Sweeping robot and its control system and control method

Abstract

Embodiments of the present invention provide a sweeping robot, a control system and a control method for the sweeping robot. The system includes: an accelerometer, used to detect the acceleration of the cleaning robot in at least two directions within its motion plane; and a controller, used to determine the current motion mode of the cleaning robot; according to the motion mode, Determine the current due acceleration of the sweeping robot in the at least two directions; according to the current due acceleration of the sweeping robot in the at least two directions and the acceleration of the sweeping robot in the at least two directions detected by the accelerometer Acceleration, determine whether the sweeping robot collides; if the sweeping robot collides, determine the collision direction and / or collision intensity; and determine the cleaning strategy of the sweeping robot according to the collision direction and / or collision intensity. Through the present invention, the collision orientation and / or collision force of the obstacle can be accurately judged.

Description

technical field [0001] The invention relates to the field of household appliances, in particular to a sweeping robot, a control system and a control method for the sweeping robot. Background technique [0002] With the rapid development of science and technology, people's living standards continue to improve, and smart products are more and more widely accepted and applied by the public. The typical one is the sweeping robot. The sweeping robot is an intelligent cleaning device that can automatically clean dust, hair, paper scraps and other substances on the ground. With the intelligentization of sweeping robots, there are more and more sensors and measuring devices on sweeping robots, including a large number of hardware devices, such as laser ranging equipment, camera equipment, various sensors, and motion control systems and vacuum cleaner motors , It is a very large power consumption for mobile charging equipment such as sweepers. [0003] During the indoor cleaning pr...

AI Technical Summary

Problems solved by technology

However, this type divides the front semicircle cover into 3-9 sections, and judges the direction of the collision according to the section where the collision occurs. The defect of this kind of collision device is that the accuracy of collision position judgment is not high enough, which is limited by the number of sections divided by the front semicircle cover. Restrictions, can only distinguish the general orientation; can only judge whether there is a collision, but cannot judge the strength of the collision, and cannot distinguish whether the collision is on the wall or on soft objects such as pets and quilts; the structure is relatively complex, which affects the overall product sex and aesthetics

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