision information;
if the abnormality is judged to occur according to the state information, the step of controlling the lifting assembly to drive the cleaning assembly to lift up comprises the following steps:
recording the times of acquiring the obstacle collision information in a preset second period;
if the number of times of the obstacle collision information is larger than a preset second threshold value, judging that the abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift.
A floor mopping robot control device, comprising:
the positioning information acquisition module is used for acquiring positioning information output by the positioning component; the positioning component is used for outputting positioning information;
the mobile instruction output module is used for generating a mobile instruction according to the positioning information and outputting the mobile instruction to the walking assembly; the walking assembly is used for walking according to the moving instruction;
the state information acquisition module is used for acquiring state information fed back by the state identification component; the state identification component is used for identifying state information;
the lifting control module is used for controlling the lifting module to drive the cleaning module to lift upwards when the abnormality is judged according to the state information; the cleaning module is used for cleaning the ground; the lifting module is used for driving the cleaning module to lift or drop.
A floor mopping robot comprising a memory and a processor, said memory storing a computer program, said processor implementing the following steps when executing said computer program:
positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
generating a moving instruction according to the positioning information and outputting the moving instruction to a walking assembly; the walking assembly is used for walking according to the moving instruction;
acquiring state information fed back by a state identification component; the state identification component is used for identifying state information;
if the abnormality is judged to occur according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift upwards; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or lower.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
generating a moving instruction according to the positioning information and outputting the moving instruction to a walking assembly; the walking assembly is used for walking according to the moving instruction;
acquiring state information fed back by a state identification component; the state identification component is used for identifying state information;
if the abnormality is judged to occur according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift upwards; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or lower.
According to the floor mopping robot, the control method, the control device and the storage medium, the control module generates the moving instruction according to the positioning information to control the walking assembly to walk, acquires the state information fed back by the state recognition assembly, and controls the lifting assembly to drive the cleaning assembly to lift upwards when abnormality occurs according to the state information, so that the cleaning assembly is far away from the ground, obstacle crossing capability of the floor mopping robot when trapped is improved, and meanwhile the situation that wet mopping cloth contacts the ground at the same position for a long time in a wet mopping mode to damage the ground can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic view of a floor mopping robot in one embodiment;
fig. 2 is a schematic structural view of a floor mopping robot provided with a humidifying device in one embodiment;
FIG. 3 is a schematic view of a floor mopping robot with a state recognition assembly including a range of travel unit according to one embodiment;
FIG. 4 is a schematic view of a floor mopping robot with a state recognition assembly further including a gesture recognition unit in one embodiment;
FIG. 5 is a schematic view of a floor mopping robot with a status recognition assembly further including an obstacle recognition unit according to one embodiment;
FIG. 6 is a schematic structural diagram of a floor mopping robot with a state recognition module further including a floor material recognition unit according to one embodiment;
FIG. 7 is a flow chart of a control method of a floor mopping robot according to one embodiment;
FIG. 8 is a flow chart of a control method of a floor mopping robot according to one embodiment;
FIG. 9 is a flow chart of a step of controlling the lifting assembly to drive the cleaning assembly to lift if an abnormality occurs according to the status information in one embodiment;
FIG. 10 is a flow chart of a step of controlling the lifting assembly to drive the cleaning assembly to lift if an abnormality occurs according to the status information in one embodiment;
FIG. 11 is a flow chart of a step of controlling the lifting assembly to drive the cleaning assembly to lift if an abnormality occurs according to the status information in one embodiment;
FIG. 12 is a block diagram of a floor mopping robot control device in one embodiment;
FIG. 13 is a block diagram illustrating a lift control module according to one embodiment;
FIG. 14 is a block diagram illustrating a lift control module according to one embodiment;
FIG. 15 is a block diagram illustrating a lift control module according to one embodiment.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
As described in the background art, the inventor researches that the problem of the prior art that the floor mopping robot has poor escaping capability is that the mop plate of the floor mopping robot needs to be closely attached to the ground to realize cleaning, so that the obstacle surmounting capability of the floor mopping robot is greatly weakened, once the floor is trapped or encounters an obstacle, the floor is hard to escape, the floor is forced to stop working, and at the moment, if the floor is in a wet mopping mode, the mop plate is contacted with the ground at the same position for a long time, and the condition that the ground is damaged by soaking the ground is easy to occur.
Based on the reasons, the invention provides a scheme capable of improving the escaping capability of the floor mopping robot
In one embodiment, as shown in fig. 1, there is provided a floor mopping robot including:
a cleaning assembly 100 for cleaning a floor;
a lifting assembly 200 for driving the cleaning assembly 100 up or down;
the walking assembly 300 is used for walking according to the movement instruction;
a positioning component 400 for outputting positioning information;
a state recognition component 500 for recognizing state information; and
The control module 600 is configured to generate a movement instruction according to the positioning information output by the positioning component 400, and output the movement instruction to the walking component 300; and is further used for controlling the lifting assembly 200 to drive the cleaning assembly 100 to lift when the abnormality is judged to occur according to the state information fed back by the state recognition assembly 500.
The cleaning unit 100 is closely attached to the floor when put down, and cleans the floor of the walking area when the walking unit 300 walks according to the movement command. The cleaning assembly 100 is lifted or lowered by the lift assembly 200, which lifts away from the floor. The control module 600 can plan a running route according to the positioning information output by the positioning component 400 and combining with a preset indoor map, further generate a movement instruction, output the movement instruction to the walking component 300 to control the walking, and obtain the state information fed back by the state recognition component 500 to judge whether an abnormality occurs, wherein the abnormality refers to the situation that the mopping robot fails and/or is trapped and cannot continue to run normally. The state recognition component 500 can set the sensors of the corresponding functions based on the state information that needs to be detected. If the control module 600 judges that the floor mopping robot is abnormal, the lifting assembly 200 is controlled to drive the cleaning assembly 100 to lift, and if the abnormality is a matter needing to be solved by stopping, the cleaning assembly 100 is lifted first and then stopped; if the problem to be solved without stopping, for example, the problem is solved, the cleaning assembly 100 is lifted up and then the operation route is adjusted to try to get rid of the problem, so that the cleaning assembly 100 closely attached to the ground can be effectively prevented from affecting the obstacle crossing capability.
In the above-mentioned floor mopping robot, the control module 600 generates a movement instruction according to the positioning information to control the walking assembly 300 to walk, and obtains the state information fed back by the state recognition assembly 500, and when it is judged that an abnormality occurs according to the state information, the lifting assembly 200 is controlled to drive the cleaning assembly 100 to lift up, so that the cleaning assembly 100 is far away from the ground, and the obstacle surmounting capability when the floor mopping robot is trapped is improved.
In one embodiment, as shown in FIG. 2, the cleaning assembly 100 includes a humidifying device for humidifying in a wet-drag mode;
the control module 600 is further configured to control the humidifying device to stop humidifying and control the lifting assembly 200 to drive the cleaning assembly 100 to lift when the abnormality is determined to occur in the wet towing mode.
The wet dragging mode and the dry dragging mode may be selected by the user, or the control module 600 may perform switching control according to a preset program. When the wet mop mode is switched to the wet mop mode, the humidifying device humidifies the mop of the cleaning assembly 100, at this time, if the control module 600 judges that abnormality occurs, the humidifying device is controlled to stop humidifying and lift the cleaning assembly 100, if the cleaning assembly 100 is only lifted, the humidifying device continues humidifying, dripping water possibly caused by overhigh moisture, and the floor is possibly damaged.
In one embodiment, as shown in FIG. 3, the state identification component 500 includes:
a walking range unit 501 for recording an actual walking value;
the control module 600 is further configured to determine that an abnormality occurs when a difference between an actual walking value fed back by the walking range unit 501 and a positioning walking value in a preset first period is greater than a preset first threshold; the positioning travel value is a travel value calculated from the positioning information output from the positioning module 400.
The actual walking value refers to a value of the walking assembly 300 actually walking, and may specifically be a distance or an area; the positioning walking value is a distance or area of a route planned by the control module 600 according to the positioning information and a preset map. The first period is not a specific time point, for example, the first period is ten minutes, and the control module 600 may determine whether an abnormality occurs according to the actual walking value and the positioning walking value in any ten minutes, and only needs to ensure that the calculated cycle time of the actual walking value and the positioning walking value is the same, for example, all belong to the same ten minutes. The positioning walking value is a planned route, that is, a route that the floor mopping robot should normally walk without any interference, so if the actual walking value is greater than the positioning walking value, which indicates that the running route at this time may be changed due to interference, and does not walk according to the original route, the control module 600 may determine that an abnormality has occurred at this time.
In one embodiment, as shown in FIG. 4, the state identification component 500 further comprises:
a gesture recognition unit 502 for recognizing current gesture information;
the control module 600 is further configured to determine that an abnormality occurs when the current gesture information fed back by the gesture recognition unit 502 does not match the movement instruction.
The current gesture information refers to a gesture of the mopping robot, for example, in a steering gesture, a straight gesture, etc., and the control module 600 indirectly controls the gesture of the mopping robot according to a movement instruction generated by a normalized route, for example, the movement instruction is a straight gesture, and the gesture of the mopping robot is a straight gesture; if the movement instruction is a left turn, the posture of the floor mopping robot is a left turn posture, and specifically, the robot can be identified according to the wheel deflection direction of the walking assembly 300. If the current gesture information is not matched with the current movement instruction which should be straight, the abnormal situation can be judged.
In one embodiment, as shown in FIG. 5, the state identification component 500 includes:
an obstacle recognition unit 503 for recognizing an obstacle during movement and outputting obstacle collision information;
the control module 600 is further configured to record the number of times of obtaining the obstacle collision information in the preset second period, and determine that an abnormality occurs when the number of times of obtaining the obstacle collision information is greater than the preset second threshold.
In some embodiments, the floor mopping robot turns or backs after collision, in some embodiments, the floor mopping robot turns or backs when an obstacle is identified, and the obstacle collision information can be defined differently according to the processing mechanism of the floor mopping robot for the obstacle. For example, the obstacle collision information may be information of the number of times the obstacle is actually collided, or may be the number of times the obstacle recognition unit 503 recognizes the obstacle. If the indoor layout is completely consistent with the preset map, the floor mopping robot can set a route to avoid the obstacle as much as possible to walk, or the moving command controls the walking assembly 300 to perform steering or backing when walking to a certain coordinate, so as to complete comprehensive cleaning while avoiding collision with the obstacle as much as possible.
The second period and the "first" and "second" in the first period are only used to distinguish the preset periods in different fault judging mechanisms, and the first period and the second period may be the same or different. The second period also refers to a preset period time, and is not particularly limited to a specific time point, for example, the second period is five minutes. The length of the first period and the second period may be set by those skilled in the art as desired, and in some embodiments, the length of each of the first period and the second period may be fixed or may be variable, for example, the period time may be reduced when cleaning a region that is prone to being trapped.
In one embodiment, as shown in fig. 6, the state identification component 500 further includes:
a ground material recognition unit 504 for recognizing a ground material;
the control module 600 is configured to match a cleaning mode corresponding to the floor material according to the floor material fed back by the floor material recognition unit.
The floor mopping robot is more prone to be trapped on carpet materials with larger friction force such as carpets, and the floor materials fed back through the floor material identification unit 504 can be matched and switched to corresponding cleaning modes when the carpet cannot be wet-mopped, so that the original cleaning modes are not in accordance with the floor material requirements of the current cleaning area due to the fact that the actual walking route is inconsistent with the planned route.
In one embodiment, the status recognition assembly 500 further includes a cliff recognition unit for outputting cliff information to the control module 600 upon recognizing that a cliff exists in the forward travel route.
In one embodiment, the floor mopping robot further includes an electric quantity detection unit, configured to detect a remaining electric quantity and feed back the remaining electric quantity to the control module 600, where the control module 600 is further configured to control the lifting assembly 200 to drive the cleaning assembly 100 to lift when the remaining electric quantity is lower than a preset electric quantity threshold.
In one embodiment, as shown in fig. 7, a control method of a floor mopping robot is provided, and a control module applied to the floor mopping robot is taken as an example for explanation, the method includes:
step S100, positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
step S200, a moving instruction is generated according to the positioning information and is output to the walking assembly; the walking assembly is used for walking according to the movement instruction;
step S300, obtaining state information fed back by a state recognition component; the state identification component is used for identifying state information;
step S400, judging whether an abnormality occurs according to the state information;
step S500, if the abnormality is judged according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift up; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or put down;
step S600, if no abnormality occurs according to the state information, the normal operation is continued.
In one embodiment, as shown in fig. 8, the control method of the floor mopping robot further includes:
step S700, if the abnormal condition is judged to occur in the wet dragging mode, controlling the humidifying device to stop humidifying and controlling the lifting assembly to drive the cleaning assembly to lift; the humidifying device is used for humidifying the cleaning assembly in a wet towing mode.
In one embodiment, the state information includes an actual walking value fed back by the walking range unit in a preset first period; the walking range unit is used for recording an actual walking value;
as shown in fig. 9, the step of controlling the lifting assembly to drive the cleaning assembly to lift up includes:
step S501, calculating a positioning walking value in a first period; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component;
step S502, calculating a difference value between an actual walking value and a positioning walking value in a first period;
step S503, judging whether the difference is larger than a preset first threshold;
step S504, if the difference value is larger than a preset first threshold value, judging that abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S505, if the difference is not greater than the first threshold, it is determined that no abnormality occurs.
In one embodiment, the state information includes current gesture information fed back by the gesture recognition unit; the gesture recognition unit is used for recognizing current gesture information;
as shown in fig. 10, the step of controlling the lifting assembly to drive the cleaning assembly to lift up includes:
step S506, judging whether the current gesture information is matched with the movement instruction;
step S507, if the cleaning components are not matched, judging that the cleaning components are abnormal, and controlling the lifting components to drive the cleaning components to lift;
step S508, if the two types of data are matched, judging that no abnormality occurs.
In one embodiment, the status information includes obstacle collision information fed back by the obstacle recognizing unit; an obstacle recognition unit for recognizing an obstacle during movement and outputting obstacle collision information;
as shown in fig. 11, the step of controlling the lifting assembly to drive the cleaning assembly to lift up includes:
step S509, recording the number of times of acquiring obstacle collision information in a preset second period;
step S510, judging whether the number of times of collision information of the obstacle is larger than a preset second threshold value;
step S511, if the number of times of the collision information of the obstacle is greater than a preset second threshold value, determining that an abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S512, if the number of times of the obstacle collision information is not greater than the second threshold value, it is determined that no abnormality has occurred.
The specific limitation of the control method of the floor mopping robot can be referred to the limitation of the floor mopping robot, and the description thereof is omitted herein. It should be understood that, although the steps in the flowcharts of fig. 7 to 11 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 7-11 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
In one embodiment, as shown in fig. 12, there is provided a floor mopping robot control device 700 including:
the positioning information obtaining module 710 is configured to obtain positioning information output by the positioning component; the positioning component is used for outputting positioning information;
the movement instruction output module 720 is used for generating a movement instruction according to the positioning information and outputting the movement instruction to the walking assembly; the walking assembly is used for walking according to the movement instruction;
a status information obtaining module 730, configured to obtain status information fed back by the status identifying component; the state identification component is used for identifying state information;
the lifting control module 740 is configured to control the lifting module to drive the cleaning module to lift when an abnormality occurs according to the status information; the cleaning module is used for cleaning the ground; the lifting module is used for driving the cleaning module to lift or put down.
In one embodiment, the state information includes an actual walking value fed back by the walking range unit in a preset first period; the walking range unit is used for recording an actual walking value;
as shown in fig. 13, the lift control module 740 includes:
a positioning walking value calculating unit 741 for calculating a positioning walking value in the first period; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component;
a difference calculating unit 742, configured to calculate a difference between the actual walking value and the positioning walking value in the first period;
and the first abnormality determination unit 743 is configured to determine that an abnormality occurs when the difference is greater than a preset first threshold, and control the lifting assembly to drive the cleaning assembly to lift.
In one embodiment, the state information includes current gesture information fed back by the gesture recognition unit; the gesture recognition unit is used for recognizing current gesture information;
as shown in fig. 14, the lift control module 740 includes:
a moving instruction matching judging unit 744 for judging whether the current gesture information matches the moving instruction;
and a second abnormality determination unit 745 for determining that an abnormality has occurred when the current posture information does not match the movement instruction, and controlling the lifting assembly to drive the cleaning assembly to lift.
In one embodiment, the status information includes obstacle collision information fed back by the obstacle recognizing unit; an obstacle recognition unit for recognizing an obstacle during movement and outputting obstacle collision information;
as shown in fig. 15, the lift control module 740 includes:
a recording unit 746 for recording the number of times of acquiring obstacle collision information in a preset second period;
and a third abnormality determination unit 747 for determining that an abnormality has occurred when the number of times of collision information of the obstacle is greater than a preset second threshold value, and controlling the lifting assembly to drive the cleaning assembly to lift.
The specific limitation of the control device of the floor mopping robot can be referred to the limitation of the floor mopping robot, and the description thereof is omitted. The above-described modules in the floor mopping robot device may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
In one embodiment, there is provided a floor mopping robot including a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
step S100, positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
step S200, a moving instruction is generated according to the positioning information and is output to the walking assembly; the walking assembly is used for walking according to the movement instruction;
step S300, obtaining state information fed back by a state recognition component; the state identification component is used for identifying state information;
step S400, judging whether an abnormality occurs according to the state information;
step S500, if the abnormality is judged according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift up; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or put down;
step S600, if no abnormality occurs according to the state information, the normal operation is continued.
In one embodiment, the processor when executing the computer program further performs the steps of:
step S700, if the abnormal condition is judged to occur in the wet dragging mode, controlling the humidifying device to stop humidifying and controlling the lifting assembly to drive the cleaning assembly to lift; the humidifying device is used for humidifying the cleaning assembly in a wet towing mode.
In one embodiment, the processor when executing the computer program further performs the steps of:
step S501, calculating a positioning walking value in a first period; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component;
step S502, calculating a difference value between an actual walking value and a positioning walking value in a first period;
step S503, judging whether the difference is larger than a preset first threshold;
step S504, if the difference value is larger than a preset first threshold value, judging that abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S505, if the difference is not greater than the first threshold, it is determined that no abnormality occurs.
In one embodiment, the processor when executing the computer program further performs the steps of:
step S506, judging whether the current gesture information is matched with the movement instruction;
step S507, if the cleaning components are not matched, judging that the cleaning components are abnormal, and controlling the lifting components to drive the cleaning components to lift;
step S508, if the two types of data are matched, judging that no abnormality occurs.
In one embodiment, the processor when executing the computer program further performs the steps of:
step S509, recording the number of times of acquiring obstacle collision information in a preset second period;
step S510, judging whether the number of times of collision information of the obstacle is larger than a preset second threshold value;
step S511, if the number of times of the collision information of the obstacle is greater than a preset second threshold value, determining that an abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S512, if the number of times of the obstacle collision information is not greater than the second threshold value, it is determined that no abnormality has occurred.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
step S100, positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
step S200, a moving instruction is generated according to the positioning information and is output to the walking assembly; the walking assembly is used for walking according to the movement instruction;
step S300, obtaining state information fed back by a state recognition component; the state identification component is used for identifying state information;
step S400, judging whether an abnormality occurs according to the state information;
step S500, if the abnormality is judged according to the state information, the lifting assembly is controlled to drive the cleaning assembly to lift up; the cleaning assembly is used for cleaning the ground; the lifting assembly is used for driving the cleaning assembly to lift or put down;
step S600, if no abnormality occurs according to the state information, the normal operation is continued.
In one embodiment, the computer program when executed by the processor further performs the steps of:
step S700, if the abnormal condition is judged to occur in the wet dragging mode, controlling the humidifying device to stop humidifying and controlling the lifting assembly to drive the cleaning assembly to lift; the humidifying device is used for humidifying the cleaning assembly in a wet towing mode.
In one embodiment, the computer program when executed by the processor further performs the steps of:
step S501, calculating a positioning walking value in a first period; the positioning walking value is a walking value calculated according to the positioning information output by the positioning component;
step S502, calculating a difference value between an actual walking value and a positioning walking value in a first period;
step S503, judging whether the difference is larger than a preset first threshold;
step S504, if the difference value is larger than a preset first threshold value, judging that abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S505, if the difference is not greater than the first threshold, it is determined that no abnormality occurs.
In one embodiment, the computer program when executed by the processor further performs the steps of:
step S506, judging whether the current gesture information is matched with the movement instruction;
step S507, if the cleaning components are not matched, judging that the cleaning components are abnormal, and controlling the lifting components to drive the cleaning components to lift;
step S508, if the two types of data are matched, judging that no abnormality occurs.
In one embodiment, the computer program when executed by the processor further performs the steps of:
step S509, recording the number of times of acquiring obstacle collision information in a preset second period;
step S510, judging whether the number of times of collision information of the obstacle is larger than a preset second threshold value;
step S511, if the number of times of the collision information of the obstacle is greater than a preset second threshold value, determining that an abnormality occurs, and controlling the lifting assembly to drive the cleaning assembly to lift;
in step S512, if the number of times of the obstacle collision information is not greater than the second threshold value, it is determined that no abnormality has occurred.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
In the description of the present specification, reference to the terms "some embodiments," "other embodiments," "desired embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A floor mopping robot, comprising:
the cleaning assembly is used for cleaning the ground;
the lifting assembly is used for driving the cleaning assembly to lift or drop;
the walking assembly is used for walking according to the moving instruction;
the positioning component is used for outputting positioning information;
a state recognition component for recognizing state information; and
The control module is used for generating the moving instruction according to the positioning information output by the positioning assembly and outputting the moving instruction to the walking assembly; the system is also used for acquiring the state information fed back by the state identification component to judge whether an abnormality occurs, and if the abnormality is a matter needing to be solved by stopping, the cleaning component is lifted first and then stopped; if a problem is not resolved without shutdown, an attempt is made to get rid of the anomaly after lifting the cleaning assembly.
2. The floor mopping robot of claim 1, wherein said cleaning assembly includes a humidifying device for humidifying in a wet mopping mode;
and the control module is also used for controlling the humidifying device to stop humidifying and controlling the lifting assembly to drive the cleaning assembly to lift when the control module is in the wet dragging mode and judges that the abnormality occurs.
3. The floor mopping robot of claim 1, wherein the status recognition assembly comprises:
an obstacle recognition unit for recognizing an obstacle during movement and outputting obstacle collision information;
the control module is also used for recording the times of obtaining the obstacle collision information in a preset second period, and judging that the abnormality occurs when the times of the obstacle collision information are larger than a preset second threshold value.
4. The floor mopping robot of claim 1, wherein said status recognition assembly further comprises:
the ground material identification unit is used for identifying the ground material;
the control module is used for matching the cleaning mode corresponding to the ground material according to the ground material fed back by the ground material identification unit.
5. A control method of a floor mopping robot, comprising:
positioning information output by a positioning component is obtained; the positioning component is used for outputting positioning information;
generating a moving instruction according to the positioning information and outputting the moving instruction to a walking assembly; the walking assembly is used for walking according to the moving instruction;
acquiring state information fed back by the state identification component to judge whether an abnormality occurs, and if the abnormality is a matter needing to be solved by stopping, lifting the cleaning component and stopping the machine; if the problem is solved without stopping, attempting to get rid of the abnormality after lifting the cleaning assembly; the cleaning assembly is driven by the lifting assembly to lift or lower.
6. The control method of a floor mopping robot of claim 5, further comprising:
if the cleaning component is in the wet dragging mode, controlling a humidifying device to stop humidifying and controlling the lifting component to drive the cleaning component to lift; the humidifying device is used for humidifying the cleaning assembly in a wet towing mode.
7. The control method of a floor mopping robot according to claim 5, wherein the state information includes obstacle collision information fed back by an obstacle recognition unit; the obstacle recognition unit is used for recognizing an obstacle in the moving process and outputting obstacle collision information;
the step of obtaining the state information fed back by the state identification component to judge whether the abnormality occurs comprises the following steps:
recording the times of acquiring the obstacle collision information in a preset second period;
and if the number of times of the obstacle collision information is larger than a preset second threshold value, judging that the abnormality occurs.
8. A floor mopping robot control device, comprising:
the positioning information acquisition module is used for acquiring positioning information output by the positioning component; the positioning component is used for outputting positioning information;
the mobile instruction output module is used for generating a mobile instruction according to the positioning information and outputting the mobile instruction to the walking assembly; the walking assembly is used for walking according to the moving instruction;
the state information acquisition module is used for acquiring state information fed back by the state identification component; the state identification component is used for identifying state information; the state information comprises current gesture information fed back by a gesture recognition unit; the gesture recognition unit is used for recognizing current gesture information; the current gesture information comprises a steering gesture and/or a straight gesture;
the lifting control module is used for controlling the lifting module to drive the cleaning module to lift upwards when the abnormality is judged according to the state information; if the abnormality is a matter needing to be solved by stopping, lifting the cleaning assembly and stopping the cleaning assembly; if the problem is solved without stopping, attempting to get rid of the abnormality after lifting the cleaning assembly; the cleaning module is used for cleaning the ground; the lifting module is used for driving the cleaning module to lift or drop.
9. A floor mopping robot comprising a memory and a processor, said memory storing a computer program, characterized in that the processor implements the steps of the method according to any one of claims 5 to 7 when executing said computer program.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 5 to 7.
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