Mobile robot, working surface recognizing method and control method

Abstract

The invention discloses a mobile robot. The mobile robot comprises an obtaining module, a storing module, a determining module and a driving module, wherein the obtaining module is used for obtainingcurrent velocity V and duty ratio P of a rotating device of the mobile robot; the storing module is used for storing a program instruction of the mobile robot, the threshold range of ratio of the dutyratio to the speed of the rotating device and the corresponding working surface type; the determining module is sued for determining the type of the current working surface of the mobile robot basedon the ratio K, obtained by the obtaining module, of the duty ratio and the speed of the rotating device; and the driving module is used for driving the rotating device to turn based on the instruction sent by the determining module. According to the scheme, the type of the working surface is determined based on the ratio of the duty ratio to the speed of the rotating device of the mobile robot isdetected in real time; the mobile robot has the advantages of being high in recognizing accuracy, and low in performing cost. Additionally, the invention also discloses a working surface recognizingmethod of the mobile robot and a control method.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a mobile robot, a working surface recognition method of the mobile robot and a control method based on the working surface. Background technique [0002] Existing covered mobile robots (such as sweeping robots and lawn mowing robots) often only have a single working mode, and adopt the same working mode when working on different working surfaces, which leads to low working efficiency and poor working effect of mobile robots. [0003] In view of the above problems, most of the prior art realizes the recognition of the working surface by the mobile robot by detecting the working current of the motor. For example, Chinese Patent Application No. 200510050557.7 discloses a scheme for judging the ground type by detecting the operating current of the rotating motor, but due to the low accuracy of the single-chip ADC and the loss of the external circuit, etc., errors will occur i...

AI Technical Summary

Problems solved by technology

For example, Chinese Patent Application No. 200510050557.7 discloses a scheme for judging the ground type by detecting the operating current of the rotating motor, but due to the low accuracy of the single-chip ADC and the loss of the external circuit, etc., errors will occur in the detection, and then Misjudgment

[0004] In view of the above problems, the Chinese Patent Application No. 201310757423.3 discloses a scheme based on image analysis to identify the type of work surface, but this scheme involves image processing and matching algorithms, the scheme is relatively complicated and the implementation cost is high

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