Cliff detecting method and device and floor sweeping robot

Abstract

The invention relates to a cliff detecting method and device and a floor sweeping robot. The method comprises the following steps that: an ultrasonic signal is sent to a front lower side of a floor sweeping robot; whether an echo signal returned by the ultrasonic signal after meeting a reflection object is received within a predetermined time is determined; if so, a distance between the bottom ofthe floor sweeping robot and an emitting object is obtained according to the echo signal; the distance is compared with a preset distance threshold to determine whether a cliff exists at the lower front side of the moving direction of the floor sweeping robot. Therefore, a problem that the infrared signal cliff detecting mode is susceptible to the influences of the color of the reflector and the interference of the strong light is solved. With multiple gears for ultrasonic signal emission, the distance range of the ultrasonic ranging is greatly increased; in a short-distance state, the refection objet is detected at a low gear, so that power consumption of the machine is reduced, the endurance of the floor sweeping robot is enhanced, and the noises are reduced. The method is implemented simply; the environmental adaptability is high; the detection reliability is high; and the performance of the floor sweeping robot is improved substantially.

Description

technical field [0001] This patent relates to the field of robot technology, in particular to a cliff detection method, device and sweeping robot. Background technique [0002] At present, sweeping robots mainly use infrared signals to detect cliffs. However, the reflection intensity of infrared signals will be affected by the color of the reflector, and the reflection intensity of dark reflectors will be much lower than that of light reflectors. When the sweeping machine encounters a dark ground, it will make a misjudgment, which will seriously affect the cleaning. When it encounters a reflective ground, the cliff detection will fail to judge, causing the sweeping robot to fall. In addition, when the infrared signal has strong light interference in the external environment, it will also lead to misjudgment or missed judgment of the cliff detection of the sweeper robot. Contents of the invention [0003] In view of the above analysis, the present invention aims to provide...

AI Technical Summary

Problems solved by technology

[0002] At present, sweeping robots mainly use infrared signals to detect cliffs. However, the reflection intensity of infrared signals will be affected by the color of the reflector, and the reflection intensity of dark reflectors will be much lower than that of light reflectors.

When the sweeping machine encounters a dark ground, it will make a misjudgmen

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