Control method of a scrubber and related device

Abstract

The application provides a control method and device of a sweeping vehicle, the sweeping vehicle and a computer readable storage medium. The control method comprises the following steps: measuring the distance between the sweeping vehicle and the sweeping assembly by using the ranging sensor to detect whether the sweeping assembly meets a preset collision protection condition; when the sweeping assembly meets the collision protection condition, the sweeping assembly is controlled to stop working; obstacle information of a preset area corresponding to the sweeping vehicle is obtained, and based on the obstacle information, an obstacle avoidance strategy corresponding to the sweeping vehicle is obtained, wherein the obstacle information comprises shape information and pose information of an obstacle; and based on the obstacle avoidance strategy, the sweeping vehicle is controlled to avoid obstacles to protect the sweeping assembly from collision. When the sweeping assembly meets the preset collision condition, the sweeping assembly is first controlled to stop working, and then obstacle avoidance is performed according to the corresponding obstacle avoidance strategy, so that damage to the sweeping motor and the vehicle body is avoided, and the service life of the sweeping vehicle is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning environmental protection equipment, and particularly relates to a control method and device of a sweeping vehicle, the sweeping vehicle and a computer readable storage medium. BACKGROUND

[0002] When the sweeping vehicle is performing a cleaning operation, the sweeper often needs to be attached to the edge of a step or a wall for edge cleaning, which is likely to cause the sweeper to collide with and be pressed against the step or the wall, and further damage the sweeper fixing disc, the sweeper motor and even the vehicle body.

[0003] The existing sweeping vehicle is provided with an anti-collision structure (for example, a spring) on the sweeper. When the sweeper collides with and is pressed against an obstacle during edge cleaning, the spring can achieve collision buffering to protect the sweeper and the vehicle. However, when the spring is compressed to the limit position, the buffering protection function will be lost. At this time, if the sweeper is still subjected to a large pressing force, the sweeper motor will be blocked, the sweeper assembly will be worn, and the sweeper motor and the vehicle will be damaged in a serious case.

[0004] Therefore, it is urgent to provide a control method and device of a sweeping vehicle, the sweeping vehicle and a computer readable storage medium to improve the problems in the prior art. SUMMARY

[0005] The purpose of the present application is to provide a control method and device of a sweeping vehicle, the sweeping vehicle and a computer readable storage medium. When a sweeper assembly meets a preset collision condition, the sweeper assembly is first controlled to stop working, and then obstacle avoidance is performed according to a corresponding obstacle avoidance strategy, so as to reduce the wear of the sweeper assembly, avoid damage to the sweeper motor and the vehicle body, and prolong the service life of the sweeping vehicle.

[0006] The purpose of the present application is achieved by adopting the following technical solutions:

[0007] In a first aspect, the present application provides a control method of a sweeping vehicle, the sweeping vehicle comprising a distance measuring sensor, a sweeper assembly, a sweeper fixing arm and a sweeper swing arm, the sweeper fixing arm and the sweeper swing arm being rotationally connected, the distance measuring sensor being arranged on the sweeper fixing arm, and the sweeper assembly being arranged on the sweeper swing arm.

[0008] The control method comprises:

[0009] The distance measuring sensor is used to measure the distance between itself and the sweeper assembly, and whether the sweeper assembly meets a preset collision protection condition is determined according to the distance.

[0010] When the sweeper assembly meets the preset collision protection condition, the sweeper assembly is controlled to stop working.

[0011] Obstacle information of a preset area corresponding to the sweeping vehicle is acquired, and an obstacle avoidance strategy corresponding to the sweeping vehicle is acquired based on the obstacle information; wherein the obstacle information comprises shape information and pose information of an obstacle, and the obstacle avoidance strategy comprises a vehicle speed and a rotation direction;

[0012] The sweeping vehicle is controlled to execute the obstacle avoidance strategy to achieve collision protection of the sweeping brush assembly.

[0013] The technical scheme has the beneficial effects that when the sweeping brush assembly on the sweeping brush swing arm collides with an obstacle, the sweeping brush swing arm rotates relative to the sweeping brush fixed arm under the extrusion of the obstacle, and accordingly, the distance between the sweeping brush fixed arm and the sweeping brush assembly changes. The distance between the ranging sensor on the sweeping brush fixed arm and the sweeping brush assembly can be measured, and the distance reflects the degree of extrusion of the sweeping brush assembly on the obstacle. When the distance meets a preset collision protection condition, it indicates that the sweeping brush assembly is subjected to relatively serious extrusion, and the sweeping brush assembly can be controlled to stop working at this time. A corresponding obstacle avoidance strategy is formulated according to the obstacle information, so that collision protection of the sweeping brush assembly is achieved.

[0014] On the one hand, when the sweeping brush assembly meets the preset collision protection condition, the sweeping brush assembly is controlled to stop working to reduce the wear of the sweeping brush assembly. On the other hand, the sweeping vehicle is controlled to execute the obstacle avoidance strategy to avoid collision between the sweeping brush assembly and the obstacle, and thus active obstacle avoidance of the sweeping brush assembly is achieved. The collision protection mode of the sweeping brush assembly in the present application can eliminate the collision and extrusion relationship between the sweeping brush assembly and the obstacle from the source, thereby effectively avoiding damage to the sweeping motor and the vehicle body, and prolonging the service life of the sweeping vehicle.

[0015] In some optional embodiments, the control method further comprises:

[0016] Based on the distance between the ranging sensor and the sweeping brush assembly, an extrusion angle of the sweeping brush swing arm relative to the sweeping brush fixed arm is acquired.

[0017] The preset collision protection condition comprises at least one of the following:

[0018] The distance between the ranging sensor and the sweeping brush assembly is less than or equal to a preset distance threshold;

[0019] The extrusion angle is greater than or equal to a preset angle threshold.

[0020] The beneficial effects of the technical scheme are that according to the distance between the ranging sensor and the brush assembly, the extrusion angle of the brush swing arm relative to the brush fixed arm can be calculated. On the one hand, the collision protection condition can be that the distance between the ranging sensor and the brush assembly is less than or equal to a preset distance threshold. Generally speaking, the smaller the distance, the more serious the collision and extrusion of the brush assembly and the obstacle. On the other hand, the collision protection condition can be that the extrusion angle of the brush swing arm relative to the brush fixed arm is less than or equal to a preset angle threshold. The greater the extrusion angle, the more serious the collision and extrusion of the brush assembly and the obstacle.

[0021] In some optional embodiments, the brush assembly comprises a brush motor and a brush fixed disc arranged coaxially;

[0022] The extrusion angle of the brush swing arm relative to the brush fixed arm is obtained based on the distance between the ranging sensor and the brush assembly by using the following calculation formula:

[0023] ;

[0024] Wherein, is the extrusion angle of the brush swing arm relative to the brush fixed arm, X is the longitudinal vertical distance between the lens center of the ranging sensor and the rotation center of the brush swing arm, Y1 is the transverse vertical distance between the lens center of the ranging sensor and the rotation center of the brush swing arm, Y2 is the distance between the rotation center of the brush swing arm and the center of the brush motor, D is the nearest distance between the lens center of the ranging sensor and the shell of the brush motor, and R is the distance between the center and the shell surface of the brush motor.

[0025] The beneficial effects of the technical scheme are that the extension direction of the brush swing arm in the initial state (the brush assembly is not collided and extruded by the obstacle) is taken as the transverse direction, the driving surface of the sweeper is taken as the reference surface, and the direction perpendicular to the transverse direction on the reference surface is taken as the longitudinal direction. According to the Pythagorean theorem, it can be known that: And by using the trigonometric function formula, it can be solved that This calculation method is simple and efficient, and the operation amount is small.

[0026] In some optional embodiments, the ranging sensor is a laser sensor, and the distance between the ranging sensor and the brush assembly is measured by using the ranging sensor, comprising:

[0027] The brush assembly is measured by using the ranging sensor to obtain corresponding ASCII code data.

[0028] The ASCII code data is parsed to obtain measurement data of the distance sensor and a data state flag bit; the measurement data is used to indicate the distance between the distance sensor and the brush assembly; the data state flag bit is used to indicate the data state of the measurement data, and the data state is any one of the following: no data update, valid distance, signal error, hardware error, less than the minimum value of the measurement range, and greater than or equal to the maximum value of the measurement range;

[0029] The preset collision protection condition further comprises:

[0030] The data state of the measurement data is a signal error or a hardware error.

[0031] The beneficial effects of the technical solution are that the distance sensor can be a laser sensor, and the laser sensor can receive ASCII code data measured by the brush assembly through a serial port. The content of the ASCII code data includes a data state flag bit and measurement data. According to the data state flag bit, the data state of the measurement data can be known. No data update means that the measurement data has not changed. Valid distance means that the measurement data is within the measurement range (range). Signal error means that the laser scanning signal of the laser sensor is incorrect. Less than the minimum value of the measurement range means that the measurement data is less than the minimum value of the measurement range (range), which may be because the laser sensor is blocked by debris. Greater than or equal to the maximum value of the measurement range means that the measurement data is greater than or equal to the maximum value of the measurement range (range), which may be because the brush assembly is not installed to the correct position (brush swing arm). Hardware error means that the hardware (laser transceiver module) of the laser sensor is faulty.

[0032] When the data state of the measurement data is a signal error or a hardware error, the laser sensor cannot work normally, and the laser sensor cannot sense the distance between itself and the brush assembly. If the brush assembly collides and is pressed by an obstacle, the measurement data of the laser sensor cannot be known. At this time, the preset collision protection condition is met, the brush assembly is controlled to stop working, and unnecessary wear of the brush assembly can be avoided.

[0033] In some optional embodiments, the preset collision protection condition comprises: the distance between the distance sensor and the brush assembly is less than or equal to a preset distance threshold;

[0034] The control method further comprises:

[0035] When it is detected that the distance between the distance sensor and the brush assembly is an initial distance, the brush assembly is controlled to enter a working state, and the preset distance threshold is less than the initial distance;

[0036] The initial distance is the distance between the ranging sensor and the brush assembly when the brush assembly is not pressed by the obstacle;

[0037] When the brush assembly is pressed by the obstacle, the brush assembly drives the brush swing arm to rotate towards the brush fixed arm, and the distance between the ranging sensor and the brush assembly is less than the initial distance;

[0038] In the obstacle avoidance process of the brush assembly gradually getting rid of the obstacle, the brush swing arm drives the brush assembly to rotate away from the brush fixed arm until the distance between the ranging sensor and the brush assembly is the initial distance.

[0039] The beneficial effects of the technical solution are that when the brush assembly is not pressed by the obstacle, the relative position of the brush assembly and the brush fixed arm does not change, that is, the distance between the ranging sensor and the brush assembly is always the initial distance and does not change. When the brush assembly is pressed by the obstacle, as the pressing degree increases, the brush assembly drives the brush swing arm to gradually rotate towards the brush fixed arm (ranging sensor), and the distance between the ranging sensor and the brush assembly gradually decreases. When the brush assembly gets rid of the obstacle and is no longer pressed, the brush swing arm drives the brush assembly to gradually rotate away from the brush fixed arm (ranging sensor), until the initial state is restored (the distance between the ranging sensor and the brush assembly is the initial distance).

[0040] The ranging sensor can be used to measure the distance between itself and the brush assembly again. When the distance between the two returns to the initial distance, it indicates that the brush assembly has completely gotten rid of the obstacle, thereby determining that the obstacle avoidance is successful. At this time, the brush assembly can be controlled to enter the working state, and the sweeper starts cleaning work again, thereby improving the working efficiency of the sweeper.

[0041] In some optional embodiments, the obstacle avoidance strategy corresponding to the sweeper is obtained based on the obstacle information, including:

[0042] The obstacle information is input into a strategy configuration model for training to obtain the obstacle avoidance strategy corresponding to the sweeper;

[0043] The training process of the strategy configuration model includes:

[0044] A training set is obtained; the training set includes a plurality of training data, and each training data includes a sample obstacle information and labeled data of an obstacle avoidance strategy corresponding to the sample obstacle information;

[0045] For each training data in the training set, the following processing is performed:

[0046] input sample obstacle information in the training data into a preset deep learning model to obtain prediction data of an obstacle avoidance strategy corresponding to the sample obstacle information;

[0047] update model parameters of the deep learning model based on the prediction data and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0048] detect whether a preset training end condition is met; if yes, the trained deep learning model is taken as the strategy configuration model; otherwise, the deep learning model is continuously trained using next training data.

[0049] The technical scheme has the beneficial effects that: by designing, establishing an appropriate amount of neuron calculation nodes and a multi-layer operation hierarchy structure, and selecting appropriate input and output layers, a preset deep learning model can be obtained, a function relationship from input to output is established through learning and optimization of the preset deep learning model, although the function relationship between input and output cannot be found 100%, the real correlation can be approximated as much as possible, and thus the strategy configuration model trained can obtain a corresponding obstacle avoidance strategy based on obstacle information, and the calculation result is high in accuracy and reliability.

[0050] In a second aspect, the present application provides a control device of a sweeping vehicle, the sweeping vehicle comprising a ranging sensor, a sweeping brush assembly, a sweeping brush fixed arm, and a sweeping brush swing arm, the sweeping brush fixed arm and the sweeping brush swing arm being rotationally connected, the ranging sensor being arranged on the sweeping brush fixed arm, and the sweeping brush assembly being arranged on the sweeping brush swing arm.

[0051] The control device comprises:

[0052] a ranging module configured to measure a distance between the ranging sensor and the sweeping brush assembly, and determine whether the sweeping brush assembly meets a preset collision protection condition according to the distance;

[0053] a sweeping brush control module configured to control the sweeping brush assembly to stop working when the sweeping brush assembly meets the preset collision protection condition;

[0054] a strategy acquisition module configured to acquire obstacle information of a preset area corresponding to the sweeping vehicle, and acquire an obstacle avoidance strategy corresponding to the sweeping vehicle based on the obstacle information, wherein the obstacle information comprises shape information and pose information of an obstacle, and the obstacle avoidance strategy comprises a vehicle speed and a rotation direction;

[0055] an obstacle avoidance module configured to control the sweeping vehicle to execute the obstacle avoidance strategy to achieve collision protection of the sweeping brush assembly.

[0056] In some optional embodiments, the control device further comprises:

[0057] an angle calculation module, configured to obtain a compression angle of the swing arm relative to the fixed arm of the brush assembly based on the distance between the ranging sensor and the brush assembly.

[0058] The preset collision protection condition comprises at least one of:

[0059] The distance between the ranging sensor and the brush assembly is less than or equal to a preset distance threshold;

[0060] The compression angle is greater than or equal to a preset angle threshold.

[0061] In some optional embodiments, the brush assembly comprises a brush motor and a brush fixed disc arranged coaxially;

[0062] The angle calculation module is configured to obtain the compression angle of the swing arm relative to the fixed arm of the brush assembly by using the following calculation formula:

[0063] ;

[0064] wherein, is the compression angle of the swing arm relative to the fixed arm of the brush assembly, X is a longitudinal vertical distance between a lens center of the ranging sensor and a rotation center of the swing arm, Y1 is a transverse vertical distance between the lens center of the ranging sensor and the rotation center of the swing arm, Y2 is a distance between the rotation center of the swing arm and a center of the brush motor, D is a nearest distance between the lens center of the ranging sensor and a shell of the brush motor, and R is a distance between the center of the brush motor and a shell surface.

[0065] In some optional embodiments, the ranging sensor is a laser sensor, and the ranging module comprises:

[0066] a laser measurement unit, configured to measure the brush assembly by using the ranging sensor to obtain corresponding ASCII code data;

[0067] a data analysis unit, configured to analyze the ASCII code data to obtain measurement data of the ranging sensor and a data state flag bit, wherein the measurement data is used to indicate the distance between the ranging sensor and the brush assembly, and the data state flag bit is used to indicate a data state of the measurement data, and the data state is any one of the following: no data update, valid distance, signal error, hardware error, minimum value less than a measurement range, and maximum value greater than or equal to the measurement range;

[0068] The preset collision protection condition further comprises:

[0069] The data state of the measurement data is a signal error or a hardware error.

[0070] In some optional embodiments, the preset collision protection condition comprises: the distance between the ranging sensor and the brush assembly is less than or equal to a preset distance threshold;

[0071] The control device further comprises:

[0072] The brush starting module is configured to control the brush assembly to enter a working state when it is detected that the distance between the ranging sensor and the brush assembly is an initial distance, and the preset distance threshold is less than the initial distance;

[0073] The initial distance is the distance between the ranging sensor and the brush assembly when the brush assembly is not in collision and extrusion with the obstacle;

[0074] When the brush assembly is in collision and extrusion with the obstacle, the brush assembly drives the brush swing arm to rotate in a direction close to the brush fixed arm, and the distance between the ranging sensor and the brush assembly is less than the initial distance;

[0075] During the obstacle avoidance process in which the brush assembly gradually escapes from the obstacle, the brush swing arm drives the brush assembly to rotate in a direction away from the brush fixed arm until the distance between the laser sensor and the brush assembly is the initial distance.

[0076] In some optional embodiments, the strategy obtaining module is configured to:

[0077] Input the obstacle information into a strategy configuration model for training to obtain the corresponding obstacle avoidance strategy of the cleaning vehicle;

[0078] The training process of the strategy configuration model comprises:

[0079] Obtain a training set; wherein the training set comprises a plurality of training data, and each training data comprises sample obstacle information and labeled data of an obstacle avoidance strategy corresponding to the sample obstacle information;

[0080] For each training data in the training set, the following processing is performed:

[0081] Input the sample obstacle information in the training data into a preset deep learning model to obtain predicted data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0082] Update model parameters of the deep learning model based on the predicted data and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0083] Detect whether a preset training end condition is met; if yes, the trained deep learning model is taken as the strategy configuration model; otherwise, the next training data is used to continue training the deep learning model.

[0084] In a third aspect, the present application provides a sweeping vehicle, comprising a ranging sensor, a sweeping brush assembly, a sweeping brush fixed arm and a sweeping brush swing arm, the sweeping brush fixed arm and the sweeping brush swing arm are rotationally connected, the ranging sensor is arranged on the sweeping brush fixed arm, and the sweeping brush assembly is arranged on the sweeping brush swing arm.

[0085] The sweeping vehicle further comprises a memory and a processor, the memory stores a computer program, and the processor implements the steps of any one of the control methods when executing the computer program.

[0086] In some optional embodiments, the sweeping brush fixed arm adopts an L-shaped structure, and the sweeping brush fixed arm comprises a first fixed arm and a second fixed arm, and the ranging sensor is arranged on the first fixed arm.

[0087] The sweeping brush swing arm is rotationally connected with the second fixed arm, so that the sweeping brush swing arm rotates towards the first fixed arm when the sweeping brush assembly collides and is pressed by an obstacle.

[0088] In some optional embodiments, the sweeping vehicle further comprises a spring, one end of the spring is arranged on the first fixed arm, and the other end of the spring is arranged on the sweeping brush swing arm.

[0089] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of any one of the control methods when executed by a processor. BRIEF DESCRIPTION OF DRAWINGS

[0090] The present application will be further described below in combination with the drawings and embodiments.

[0091] Figure 1 FIG. 1 is a flowchart of a control method of a sweeping vehicle provided by an embodiment of the present application.

[0092] Figure 2 FIG. 2 is a schematic diagram of a perspective structure of a sweeping vehicle provided by an embodiment of the present application.

[0093] Figure 3 FIG. 3 is a right view of a sweeping vehicle provided by an embodiment of the present application.

[0094] Figure 4 FIG. 4 is a top view of a sweeping vehicle provided by an embodiment of the present application.

[0095] Figure 5is a schematic view of the positional relationship between a sweeping brush assembly and a laser sensor provided by an embodiment of the application.

[0096] Figure 6 is a structural block diagram of a control device of a sweeping vehicle provided by an embodiment of the application.

[0097] Figure 7 is a structural block diagram of a sweeping vehicle provided by an embodiment of the application.

[0098] Figure 8 is a structural block diagram of a sweeping vehicle provided by an embodiment of the application.

[0099] Figure 9 is a structural diagram of a program product provided by an embodiment of the application.

[0100] In the figure: 1, laser sensor; 10, sweeping brush fixing arm; 12, spring; 13, sweeping brush swing arm; 20, sweeping brush motor; 21, sweeping brush fixing disc; 22, brush; 30, cleaning control module; 40, whole vehicle control module; 50, unmanned module; 60, steering controller; 61, steering motor; 70, motor controller; 71, driving motor; 101, distance measuring module; 102, sweeping brush control module; 103, strategy control module; 104, obstacle avoidance module; 200, sweeping vehicle; 210, memory; 211, RAM; 212, cache memory; 213, ROM; 214, utility tool; 215, program module; 220, processor; 230, bus; 240, external device; 250, input and output interface; 260, network adapter. DETAILED DESCRIPTION

[0101] The application will be further described below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments described below or the technical features thereof can be combined with each other to form new embodiments without conflict.

[0102] Reference is made to Figure 1 , Figure 1 is a flowchart of a control method of a sweeping vehicle provided by an embodiment of the application.

[0103] The sweeping vehicle comprises a distance measuring sensor, a sweeping brush assembly, a sweeping brush fixing arm and a sweeping brush swing arm, the sweeping brush fixing arm and the sweeping brush swing arm are rotationally connected, the distance measuring sensor is arranged on the sweeping brush fixing arm, and the sweeping brush assembly is arranged on the sweeping brush swing arm.

[0104] The control method comprises:

[0105] Step S101: measuring the distance between the ranging sensor and the brush assembly, and determining whether the brush assembly meets a preset collision protection condition according to the distance;

[0106] Step S102: when the brush assembly meets the preset collision protection condition, controlling the brush assembly to stop working;

[0107] Step S103: obtaining obstacle information of a preset area corresponding to the sweeping vehicle, and obtaining an obstacle avoidance strategy corresponding to the sweeping vehicle based on the obstacle information; wherein the obstacle information includes shape information and pose information of the obstacle, and the obstacle avoidance strategy includes vehicle speed and rotation direction;

[0108] Step S104: controlling the sweeping vehicle to execute the obstacle avoidance strategy to achieve collision protection for the brush assembly.

[0109] Therefore, when the brush assembly on the brush swing arm collides with the obstacle, the brush swing arm will rotate relative to the brush fixed arm under the extrusion of the obstacle, and correspondingly, the distance between the brush fixed arm and the brush assembly will change. The distance between the ranging sensor on the brush fixed arm and the brush assembly can be measured, and the distance reflects the degree of extrusion of the brush assembly and the obstacle. When the distance meets the preset collision protection condition, it indicates that the brush assembly is subjected to relatively serious extrusion. At this time, the brush assembly can be controlled to stop working, and a corresponding obstacle avoidance strategy can be formulated according to the obstacle information, so as to protect the brush assembly from collision.

[0110] On the one hand, when the brush assembly meets the collision protection condition, the brush assembly is controlled to stop working to reduce the wear of the brush assembly. On the other hand, by controlling the sweeping vehicle to execute the obstacle avoidance strategy, the collision between the brush assembly and the obstacle is avoided, and thus the active obstacle avoidance of the brush assembly is achieved. The method for protecting the brush assembly in the present application can eliminate the collision and extrusion relationship between the brush assembly and the obstacle from the source, compared with the passive buffer protection method of setting an anti-collision structure on the brush in the prior art, so as to effectively avoid the damage to the brush motor and the vehicle body, and prolong the service life of the sweeping vehicle.

[0111] The sweeping vehicle is also called a cleaning vehicle. The sweeping vehicle can be a garbage cleaning vehicle with sweeping and / or dust collection functions. The sweeping vehicle has the advantages of high working efficiency, low cleaning cost, good cleaning effect, high safety performance, and high economic return rate, and has been widely used in the cleaning work of roads in large, medium and small cities. The sweeping vehicle can be provided with a watering function to prevent dust from being raised during cleaning and causing secondary environmental pollution.

[0112] In some embodiments, the sweeping vehicle can further include a roadblock perception component including at least one laser radar and at least one camera, and the roadblock perception component can be used to perceive roadblocks and obtain obstacle information of a preset area corresponding to the sweeping vehicle. The laser radar can be arranged on the front of the sweeping vehicle in a downward and oblique manner, and used to perceive the visual blind area of the camera.

[0113] The laser radar is not limited in the embodiments of the present application, and can be any one of a single-line laser radar, a multi-line laser radar and a solid-state laser radar. The number of the laser radars can be one or more, for example.

[0114] The preset area corresponding to the sweeping vehicle can be an area with a radius of a preset length centered on the sweeping vehicle, and the preset length can be 50 cm, 60 cm or 100 cm.

[0115] The obstacle is not limited in the embodiments of the present application, and can be a wall, a step, a pedestrian, a vehicle, a garbage can, a traffic light or the like.

[0116] In some embodiments, when the sweeping assembly meets a preset collision protection condition, the sweeping assembly is controlled to stop working, the roadblock perception component is used to obtain obstacle information (shape information and pose information of the obstacle) of a preset area corresponding to the sweeping vehicle, the sweeping vehicle is controlled to turn in a direction away from the obstacle, and the sweeping vehicle is controlled to perform uniform deceleration, so that active collision protection of the sweeping vehicle is realized.

[0117] The ranging sensor is not limited in the embodiments of the present application, and can be any one of an ultrasonic ranging sensor, a laser sensor and an infrared ranging sensor.

[0118] The ultrasonic ranging sensor is referred to as an ultrasonic sensor. The ranging principle of the ultrasonic sensor is that the penetration of ultrasonic waves into liquid and solid is very large, especially in sunlight opaque solids, and it can penetrate a depth of tens of meters. Ultrasonic waves encounter impurities or interfaces and produce significant reflections to form reflected echoes, and encounter moving objects to produce Doppler effects.

[0119] The infrared ranging sensor uses the principle that the reflection intensity of infrared signals encountering obstacles at different distances is different to detect the distance of the obstacles. The infrared ranging sensor has a pair of infrared signal emitting and receiving diodes. The emitting tube emits infrared signals of a specific frequency, and the receiving tube receives infrared signals of this frequency. When the detection direction of the infrared signal encounters an obstacle, the infrared signal is reflected back to the receiving tube, and after processing, the reflected infrared signal can be used to identify the changes in the surrounding environment.

[0120] When the laser sensor is in operation, the laser diode first emits a laser pulse towards the target. After being reflected by the target, the laser scatters in all directions. Part of the scattered light returns to the sensor receiver and is imaged onto the avalanche photodiode by the optical system. The avalanche photodiode is an optical sensor with amplification function inside, so it can detect extremely weak light signals. The time experienced from the emission of the light pulse to the return of the received light is recorded and processed, and the distance of the target can be determined.

[0121] In some embodiments, the distance measuring sensor can be a laser sensor, which uses a Time of flight (ToF) distance measuring method to detect the distance between the laser sensor and the sweeping assembly in real time.

[0122] The ToF distance measuring method belongs to a two-way distance measuring technology, which mainly uses the flight time of signals between two asynchronous transceivers (or reflecting surfaces) to measure the distance between nodes. Traditional distance measuring technologies are divided into two-way distance measuring technologies and one-way distance measuring technologies. In a signal level modulation or a non-line-of-sight environment, the RSSI (Received Signal Strength Indication) distance measuring method can achieve ideal results; in a line-of-sight environment, the ToF distance estimation method can make up for the shortcomings of the RSSI distance estimation method.

[0123] In some embodiments, when the sweeping assembly does not meet the preset collision protection condition, the sweeping assembly maintains a normal working state.

[0124] Referring to Figures 2 to 4 , Figure 2 is a perspective view of a sweeping vehicle provided by an embodiment of the present application, Figure 3 is a right view of a sweeping vehicle provided by an embodiment of the present application, Figure 4 is a top view of a sweeping vehicle provided by an embodiment of the present application.

[0125] In some embodiments, the sweeping fixed arm 10 is provided with a laser sensor support, the laser sensor support is installed on the sweeping fixed arm 10 through spot welding or bolt-nut cooperation, and the laser sensor 1 is fixed on the laser sensor support through a nut.

[0126] In some embodiments, the sweeping fixed arm 10 adopts an L-shaped structure, and the sweeping fixed arm 10 includes a first fixed arm and a second fixed arm (the first fixed arm and the second fixed arm can be integrally formed or designed in a split manner) fixedly connected, and the laser sensor 1 is arranged on the first fixed arm.

[0127] The brush swing arm 13 is rotationally connected with the second fixed arm, so that the brush swing arm 13 rotates towards the first fixed arm when the brush assembly collides and is pressed by the obstacle.

[0128] In some embodiments, the sweeper vehicle further comprises a spring 12, one end of the spring 12 is arranged on the first fixed arm, and the other end of the spring 12 is arranged on the brush swing arm 13, wherein the spring 12 can be a gas spring, a coil spring or a mechanical spring.

[0129] A gas spring is an industrial accessory that can support, buffer, brake, adjust height and angle, etc. It is composed of the following parts: pressure cylinder, piston rod, piston, sealing guide sleeve, filler (inert gas or oil-gas mixture), cylinder control element and cylinder control element (for controllable gas spring) and joint, etc. The principle is to fill inert gas or oil-gas mixture in a sealed pressure cylinder, so that the pressure in the cavity is several or dozens of times higher than atmospheric pressure, and the movement of the piston rod is realized by using the pressure difference between the cross-sectional area of the piston rod and the cross-sectional area of the piston. Due to the fundamental difference in principle, the gas spring has very obvious advantages over ordinary springs: relatively slow speed, small dynamic force change (generally within 1:1.2), easy to control.

[0130] In a specific application, the spring 12 is a gas spring, and the two ends of the gas spring are respectively installed on the brush fixed arm 10 and the brush swing arm 13 through universal ball head bolts. The number of gas springs can be two, arranged symmetrically up and down.

[0131] In a specific application, the brush swing arm 13 and the second fixed arm can be fixed by a bearing limit, the brush swing arm 13 and the second fixed arm are located on the same straight line when the brush assembly does not collide and is pressed by the obstacle, when the brush assembly collides and is pressed by the obstacle, the brush swing arm 13 is driven to rotate synchronously with the bearing (the spring 12 is forced to contract), and due to the limiting action of the bearing, the brush swing arm 13 can only rotate towards the brush fixed arm 10 (laser sensor 1), when the brush assembly is no longer pressed, the brush swing arm 13 drives the brush assembly to rotate away from the brush fixed arm 10 (laser sensor 1) under the action of the spring 12, until the brush swing arm 13 returns to the initial position (on the same straight line with the second fixed arm).

[0132] In some embodiments, the brush assembly comprises a brush motor 20 and a brush fixed disc 21 arranged coaxially, the brush fixed disc 21 is provided with detachable bristles 22, wherein the brush motor 20 is used to drive the brush fixed disc 21 to rotate, the brush motor 20 is installed on the brush swing arm 13 through bolts and nuts, the brush fixed disc 21 is coaxially fixed with the brush motor 20 through bolts, and the bristles 22 are fixed on the brush fixed disc 21 through bolts and nuts.

[0133] In some embodiments, the brush motor 20 and the brush fixed disc 21 can be arranged coaxially, and the position information of the brush fixed disc 21 can be determined by the position information of the brush motor 20 as long as the brush motor 20 and the brush fixed disc 21 are fixedly connected.

[0134] In some embodiments, the shell of the brush motor 20 can be cylindrical, and the center of the lens of the laser sensor 1 can be directly opposite the center of the shell of the brush motor 20 when the brush assembly is not in contact with the obstacle, that is, the distance between the laser sensor 1 and the brush assembly measured by the ranging sensor is the distance between the center of the lens of the laser sensor 1 and the shell of the brush motor 20. Through this installation mode, the laser transmission and reception angle range of the laser sensor 1 can cover the swing range of the cylindrical shell of the brush motor 20.

[0135] In some optional embodiments, the control method further comprises:

[0136] obtaining an extrusion angle of the brush swing arm relative to the brush fixed arm based on the distance between the ranging sensor and the brush assembly;

[0137] The preset collision protection condition comprises at least one of:

[0138] The distance between the ranging sensor and the brush assembly is less than or equal to a preset distance threshold;

[0139] The extrusion angle is greater than or equal to a preset angle threshold.

[0140] Therefore, according to the distance between the ranging sensor and the brush assembly, the extrusion angle of the brush swing arm relative to the brush fixed arm can be calculated. On the one hand, the collision protection condition can be that the distance between the ranging sensor and the brush assembly is less than or equal to a preset distance threshold. Generally speaking, the smaller the distance, the more serious the collision and extrusion of the brush assembly with the obstacle. On the other hand, the collision protection condition can be that the extrusion angle of the brush swing arm relative to the brush fixed arm is less than or equal to a preset angle threshold. The greater the extrusion angle, the more serious the collision and extrusion of the brush assembly with the obstacle. Here, the collision and extrusion of the brush assembly with the obstacle refers to the position change of the brush swing arm caused by the extrusion of the obstacle on the brush assembly, rather than the deformation of the brush assembly itself.

[0141] The preset distance threshold and the preset angle threshold are not limited in the embodiments of the present application. For example, the preset distance threshold is 40 mm, 50 mm or 70 mm. The preset angle threshold is, for example, 10°, 30° or 50°.

[0142] In some optional embodiments, the brush assembly comprises a brush motor and a brush fixed disc arranged coaxially, and the brush fixed disc is provided with bristles.

[0143] The formula for obtaining the compression angle of the brush swing arm relative to the brush fixed arm based on the distance between the ranging sensor and the brush assembly is as follows:

[0144] ;

[0145] wherein, is the compression angle of the brush swing arm relative to the brush fixed arm, X is the longitudinal vertical distance between the lens center of the ranging sensor and the rotation center of the brush swing arm, Y1 is the transverse vertical distance between the lens center of the ranging sensor and the rotation center of the brush swing arm, Y2 is the distance between the rotation center of the brush swing arm and the center of the brush motor, D is the closest distance between the lens center of the ranging sensor and the shell of the brush motor, and R is the distance between the center of the brush motor and the shell surface.

[0146] Thus, the extension direction of the brush swing arm in the initial state (the brush assembly is not collided and compressed by the obstacle) is taken as the transverse direction, the driving surface of the sweeper is taken as the reference surface, and the direction perpendicular to the transverse direction on the reference surface is taken as the longitudinal direction. According to the Pythagorean theorem, it can be known that: and the formula can be solved by using the trigonometric function as follows: This calculation method is simple and efficient, and has a small amount of operation.

[0147] Referring to Figure 5 , Figure 5 is a schematic diagram of the position relationship between the brush assembly and the ranging sensor provided by the embodiment of the application.

[0148] In some embodiments, the rotation center of the brush swing arm can be the center of the hinge between the brush swing arm and the brush fixed arm. In the formula for calculating the compression angle, X, Y1, Y2 and R are all constants (the values are unchanged), and only D changes with the rotation of the brush swing arm. Therefore, as long as the closest distance D between the lens center of the ranging sensor and the shell of the brush motor is measured, the compression angle of the brush swing arm relative to the brush fixed arm can be calculated. .

[0149] In some embodiments, the ranging sensor can be a laser sensor, which is provided with a lens, a laser transceiver module and a CCD linear camera. The laser transceiver module includes a laser transmitter and a laser receiver.

[0150] The laser emitter shoots visible red laser light to the surface of the measured object through the lens, and the scattered laser light is received by the internal CCD linear camera through the laser receiver. According to different distances, the CCD linear camera can'see' the light spot at different angles. According to the angle and the known distance between the laser and the CCD linear camera, the distance between the laser sensor and the measured object can be calculated.

[0151] The shortest distance between the lens center of the laser sensor and the shell of the brush motor refers to the distance between the lens center of the laser sensor and the point on the shell of the brush motor that is closest.

[0152] In other embodiments, the distance measuring sensor can include a Hall sensor and a magnet, the Hall sensor is arranged on the brush fixed arm, and the magnet is arranged on the brush assembly. The position information of the magnet can be detected in real time by using the Hall sensor, and the compression angle of the brush swing arm relative to the brush fixed arm can be detected in real time. Compared with the laser sensor, the installation of the Hall sensor requires high coaxiality and high cost.

[0153] When a piece of metal or semiconductor sheet with current passes vertically in a magnetic field, a potential difference will be generated at both ends of the sheet, which is called the Hall effect. The brush assembly is provided with a magnet. When the brush assembly drives the brush swing arm to rotate relative to the brush fixed arm, the relative position of the Hall sensor and the magnet changes, so that the output level of the Hall switch flips, thereby obtaining the position information corresponding to the brush assembly.

[0154] In some optional embodiments, the distance measuring sensor is a laser sensor, and the distance between the distance measuring sensor and the brush assembly is measured by using the distance measuring sensor, including:

[0155] The brush assembly is measured by using the distance measuring sensor to obtain corresponding ASCII code data;

[0156] The ASCII code data is parsed to obtain measurement data of the distance measuring sensor and a data state flag bit. The measurement data is used to indicate the distance between the distance measuring sensor and the brush assembly. The data state flag bit is used to indicate the data state of the measurement data, and the data state is any one of the following: no data update, valid distance, signal error, hardware error, minimum value less than measurement range, and maximum value greater than or equal to measurement range.

[0157] The preset collision protection condition further includes:

[0158] The data state of the measurement data is signal error or hardware error.

[0159] Therefore, the distance measuring sensor can be a laser sensor, and the laser sensor can receive ASCII code data obtained by measuring the sweeping assembly through a serial port. The content of the ASCII code data includes a data state flag bit and measurement data. The data state of the measurement data can be determined according to the data state flag bit.

[0160] No data update means that the measurement data does not change; distance is valid means that the measurement data is within the measurement range (range); signal error means that the laser scanning signal of the laser sensor is incorrect; less than the minimum value of the measurement range means that the measurement data is less than the minimum value of the measurement range (range), which can be caused by the laser sensor being blocked by debris; greater than or equal to the maximum value of the measurement range means that the measurement data is greater than or equal to the maximum value of the measurement range (range), which can be caused by the sweeping assembly not being installed to the correct position (sweeping arm); and hardware error means that the hardware (laser transceiver module) of the laser sensor fails.

[0161] When the data state of the measurement data is signal error or hardware error, the laser sensor cannot work normally, the laser sensor cannot perceive the distance between the laser sensor and the sweeping assembly, and if the sweeping assembly collides and is pressed by an obstacle, the measurement data of the laser sensor cannot be obtained. At this time, the preset collision protection condition is met, the sweeping assembly is controlled to stop working, and unnecessary wear of the sweeping assembly can be avoided.

[0162] In a computer, all data needs to be represented by binary numbers when stored and operated (because the computer uses high and low levels to represent 1 and 0, respectively). For example, 52 letters (including capital letters) such as a, b, c, d, and numbers such as 0, 1, and some commonly used symbols (such as *, #, @, etc.) also need to be represented by binary numbers when stored in a computer. Of course, everyone can agree on their own set of codes (this is called encoding). If everyone wants to communicate without causing confusion, they must use the same coding rules. Therefore, the standardization organization has introduced ASCII encoding, which uniformly specifies which binary numbers represent the above commonly used symbols.

[0163] The measurement range of the laser sensor is not limited in the embodiments of the application, and the measurement range is, for example, 4 mm to 4000 mm.

[0164] In some optional embodiments, the preset collision protection condition includes that the distance between the distance measuring sensor and the sweeping assembly is less than or equal to a preset distance threshold.

[0165] The control method further includes:

[0166] When it is detected that the distance between the ranging sensor and the brush assembly is an initial distance, the brush assembly is controlled to enter a working state, and the preset distance threshold is less than the initial distance;

[0167] The initial distance is the distance between the ranging sensor and the brush assembly when the brush assembly is not in collision and extrusion with the obstacle.

[0168] When the brush assembly is in collision and extrusion with the obstacle, the brush swing arm drives the brush assembly to rotate in a direction close to the brush fixed arm, and the distance between the ranging sensor and the brush assembly is less than the initial distance.

[0169] In the obstacle avoidance process in which the brush assembly gradually gets rid of the obstacle, the brush swing arm drives the brush assembly to rotate in a direction away from the brush fixed arm until the distance between the ranging sensor and the brush assembly is the initial distance.

[0170] Therefore, when the brush assembly is not in collision and extrusion with the obstacle, the relative position between the brush assembly and the brush fixed arm does not change, that is, the distance between the ranging sensor and the brush assembly is always the initial distance and does not change. When the brush assembly is in collision and extrusion with the obstacle, as the extrusion degree increases, the brush swing arm is gradually driven by the brush assembly to rotate in a direction close to the brush fixed arm (ranging sensor), and the distance between the ranging sensor and the brush assembly gradually decreases. When the brush assembly gets rid of the obstacle and is no longer extruded, the brush swing arm drives the brush assembly to gradually rotate in a direction away from the brush fixed arm (ranging sensor), until the initial state is restored (the distance between the ranging sensor and the brush assembly is the initial distance).

[0171] The ranging sensor can be used to measure the distance between itself and the brush assembly again. When the distance between the two returns to the initial distance, it indicates that the brush assembly has completely got rid of the obstacle, and it is determined that the obstacle avoidance is successful. At this time, the brush assembly can be controlled to enter the working state, and the sweeping vehicle can start cleaning work again, thereby improving the working efficiency of the sweeping vehicle.

[0172] In some optional embodiments, the obstacle avoidance strategy corresponding to the sweeping vehicle is obtained based on the obstacle information, including:

[0173] The obstacle information is input into a strategy configuration model for training to obtain the obstacle avoidance strategy corresponding to the sweeping vehicle.

[0174] The training process of the strategy configuration model includes:

[0175] obstacle information and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0176] For each training data in the training set, the following processing is performed:

[0177] inputting the sample obstacle information in the training data into a preset deep learning model to obtain predicted data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0178] updating model parameters of the deep learning model based on the predicted data and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0179] detecting whether a preset training end condition is met; if yes, the trained deep learning model is taken as the strategy configuration model; otherwise, the next training data is used to continue training the deep learning model.

[0180] Therefore, by designing, a proper amount of neuron calculation nodes and a multi-layer operation hierarchy structure are established, and a suitable input layer and an output layer are selected, so that the preset deep learning model can be obtained. Through learning and optimization of the preset deep learning model, a function relationship from input to output is established. Although the function relationship from input to output cannot be found 100%, the real correlation relationship can be approximated as much as possible. Therefore, the strategy configuration model trained can obtain the corresponding obstacle avoidance strategy based on the obstacle information, and the calculation result has high accuracy and high reliability.

[0181] The application embodiment does not limit the acquisition method of the labeled data of the obstacle avoidance strategy. For example, the artificial labeling method can be used, or the automatic labeling or semi-automatic labeling method can be used.

[0182] The training process of the strategy configuration model is not limited in the application embodiment. For example, the training method of supervised learning can be used, or the training method of semi-supervised learning can be used, or the training method of unsupervised learning can be used.

[0183] The preset training end condition is not limited in the application embodiment. For example, the training number reaches a preset number (for example, the preset number is 1, 3, 10, 100, 1000, 10000, etc.), or the training data in the training set is trained once or more times, or the total loss value obtained by this training is less than or equal to a preset loss value.

[0184] Referring to Figure 6 , Figure 6 is a structural block diagram of a control device of a sweeping vehicle provided by the application embodiment.

[0185] The sweeping vehicle comprises a ranging sensor, a sweeping brush assembly, a sweeping brush fixed arm and a sweeping brush swing arm, the sweeping brush fixed arm and the sweeping brush swing arm are rotationally connected, the ranging sensor is arranged on the sweeping brush fixed arm, and the sweeping brush assembly is arranged on the sweeping brush swing arm.

[0186] The specific implementation of the control device is consistent with the implementation described in the above method embodiment, and the achieved technical effects, and part of the content will not be described again.

[0187] The control device comprises:

[0188] The ranging module 101 is configured to measure the distance between the ranging sensor and the sweeping brush assembly, and determine whether the sweeping brush assembly meets a preset collision protection condition according to the distance;

[0189] The sweeping brush control module 102 is configured to control the sweeping brush assembly to stop working when the sweeping brush assembly meets the preset collision protection condition;

[0190] The strategy acquisition module 103 is configured to acquire obstacle information of a preset area corresponding to the sweeping vehicle, and acquire an obstacle avoidance strategy corresponding to the sweeping vehicle based on the obstacle information; wherein the obstacle information comprises shape information and pose information of an obstacle, and the obstacle avoidance strategy comprises a vehicle speed and a rotation direction;

[0191] The obstacle avoidance module 104 is configured to control the sweeping vehicle to execute the obstacle avoidance strategy to achieve collision protection of the sweeping brush assembly.

[0192] In some optional embodiments, the control device further comprises:

[0193] The angle calculation module is configured to acquire a compression angle of the sweeping brush swing arm relative to the sweeping brush fixed arm based on the distance between the ranging sensor and the sweeping brush assembly.

[0194] The preset collision protection condition comprises at least one of the following:

[0195] The distance between the ranging sensor and the sweeping brush assembly is less than or equal to a preset distance threshold;

[0196] The compression angle is greater than or equal to a preset angle threshold.

[0197] In some optional embodiments, the ranging sensor is a laser sensor, and the sweeping brush assembly comprises a sweeping brush motor and a sweeping brush fixed disc arranged coaxially;

[0198] The angle calculation module is configured to obtain the compression angle of the sweeping brush swing arm relative to the sweeping brush fixed arm by using the following calculation formula:

[0199] ;

[0200] wherein, is a pressing angle of the brush swing arm relative to the brush fixed arm, X is a longitudinal vertical distance between a lens center of the distance measuring sensor and a rotation center of the brush swing arm, Y1 is a transverse vertical distance between the lens center of the distance measuring sensor and the rotation center of the brush swing arm, Y2 is a distance between the rotation center of the brush swing arm and a center of the brush motor, D is a nearest distance between the lens center of the distance measuring sensor and a shell of the brush motor, and R is a distance between the center of the brush motor and a shell surface.

[0201] In some optional embodiments, the distance measuring sensor is a laser sensor, and the distance measuring module comprises:

[0202] a laser measuring unit configured to measure the brush assembly by using the distance measuring sensor to obtain corresponding ASCII code data;

[0203] a data analyzing unit configured to analyze the ASCII code data to obtain measurement data of the distance measuring sensor and a data state flag bit, wherein the measurement data is used to indicate a distance between the distance measuring sensor and the brush assembly, and the data state flag bit is used to indicate a data state of the measurement data, and the data state is any one of the following: no data update, valid distance, signal error, hardware error, minimum value smaller than a measurement range, and maximum value greater than or equal to the measurement range;

[0204] The preset collision protection condition further comprises:

[0205] The data state of the measurement data is signal error or hardware error.

[0206] In some optional embodiments, the preset collision protection condition comprises: the distance between the distance measuring sensor and the brush assembly is smaller than or equal to a preset distance threshold value;

[0207] The control device further comprises:

[0208] a brush starting module configured to control the brush assembly to enter a working state when it is detected that the distance between the distance measuring sensor and the brush assembly is an initial distance, and the preset distance threshold value is smaller than the initial distance;

[0209] wherein the initial distance is a distance between the distance measuring sensor and the brush assembly when the brush assembly does not collide and press against the obstacle.

[0210] When the brush assembly collides with the obstacle and is extruded, the brush assembly drives the brush swing arm to rotate towards the direction close to the brush fixed arm, and the distance between the ranging sensor and the brush assembly is less than the initial distance.

[0211] In the obstacle avoidance process in which the brush assembly gradually gets rid of the obstacle, the brush swing arm drives the brush assembly to rotate away from the brush fixed arm until the distance between the laser sensor and the brush assembly is the initial distance.

[0212] In some optional embodiments, the policy obtaining module is configured to:

[0213] input the obstacle information into a policy configuration model for training to obtain the corresponding obstacle avoidance strategy of the sweeping vehicle;

[0214] The training process of the policy configuration model comprises:

[0215] obtain a training set; wherein the training set comprises a plurality of training data, and each training data comprises sample obstacle information and labeled data of an obstacle avoidance strategy corresponding to the sample obstacle information;

[0216] For each training data in the training set, the following processing is performed:

[0217] input the sample obstacle information in the training data into a preset deep learning model to obtain predicted data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0218] update model parameters of the deep learning model based on the predicted data and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information;

[0219] detect whether a preset training end condition is met; if the condition is met, the trained deep learning model is used as the policy configuration model; otherwise, the next training data is used to continue training the deep learning model.

[0220] Referring to Figure 7 , Figure 7 is a structural block diagram of a sweeping vehicle provided by an embodiment of the present application.

[0221] The sweeping vehicle 200 comprises a ranging sensor, a brush assembly, a brush fixed arm and a brush swing arm, the brush fixed arm and the brush swing arm are rotationally connected, the ranging sensor is arranged on the brush fixed arm, and the brush assembly is arranged on the brush swing arm.

[0222] The sweeping vehicle 200 further comprises at least one memory 210 and at least one processor 220, and can further comprise a bus 230 connecting different platform systems.

[0223] The memory 210 can include a readable medium in the form of volatile memory, such as a random access memory (RAM) 211 and / or a cache memory 212, and can further include a read-only memory (ROM) 213.

[0224] The memory 210 further stores a computer program, which can be executed by the processor 220 to enable the processor 220 to implement the functions of any of the apparatuses described above or to implement the steps of any of the control methods described above. The specific implementation and the technical effects achieved are consistent with those described in the embodiments of the above method embodiments, and some of the contents will not be described again.

[0225] The memory 210 can further include a utility 214 having at least one program module 215, such as an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which can include implementation of a network environment.

[0226] Correspondingly, the processor 220 can execute the above computer program and can execute the utility 214.

[0227] The processor 220 can employ one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), or other electronic elements.

[0228] The bus 230 can be one or more of several types of bus structures, including a memory bus or memory automatic driving vehicle, a peripheral bus, a graphics acceleration port, a processor, or a local bus using various bus architectures, or any bus structure.

[0229] The robotic vacuum cleaner 200 can also communicate with one or more external devices 240 such as a keyboard or a pointing device, a Bluetooth device, etc., and can also communicate with one or more devices that enable the robotic vacuum cleaner 200 to interact with the environment, and / or any device (e.g., a router, a modem, etc.) that enables the robotic vacuum cleaner 200 to communicate with one or more other computing devices. Such communication can occur via the input and output interface 250. Additionally, the robotic vacuum cleaner 200 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the public network, such as the Internet) via a network adapter 260. The network adapter 260 can communicate with the other modules of the robotic vacuum cleaner 200 via the bus 230. It should be appreciated that other hardware and / or software modules can be used in connection with the robotic vacuum cleaner 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0230] In some optional embodiments, the brush fixing arm adopts an L-shaped structure, and the brush fixing arm comprises a first fixing arm and a second fixing arm, and the distance measuring sensor is arranged on the first fixing arm.

[0231] The brush swing arm is rotationally connected with the second fixing arm, so that the brush swing arm rotates towards the first fixing arm when the brush assembly collides and is pressed by an obstacle.

[0232] In some optional embodiments, the robotic vacuum cleaner 200 further comprises a spring, one end of the spring is arranged on the first fixing arm, and the other end of the spring is arranged on the brush swing arm.

[0233] Referring to Figure 8 , Figure 8 is another structural block diagram of a robotic vacuum cleaner provided by the embodiments of the present application.

[0234] In some embodiments, the robotic vacuum cleaner 200 further comprises an unmanned module 50, a whole vehicle control module 40, a cleaning control module 30, a steering controller 60, a motor controller 70, a steering motor 61 and a driving motor 71, wherein the unmanned module 50 is used for planning a driving path of the robotic vacuum cleaner 200, the unmanned module 50 is provided with a processor, and steps of a control method of the robotic vacuum cleaner 200 are executed by using the processor, the whole vehicle control module 40 is used for data interaction with the unmanned module 50, the unmanned module 50 controls the cleaning control module 30 indirectly by CAN to control the brush motor 20 to start or stop working, the steering controller 60 is used for controlling steering of the steering motor 61, so that a driving direction of the robotic vacuum cleaner 200 is changed to avoid obstacles, and the motor controller 70 is used for controlling a rotating speed of the driving motor 71 to change a vehicle speed of the robotic vacuum cleaner 200.

[0235] CAN is the abbreviation of Controller Area Network, as an international standard (ISO 11898), it is one of the most widely used field buses in the world. CAN bus protocol has become the standard bus of automobile computer control system and embedded industrial control LAN, and has J1939 protocol designed for large trucks and heavy machinery vehicles based on CAN as the underlying protocol.

[0236] In some embodiments, the distance measuring sensor can be a laser sensor, which measures its own distance from the brush motor 20 within the effective measurement range of the laser (4mm~4000mm). The distance value measured by the laser sensor corresponds to the compression angle of the brush swing arm, and the greater the compression angle, the smaller the measured distance value. The laser sensor can set an alarm distance range value, when the detected distance is within the alarm range, the laser sensor can output an alarm hard line level signal to the unmanned module 50, and the unmanned module 50 can judge the position and compression angle of the brush swing arm by autonomously analyzing the ASCII code distance value or according to whether there is an alarm level signal input.

[0237] When the detected swing arm position is far from the laser sensor, the corresponding swing arm compression angle is small or there is no compression, the unmanned module 50 controls the sweeper 200 to operate normally; when the detected swing arm position is close to the laser sensor and triggers distance alarm, the corresponding swing arm compression angle is large, the unmanned module 50 controls the sweeper 200 to perform obstacle avoidance operation.

[0238] Therefore, the sweeper 200 can detect the position distance of the brush motor 20 on the brush swing arm and the converted compression angle of the brush swing arm in real time during cleaning operation, so as to adjust the throttle, brake, steering and working state of the driving motor 71 of the sweeper 200 in real time, avoid damage to the brush assembly due to serious collision, and realize active obstacle avoidance protection of the brush assembly when the sweeper 200 is operated unmanned, which is more secure and intelligent.

[0239] The embodiment of the application also provides a computer readable storage medium for storing a computer program, which is executed to realize the function of any of the control devices or the steps of any of the control methods, and the specific implementation manner and the achieved technical effects are the same as those described in the embodiment of the above method embodiment, and some contents will not be repeated.

[0240] Referring to Figure 9 , Figure 9A structure diagram of a program product for implementing the method is shown. The program product can be a portable compact disc read-only memory (CD-ROM) and includes program codes, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited to this, and in the present application, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus or device. The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0241] The computer readable storage medium can include a data signal transported over a carrier wave and can be baseband or propagated along with carriers. The propagated carrier can take any of a variety of forms, including, but not limited to electro-magnetic, optical, or any suitable combination thereof. A computer readable storage medium can be any medium that can be read by an instruction execution system, apparatus or device, or that can communicate a program to an instruction execution system, apparatus or device for execution. The medium can be seen as a tangible medium that includes a program for use by or in connection with an instruction execution system, apparatus or device. The program code can be transmitted over any suitable carrier wave using any suitable communication medium, including, but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof. The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., or conventional procedural programming languages, such as the C programming language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, through the Internet using an Internet service provider).

[0242] The application is described from the use purpose, efficiency, progress and novelty, the practical progressiveness of the setting has met the function improvement and use requirements emphasized by the patent law, the above description and drawings of the application are only the preferred embodiments of the application, and not limited to the application, therefore, all the similar, similar, equivalent replacement or modification, etc. made according to the patent application range of the application, shall belong to the patent application protection range of the application.

Claims

1. A control method of a scrubber, characterized by, The sweeper vehicle comprises a distance measuring sensor, a brush assembly, a brush fixing arm and a brush swing arm, the brush fixing arm and the brush swing arm are rotationally connected, the distance measuring sensor is arranged on the brush fixing arm, and the brush assembly is arranged on the brush swing arm; The control method comprises: measuring the distance between the distance measuring sensor and the brush assembly, and determining whether the brush assembly meets a preset collision protection condition according to the distance; controlling the brush assembly to stop working when the brush assembly meets the preset collision protection condition; obtaining obstacle information of a preset area corresponding to the sweeper vehicle, and obtaining an obstacle avoidance strategy corresponding to the sweeper vehicle based on the obstacle information; wherein the obstacle information comprises shape information and pose information of an obstacle, and the obstacle avoidance strategy comprises vehicle speed and rotation direction; controlling the sweeper vehicle to execute the obstacle avoidance strategy to realize collision protection of the brush assembly; obtaining the extrusion angle of the brush swing arm relative to the brush fixing arm based on the distance between the distance measuring sensor and the brush assembly.

2. The control method of the scrubber vehicle according to claim 1, characterized by, The preset collision protection condition comprises at least one of the following: the distance between the distance measuring sensor and the brush assembly is less than or equal to a preset distance threshold value; the extrusion angle is greater than or equal to a preset angle threshold value.

3. The control method of the scrubber vehicle according to claim 1, wherein The brush assembly comprises a brush motor and a brush fixing disc arranged coaxially; The extrusion angle of the brush swing arm relative to the brush fixing arm is obtained based on the distance between the distance measuring sensor and the brush assembly by using the following calculation formula: ； wherein, is the extrusion angle of the brush swing arm relative to the brush fixed arm, X is the longitudinal vertical distance between the lens center of the distance sensor and the rotation center of the brush swing arm, Y1 is the transverse vertical distance between the lens center of the distance sensor and the rotation center of the brush swing arm, Y2 is the distance between the rotation center of the brush swing arm and the center of the brush motor, D is the closest distance between the lens center of the distance sensor and the shell of the brush motor, and R is the distance between the center and the shell surface of the brush motor.

4. The control method of the scrubber vehicle according to claim 2, wherein The distance measuring sensor is a laser sensor, and the distance between the distance measuring sensor and the brush assembly is measured by using the distance measuring sensor, comprising: measuring the brush assembly by using the distance measuring sensor to obtain corresponding ASCII code data; analyzing the ASCII code data to obtain measurement data and a data state flag of the distance measuring sensor; wherein the measurement data is used to indicate the distance between the distance measuring sensor and the brush assembly; and the data state flag is used to indicate the data state of the measurement data, and the data state is any one of the following: no data update, valid distance, signal error, hardware error, minimum value less than the measurement range and maximum value greater than or equal to the measurement range; The preset collision protection condition further comprises: the data state of the measurement data is signal error or hardware error.

5. The control method of the scrubber vehicle according to claim 2, wherein The preset collision protection condition comprises: the distance between the distance measuring sensor and the brush assembly is less than or equal to a preset distance threshold value; The control method further comprises: controlling the brush assembly to enter a working state when it is detected that the distance between the distance measuring sensor and the brush assembly is an initial distance, the preset distance threshold value is less than the initial distance; wherein the initial distance is the distance between the distance measuring sensor and the brush assembly when the brush assembly does not collide and extrude the obstacle; when the brush assembly collides and extrudes the obstacle, the brush assembly drives the brush swing arm to rotate in a direction close to the brush fixing arm, and the distance between the distance measuring sensor and the brush assembly is less than the initial distance; In the obstacle avoidance process in which the brush assembly gradually gets rid of the obstacle, the brush swing arm drives the brush assembly to rotate in a direction away from the brush fixed arm until the distance between the ranging sensor and the brush assembly is the initial distance.

6. The control method of the scrubber vehicle according to any one of claims 1 to 5, characterized by, The obstacle avoidance strategy of the sweeping vehicle is obtained based on the obstacle information. The obstacle information is input into a strategy configuration model for training to obtain the obstacle avoidance strategy of the sweeping vehicle. The training process of the strategy configuration model includes: obtaining a training set, wherein the training set includes multiple training data, and each training data includes sample obstacle information and labeled data of an obstacle avoidance strategy corresponding to the sample obstacle information; for each training data in the training set, the following processing is performed: input the sample obstacle information in the training data into a preset deep learning model to obtain predicted data of the obstacle avoidance strategy corresponding to the sample obstacle information; update the model parameters of the deep learning model based on the predicted data and the labeled data of the obstacle avoidance strategy corresponding to the sample obstacle information; detect whether a preset training end condition is met; if yes, the trained deep learning model is used as the strategy configuration model; otherwise, the next training data is used to continue training the deep learning model.

7. A control device for a scrubber vehicle, characterized in that The sweeping vehicle includes a ranging sensor, a brush assembly, a brush fixed arm and a brush swing arm, the brush fixed arm and the brush swing arm are rotationally connected, the ranging sensor is arranged on the brush fixed arm, and the brush assembly is arranged on the brush swing arm. The control device includes: a ranging module for measuring the distance between the ranging sensor and the brush assembly, and determining whether the brush assembly meets a preset collision protection condition according to the distance; a brush control module for controlling the brush assembly to stop working when the brush assembly meets the preset collision protection condition; a strategy acquisition module for obtaining obstacle information of a preset area corresponding to the sweeping vehicle, and obtaining an obstacle avoidance strategy of the sweeping vehicle based on the obstacle information; wherein the obstacle information includes shape information and pose information of an obstacle, and the obstacle avoidance strategy includes vehicle speed and rotation direction; for controlling the sweeping vehicle to execute the obstacle avoidance strategy to achieve collision protection of the brush assembly; The control device further includes: an angle calculation module for obtaining a compression angle of the brush swing arm relative to the brush fixed arm based on the distance between the ranging sensor and the brush assembly.

8. A scrubber vehicle characterized in that The sweeping vehicle includes a ranging sensor, a brush assembly, a brush fixed arm and a brush swing arm, the brush fixed arm and the brush swing arm are rotationally connected, the ranging sensor is arranged on the brush fixed arm, and the brush assembly is arranged on the brush swing arm. The sweeping vehicle further includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the control method of any one of claims 1-6 when executing the computer program.

9. The sweep vehicle of claim 8, wherein, The brush fixing arm adopts an L-shaped structure, and comprises a first fixing arm and a second fixing arm, and the distance measuring sensor is arranged on the first fixing arm; The brush swing arm is rotationally connected with the second fixing arm, so that the brush swing arm rotates towards the first fixing arm when the brush assembly collides and is pressed by an obstacle.

10. The sweep vehicle of claim 9, wherein, The sweeper further comprises a spring, one end of the spring is arranged on the first fixing arm, and the other end of the spring is arranged on the brush swing arm. 11.A computer readable storage medium, storing a computer program, wherein the computer program is executed by a processor to implement the steps of the control method of any one of claims 1-6.

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