Control method, device and computer equipment of a robot vacuum cleaner

Abstract

This application relates to a control method, apparatus, computer equipment, storage medium, and computer program product for a sweeping robot. The method includes: when the pressure sensor detects a collision feedback signal, acquiring the time-of-flight information of the ultrasonic signal to the ground via a first ultrasonic sensor; and acquiring gyroscope information corresponding to the gyroscope signal via a gyroscope; determining whether the sweeping robot body is in an unstable state based on the time-of-flight information and the gyroscope information; if the sweeping robot body is in an unstable state, determining that the pressure sensor does not generate a false alarm. This method can improve the accuracy of data processing of the pressure sensor signal by the sweeping robot's main control unit.

Description

Technical Field

[0001] This application relates to the field of smart home appliance technology, and in particular to a control method, device, computer equipment, storage medium, and computer program product for a robot vacuum cleaner. Background Technology

[0002] With the development of the home appliance industry, all kinds of home appliances are emerging. As a mobile device using automation technology, the robot vacuum cleaner can automatically clean the floors in a room.

[0003] Currently, robotic vacuum cleaners generally use a combination of brushing and vacuuming to collect debris from the floor into their dustbin, thus completing the floor cleaning function. However, due to the complex and diverse nature of home environments, robotic vacuum cleaners are prone to triggering pressure sensor signals during operation, resulting in alarm messages. Sometimes, however, the vacuum cleaner hasn't even passed through areas with obstacles, leading to false alarms and affecting its normal operation.

[0004] Therefore, traditional technologies suffer from the problem of low accuracy in processing data from pressure sensor signals by robotic vacuum cleaners. Summary of the Invention

[0005] Therefore, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium, and computer program product for a sweeping machine that can accurately process pressure sensor signals, in order to address the aforementioned technical problems.

[0006] A control method for a sweeping machine, characterized in that the sweeping machine is equipped with a first ultrasonic sensor for detecting the ground, a gyroscope, and a pressure sensor, wherein the pressure sensor is attached to the inner side of the sweeping machine's baffle, and the method includes:

[0007] When a collision feedback signal is detected by the pressure sensor, the flight time information of the ultrasonic signal to the ground is obtained by the first ultrasonic sensor; and

[0008] Obtain gyroscope information corresponding to gyroscope signals using a gyroscope;

[0009] Based on flight time information and gyroscope information, determine whether the robot vacuum cleaner is in an unstable state;

[0010] If the robot vacuum cleaner is in an unstable state, confirm that the pressure sensor does not give false alarms.

[0011] In one embodiment, the sweeping robot is equipped with a second ultrasonic sensor for detecting surrounding obstacles, and the method further includes:

[0012] When a target obstacle exists around the sweeper, the first distance between the sweeper and the target obstacle is obtained through a second ultrasonic sensor; and

[0013] The sweeper's direction of motion is obtained using a gyroscope;

[0014] When the motion direction information indicates that the sweeper is in a forward state and the first distance increases, it is determined that the target obstacle is located in the opposite direction of the sweeper's motion direction;

[0015] When the motion direction information indicates that the sweeper is in a forward state and the first distance decreases, it is determined that the target obstacle is located in the same direction as the sweeper's motion direction.

[0016] In one embodiment, the method further includes:

[0017] Based on the ultrasonic detection signal returned by the second ultrasonic sensor, the candidate location of the target obstacle is determined; and

[0018] Based on the gyroscope information, the sweeping robot's direction of movement, speed, and distance are determined; the candidate position is a random point on the edge of a fan-shaped area centered on the second ultrasonic sensor, with the first distance as the radius and the central angle as the preset angle.

[0019] Based on the candidate location, direction of movement, speed of movement, and distance of movement, determine the positional relationship information of the sweeping robot relative to the target obstacle;

[0020] Based on the positional relationship information, the motion trajectory of the sweeping robot is determined with the target obstacle as the origin of the coordinate system.

[0021] In one embodiment, after the step of obtaining the first distance between the sweeper and the target obstacle via the second ultrasonic sensor, the method further includes:

[0022] The second distance between the sweeping robot and the ground is determined based on the time-of-flight information of the ultrasonic signal obtained by the first ultrasonic sensor.

[0023] If the first distance is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, and the second distance changes more than a preset second threshold within a preset time, it is determined that the robot vacuum is currently encountering a special obstacle.

[0024] The areas containing special obstacles are marked as special scene areas on the map; these special scene area markings are used to guide the robot vacuum cleaner to avoid special scene areas when performing cleaning tasks.

[0025] In one embodiment, the method further includes:

[0026] When the gyroscope and pressure sensor are in a stable state and no trigger signal is received from the gyroscope and pressure sensor, determine whether the second distance is greater than the preset third threshold.

[0027] If the second distance is greater than a preset third threshold, determine the current target position of the sweeping robot.

[0028] Control the sweeper to perform obstacle avoidance operations so that the sweeper moves away from the current target location.

[0029] In one embodiment, the method further includes:

[0030] Get the type of floor material at the current location of the robot vacuum cleaner;

[0031] When the ground material is not flat and the first ultrasonic sensor has a blind spot, the flight time information is corrected based on the gyroscope information.

[0032] When the ground material is not flat and the gyroscope has blind spots, the gyroscope information is corrected based on the time-of-flight information.

[0033] A control device for a sweeping machine, characterized in that it is applied to the sweeping machine, the sweeping machine is equipped with a first ultrasonic sensor for detecting the ground, a gyroscope, and a pressure sensor, and the pressure sensor is attached to the inner side of the sweeping machine's baffle. The device includes:

[0034] The acquisition module is used to acquire the time-of-flight information of the ultrasonic signal to the ground via the first ultrasonic sensor when a collision feedback signal is detected by the pressure sensor; and

[0035] Obtain gyroscope information corresponding to gyroscope signals using a gyroscope;

[0036] The determination module is used to determine whether the robot vacuum cleaner is in an unstable state based on flight time information and gyroscope information;

[0037] The control module is used to determine that the pressure sensor does not give a false alarm if the robot vacuum is in an unstable state.

[0038] A computer device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method described above.

[0039] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the above-described method.

[0040] A computer program product includes a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the above-described method.

[0041] The aforementioned control method, device, computer equipment, storage medium, and computer program product for a sweeping machine, when the pressure sensor detects a collision feedback signal, acquires the time-of-flight information of the ultrasonic signal to the ground through a first ultrasonic sensor; and acquires the gyroscope information corresponding to the gyroscope signal through a gyroscope; based on the time-of-flight information and the gyroscope information, it determines whether the sweeping machine body is in an unstable state; if the sweeping machine body is in an unstable state, it determines that the pressure sensor is not falsely reporting. Thus, when the pressure sensor detects a collision feedback signal, it can determine whether the sweeping machine has passed through a threshold or uneven ground by determining the time-of-flight information of the first ultrasonic sensor to the ground, and simultaneously determine whether the sweeping machine body is in an unstable state by determining the gyroscope signal, thereby eliminating false alarms from the pressure sensor. This allows for accurate processing of the signal data from the first ultrasonic sensor, gyroscope, and pressure sensor, improving the working efficiency of the sweeping machine. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating a control method for a sweeping machine in one embodiment;

[0043] Figure 2 This is a structural block diagram of a sweeping machine in one embodiment;

[0044] Figure 3 This is a flowchart illustrating a control method for a sweeping machine in another embodiment;

[0045] Figure 4 This is a structural block diagram of a control device for a sweeping machine in one embodiment;

[0046] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] In one embodiment, such as Figure 1 As shown, a control method for a sweeping machine is provided. Taking the application of this method to a sweeping machine as an example, the method includes the following steps:

[0049] Step S102: If the pressure sensor detects a collision feedback signal, the flight time information of the ultrasonic signal to the ground is obtained through the first ultrasonic sensor; and the gyroscope information corresponding to the gyroscope signal is obtained through the gyroscope.

[0050] The collision feedback signal can be the signal generated when the sweeper's baffle collides with an obstacle.

[0051] In practical applications, under normal circumstances, when a robotic vacuum cleaner collides with common obstacles such as table and chair legs or sofas, the ultrasonic sensor detects the obstacle, and the pressure sensor simultaneously identifies the collision signal. The pressure sensor is typically attached to the inside of the vacuum cleaner's baffle, and the number of pressure sensors is not specifically limited. The ultrasonic sensor and gyroscope are mounted in the middle section of the vacuum cleaner.

[0052] In practice, when the main control unit of the sweeping robot detects a collision feedback signal through the pressure sensor, the main control unit obtains the flight time of the ultrasonic signal to the ground through the first ultrasonic sensor used to detect the ground, and the main control unit obtains the gyroscope information corresponding to the gyroscope signal through the gyroscope.

[0053] Step S104: Based on the flight time information and gyroscope information, determine whether the sweeping robot body is in an unstable state.

[0054] In practice, the main control unit of the sweeper determines whether the sweeper body is in an unstable state based on flight time information and gyroscope information.

[0055] Step S106: If the robot vacuum cleaner is in an unstable state, confirm that the pressure sensor does not have a false alarm.

[0056] In practice, after determining that the robot vacuum cleaner is in an unstable state, the main control unit determines that the alarm information from the pressure sensor is not an erroneous alarm information.

[0057] In practical applications, when the robot vacuum is in special scenarios such as on thresholds or pebbles, the machine's body vibrates significantly, easily triggering the pressure sensor signal. In this situation, the first ultrasonic sensor can determine the scene information by measuring the flight time of the ultrasonic signal to the ground, thus determining whether the robot vacuum is passing over a threshold or uneven ground. Simultaneously, the gyroscope signal can confirm that the robot vacuum is in an unstable state, eliminating false alarms from the pressure sensor. When the ultrasonic sensor, gyroscope, and pressure sensor are used individually, they often have a certain degree of false alarms and blind spots. By using data from all three sensors for analysis, the false alarm frequency when each sensor is used individually can be minimized, overcoming interference from certain extreme scenarios.

[0058] The aforementioned control method, device, computer equipment, storage medium, and computer program product for a sweeping machine, when the pressure sensor detects a collision feedback signal, acquires the time-of-flight information of the ultrasonic signal to the ground through a first ultrasonic sensor; and acquires the gyroscope information corresponding to the gyroscope signal through a gyroscope; based on the time-of-flight information and the gyroscope information, it determines whether the sweeping machine body is in an unstable state; if the sweeping machine body is in an unstable state, it determines that the pressure sensor is not falsely reporting. Thus, when the pressure sensor detects a collision feedback signal, it can determine whether the sweeping machine has passed through a threshold or uneven ground by determining the time-of-flight information of the first ultrasonic sensor to the ground, and simultaneously determine whether the sweeping machine body is in an unstable state by determining the gyroscope signal, thereby eliminating false alarms from the pressure sensor. This allows for accurate processing of the signal data from the first ultrasonic sensor, gyroscope, and pressure sensor, improving the working efficiency of the sweeping machine.

[0059] In another embodiment, the sweeper is equipped with a second ultrasonic sensor for detecting surrounding obstacles. The method further includes: when there is a target obstacle around the sweeper, obtaining a first distance between the sweeper and the target obstacle through the second ultrasonic sensor; and obtaining motion direction information of the sweeper through a gyroscope; when the motion direction information indicates that the sweeper is in a forward state and the first distance increases, determining that the target obstacle is located in the opposite direction of the sweeper's motion direction; when the motion direction information indicates that the sweeper is in a forward state and the first distance decreases, determining that the target obstacle is located in the same direction as the sweeper's motion direction.

[0060] The second ultrasonic sensor can be an ultrasonic sensor located on the side of the sweeper, and the second ultrasonic sensor can emit ultrasonic signals toward the surroundings of the sweeper. Figure 2 An exemplary diagram of a sweeping machine is provided. The sweeping machine is equipped with a first ultrasonic sensor 202, a second ultrasonic sensor 204, a gyroscope 206, and a pressure sensor 208 for detecting the ground surface.

[0061] The target obstacle can be a table leg, chair leg, sofa, etc.

[0062] Among them, the direction of movement information can be the forward direction of the sweeping machine.

[0063] In practice, the main control unit of the sweeper determines the presence of obstacles around the sweeper using a second ultrasonic sensor for detecting surrounding obstacles. The main control unit obtains the distance between the sweeper and the target obstacle using the second ultrasonic sensor as a first distance. At the same time, the main control unit obtains the sweeper's direction of movement using a gyroscope. If the main control unit determines that the sweeper is moving forward and the distance between the sweeper and the target obstacle increases, the main control unit determines that the target obstacle is located in the opposite direction of the sweeper's direction of movement. If the main control unit determines that the sweeper is moving forward and the distance between the sweeper and the target obstacle decreases, the main control unit determines that the target obstacle is located in the same direction as the sweeper's direction of movement.

[0064] The technical solution of this embodiment, when it is determined that there is a target obstacle around the sweeper, obtains a first distance between the sweeper and the target obstacle through a second ultrasonic sensor for detecting surrounding obstacles, and obtains the sweeper's movement direction information through a gyroscope; when the sweeper is in a forward state and the first distance between the sweeper and the target obstacle increases, it is determined that the target obstacle is located in the opposite direction of the sweeper's movement direction; when the sweeper is in a forward state and the first distance between the sweeper and the target obstacle decreases, it is determined that the target obstacle is located in the same direction as the sweeper's movement direction; in this way, the position of the target obstacle relative to the sweeper can be determined, and the obstacle can be accurately identified.

[0065] In another embodiment, the method further includes: determining a candidate position of the target obstacle based on the ultrasonic detection signal returned by the second ultrasonic sensor; and determining the direction of movement, speed of movement, and distance of movement of the sweeping machine based on gyroscope information; the candidate position is a random point on the edge of a fan-shaped area with the second ultrasonic sensor as the center, a first distance as the radius, and a preset angle as the central angle; determining the positional relationship information of the sweeping machine relative to the target obstacle based on the candidate position, direction of movement, speed of movement, and distance of movement; and determining the trajectory of the sweeping machine with the target obstacle as the origin of the coordinate system based on the positional relationship information.

[0066] In practice, the main control unit of the sweeper determines a random point on the edge of a fan-shaped area centered on the second ultrasonic sensor, based on the ultrasonic detection signal returned by the second ultrasonic sensor used to detect surrounding obstacles. Furthermore, the main control unit determines the sweeper's direction, speed, and distance of movement based on gyroscope information. Based on these parameters, the main control unit gradually shrinks the fan-shaped area to a single point. The continuous movement of the sweeper causes this point to change continuously, and the path of this point is the sweeper's trajectory. A Cartesian coordinate system is established with the target obstacle as the origin, and the sweeper's trajectory can be represented within this Cartesian coordinate system.

[0067] In practical applications, when the second ultrasonic sensor returns an ultrasonic detection signal, the target obstacle can be determined as a random point on the edge of a fan-shaped area centered on the second ultrasonic sensor. When gyroscope information is added, the fan-shaped area will gradually become a single point. This point changes continuously through movement, and the line connecting the moving positions of this point is the motion trajectory line of the sweeping robot.

[0068] The technical solution of this embodiment determines the candidate position of the target obstacle based on the ultrasonic detection signal returned by the second ultrasonic sensor, and determines the movement direction, speed and distance of the sweeping machine based on the gyroscope information; determines the positional relationship information of the sweeping machine relative to the target obstacle based on the candidate position, movement direction, speed and distance; and determines the movement trajectory of the sweeping machine with the target obstacle as the origin of the coordinate system based on the positional relationship information. In this way, the movement trajectory of the sweeping machine can be displayed, effectively avoiding the situation where the sweeping machine cannot determine its current path.

[0069] In another embodiment, after obtaining the first distance between the sweeper and the target obstacle using the second ultrasonic sensor, the method further includes: determining a second distance between the sweeper and the ground based on the time-of-flight information of the ultrasonic signal obtained by the first ultrasonic sensor; determining that the sweeper is currently encountering a special obstacle if the first distance is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, and the degree of change of the second distance within a preset time is greater than a preset second threshold; marking the area where the special obstacle is located as a special scene area on a map; the marking of the special scene area is used to prompt the sweeper to avoid the special scene area when performing the cleaning task.

[0070] Special obstacles can include bar counters, bar stools, etc.

[0071] In practice, the main control unit of the sweeping robot obtains the time-of-flight information of the ultrasonic signal to the ground through the first ultrasonic sensor used to detect the ground, and determines the distance between the sweeping robot and the ground. If the distance between the sweeping robot and the target obstacle is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, or the change in the distance between the sweeping robot and the ground within a preset time period is greater than a preset second threshold, the main control unit determines that the sweeping robot has encountered a special obstacle. The main control unit marks the location of the special obstacle on the map as a special scene area so that the sweeping robot can avoid the special scene area in time when cleaning.

[0072] In practical applications, when a robot vacuum encounters certain special obstacles, such as bar counters or bar stools, the time-of-flight of the ultrasonic signals received by the ultrasonic sensors determines that there is a large distance between the robot vacuum and the target obstacle. However, the robot vacuum's body has already begun to enter the obstacle's chassis area. At this time, the robot vacuum's gyroscope angle tilts, and the time-of-flight of the ultrasonic signals generated at the bottom of the robot vacuum and received by the sensors changes continuously in a short period of time. At this point, the robot vacuum's main control unit classifies such obstacles as special scenarios within the cleaning area, allowing the robot vacuum to avoid them in time during the cleaning process and optimize the surrounding map.

[0073] The technical solution of this embodiment determines the second distance between the robot vacuum and the ground based on the flight time information of the ultrasonic signal obtained by the first ultrasonic sensor. When the first distance is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, and the degree of change of the second distance within a preset time is greater than a preset second threshold, it is determined that the robot vacuum is currently encountering a special obstacle. The area where the special obstacle is located is marked as a special scene area on the map. In this way, special obstacles can be classified as special scenes within the cleaning area, which is beneficial for optimizing the surrounding map of the cleaning area, so that the robot vacuum can accurately and timely avoid the special scene.

[0074] In another embodiment, the method further includes: when the gyroscope and pressure sensor are in a stable state and no trigger signal is received from the gyroscope and pressure sensor, determining whether the second distance is greater than a preset third threshold; if the second distance is greater than the preset third threshold, determining the current target position of the sweeping robot; and controlling the sweeping robot to perform obstacle avoidance operation so that the sweeping robot moves away from the current target position.

[0075] The trigger signal can be a signal triggered when the gyroscope or pressure sensor is in an unstable state.

[0076] The target location can be a cuboid-shaped staircase, a high threshold, or a cliff-like location.

[0077] In practice, when the main control unit of the sweeping robot is in a stable state and no trigger signal is received from the gyroscope and pressure sensor, it determines whether the distance between the sweeping robot and the ground is greater than a preset third threshold. If the distance between the sweeping robot and the ground is greater than the preset third threshold, the main control unit determines that the sweeping robot is currently in a cliff-like position. Therefore, the main control unit controls the sweeping robot to perform obstacle avoidance operation so that the sweeping robot can move away from the current cliff-like position.

[0078] In practical applications, when the robot vacuum encounters a high step, both the gyroscope and the pressure sensor are stable and neither triggers a corresponding signal. At this time, the ultrasonic sensor at the front of the robot vacuum determines that the distance between the robot vacuum and the ground is large. Even if there are no obstacles around the robot vacuum, it can still avoid steps and cliffs.

[0079] The technical solution of this embodiment determines whether the second distance is greater than a preset third threshold when the gyroscope and pressure sensor are in a stable state and no trigger signal is received from the gyroscope and pressure sensor; if the second distance is greater than the preset third threshold, the current target position of the sweeping robot is determined; the sweeping robot is controlled to perform obstacle avoidance operation so that the sweeping robot moves away from the current target position; in this way, when the sweeping robot encounters cliff scenes such as high steps, it can avoid them in time, so that the sweeping robot can accurately perform obstacle avoidance operation and effectively improve the sweeping efficiency.

[0080] In another embodiment, the method further includes: obtaining the ground material type of the current location of the sweeping robot; correcting the time-of-flight information based on gyroscope information when the ground material type is not flat and the first ultrasonic sensor has a blind spot; and correcting the gyroscope information based on the time-of-flight information when the ground material type is not flat and the gyroscope has a blind spot.

[0081] The ground material type can be flat or uneven. Uneven materials can be materials with uneven surfaces, such as pebbles.

[0082] In practice, the main control unit of the robot vacuum cleaner obtains the ground material type of the robot vacuum cleaner's current location. When the ground material type is not flat, such as when the robot vacuum cleaner passes over a threshold, step, or cobblestone, the main control unit determines whether there is a blind zone between the gyroscope and the first ultrasonic sensor. If there is a blind zone in the gyroscope, the main control unit corrects the time-of-flight information based on the gyroscope information. If there is a blind zone in the first ultrasonic sensor, the main control unit corrects the gyroscope information based on the time-of-flight information.

[0083] In practical applications, when the sweeper is moving normally, its body remains parallel to the ground, the gyroscope remains horizontal, and the output signal from the first ultrasonic sensor is stable. The main control unit of the sweeper then determines that the sweeper's body is horizontal. However, when the sweeper passes over thresholds, steps, or pebbles, the gyroscope and ultrasonic sensor may each have blind spots. When the gyroscope has a blind spot, the ultrasonic signal information from the first ultrasonic sensor corrects the gyroscope information when it is horizontal but the body is not on the ground. Conversely, when the first ultrasonic sensor has a blind spot, the gyroscope signal information corrects the ultrasonic signal information when the first ultrasonic sensor has a blind spot and cannot accurately identify the scene. When the gyroscope has a blind spot, for example, when the robot vacuum is horizontal but its body is not on the ground, it could mean that the robot vacuum is passing a threshold. The robot vacuum's body goes through a process of "head up - body horizontal - head down". When the body is horizontal, the robot vacuum's body is just on the threshold but not on the ground. In this case, the gyroscope can only determine that the robot vacuum's body is horizontal, but cannot determine whether the robot vacuum's body is on the ground. Similarly, when the first ultrasonic sensor has a blind spot, it could mean that when the robot vacuum is preparing to pass a threshold, the wheels have not yet touched the threshold, but the ultrasonic signal has already reached above the threshold. In this case, the actual distance between the first ultrasonic sensor and the threshold is very close, and the first ultrasonic sensor will be in a blind spot. It could also mean on bumpy surfaces, such as cobblestones, where the robot vacuum's body is constantly tilting at different angles. If the ultrasonic sensor is installed low and the cobblestones are large, the first ultrasonic sensor will be very close to the obstacle, and in this case, the first ultrasonic sensor will be in a blind spot.

[0084] The technical solution of this embodiment obtains the ground material type of the current location of the sweeping robot; when the ground material type is not flat and the first ultrasonic sensor has a blind spot, the flight time information is corrected based on gyroscope information; when the ground material type is not flat and the gyroscope has a blind spot, the gyroscope information is corrected based on the flight time information. In this way, when the sweeping robot is on an uneven ground surface, the flight time information corresponding to the ultrasonic sensor can be corrected based on the gyroscope information to solve the problem of the ultrasonic sensor being unable to accurately identify in the blind spot, or the gyroscope information can be corrected based on the flight time information corresponding to the ultrasonic sensor to solve the problem of the gyroscope being horizontal but the sweeping robot body is not horizontal. This is beneficial for accurately determining the sweeping robot's movement trajectory and improving the sweeping robot's working efficiency.

[0085] In another embodiment, such as Figure 3 As shown, a control method for a sweeping machine is provided. Taking the application of this method to a sweeping machine as an example, the method includes the following steps:

[0086] Step S302: When the pressure sensor detects a collision feedback signal, the flight time information of the ultrasonic signal to the ground is obtained through the first ultrasonic sensor; and

[0087] Obtain gyroscope information corresponding to gyroscope signals by using a gyroscope.

[0088] Step S304: Based on the flight time information and gyroscope information, determine whether the robot vacuum cleaner is in an unstable state.

[0089] Step S306: If the robot vacuum cleaner is in an unstable state, confirm that the pressure sensor does not have a false alarm.

[0090] Step S308: Obtain the ground material type of the current location of the sweeping robot.

[0091] Step S310: If the ground material is not flat and the first ultrasonic sensor has a blind spot, correct the flight time information based on the gyroscope information.

[0092] Step S312: If the ground material type is not flat and the gyroscope has a blind spot, correct the gyroscope information based on the flight time information.

[0093] It should be noted that the specific limitations of the above steps can be found in the specific limitations of a sweeping machine control method described above.

[0094] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0095] Based on the same inventive concept, this application also provides a control device for a sweeper to implement the control method of the sweeper described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of the one or more control device embodiments of the sweeper provided below can be found in the limitations of the control method of the sweeper above, and will not be repeated here.

[0096] In one embodiment, such as Figure 4As shown, a control device for a sweeping machine is provided, comprising:

[0097] The acquisition module 402 is used to acquire the time-of-flight information of the ultrasonic signal to the ground through the first ultrasonic sensor when the pressure sensor detects a collision feedback signal; and

[0098] Obtain gyroscope information corresponding to gyroscope signals using a gyroscope;

[0099] The determination module 404 is used to determine whether the sweeper body is in an unstable state based on the flight time information and gyroscope information;

[0100] The control module 406 is used to determine that the pressure sensor does not give a false alarm if the robot vacuum body is in an unstable state.

[0101] In one embodiment, the sweeper is equipped with a second ultrasonic sensor for detecting surrounding obstacles. The device further includes a determination module, specifically used to: when there is a target obstacle around the sweeper, obtain a first distance between the sweeper and the target obstacle through the second ultrasonic sensor; and obtain the sweeper's motion direction information through a gyroscope; when the motion direction information indicates that the sweeper is in a forward motion state and the first distance increases, determine that the target obstacle is located in the opposite direction of the sweeper's motion direction; when the motion direction information indicates that the sweeper is in a forward motion state and the first distance decreases, determine that the target obstacle is located in the same direction as the sweeper's motion direction.

[0102] In one embodiment, the device further includes: a trajectory determination module, specifically configured to determine a candidate position of the target obstacle based on the ultrasonic detection signal returned by the second ultrasonic sensor; and to determine the direction of movement, speed of movement, and distance of movement of the sweeping machine based on gyroscope information; the candidate position is located at a random point on the edge of a fan-shaped area with the second ultrasonic sensor as the center, a first distance as the radius, and a preset angle as the central angle; the sweeping machine is configured to determine its positional relationship information relative to the target obstacle based on the candidate position, direction of movement, speed of movement, and distance of movement; and the sweeping machine is configured to determine its trajectory with the target obstacle as the origin of the coordinate system based on the positional relationship information.

[0103] In one embodiment, the device further includes: a marking module, specifically used to determine a second distance between the sweeping robot and the ground based on the time-of-flight information of the ultrasonic signal obtained by the first ultrasonic sensor; and to determine that the sweeping robot is currently encountering a special obstacle when the first distance is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, and the degree of change of the second distance within a preset time is greater than a preset second threshold; to mark the area where the special obstacle is located as a special scene area on a map; and to use the marking of the special scene area to prompt the sweeping robot to avoid the special scene area when performing the cleaning task.

[0104] In one embodiment, the device further includes: an obstacle avoidance module, specifically configured to determine whether a second distance is greater than a preset third threshold when the gyroscope and pressure sensor are in a stable state and no trigger signal is received from the gyroscope and pressure sensor; if the second distance is greater than the preset third threshold, determine the current target position of the sweeping robot; and control the sweeping robot to perform obstacle avoidance operations so that the sweeping robot moves away from the current target position.

[0105] In one embodiment, the device further includes: a correction module, specifically used to obtain the ground material type of the current location of the sweeping robot; when the ground material type is not flat and the first ultrasonic sensor has a blind spot, to correct the flight time information based on the gyroscope information; and when the ground material type is not flat and the gyroscope has a blind spot, to correct the gyroscope information based on the flight time information.

[0106] The various modules in the control device of the aforementioned sweeper can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0107] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores control data for the sweeper. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for the sweeper.

[0108] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0109] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the aforementioned control method for a sweeping machine. The steps of the control method for a sweeping machine described above can be the steps in the control method for a sweeping machine from the various embodiments described above.

[0110] In one embodiment, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, causes the processor to perform the steps of the aforementioned sweeper control method. The steps of the sweeper control method described herein can be those steps from the sweeper control methods of the various embodiments described above.

[0111] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, causes the processor to perform the steps of the aforementioned control method for a sweeping machine. The steps of the control method for a sweeping machine described above can be the steps in the control method for a sweeping machine from the various embodiments described above.

[0112] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0113] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a sweeping machine, characterized in that, The sweeping machine is equipped with a first ultrasonic sensor, a gyroscope, and a pressure sensor for detecting the ground, with the pressure sensor attached to the inner side of the sweeping machine's baffle. The sweeping machine is also equipped with a second ultrasonic sensor for detecting surrounding obstacles. The method includes: When the pressure sensor detects a collision feedback signal, the time-of-flight information of the ultrasonic signal to the ground is obtained through the first ultrasonic sensor; and The gyroscope information corresponding to the gyroscope signal is obtained through the gyroscope. Based on the flight time information and the gyroscope information, determine whether the robot vacuum cleaner body is in an unstable state; If the robot vacuum cleaner is in an unstable state, it is determined that the pressure sensor does not have false alarms; When a target obstacle exists around the sweeping machine, the first distance between the sweeping machine and the target obstacle is obtained by the second ultrasonic sensor; and The gyroscope is used to obtain the motion direction information of the sweeping machine; When the motion direction information indicates that the sweeper is in a forward state and the first distance increases, it is determined that the target obstacle is located in the opposite direction of the sweeper's motion direction; When the motion direction information indicates that the sweeper is in a forward state and the first distance decreases, it is determined that the target obstacle is located in the same direction as the sweeper's motion direction.

2. The control method for a sweeper according to claim 1, characterized in that, The method further includes: Based on the ultrasonic detection signal returned by the second ultrasonic sensor, the candidate location of the target obstacle is determined; and Based on the gyroscope information, the sweeping robot's direction of movement, speed of movement, and distance of movement are determined; the candidate position is located at a random point on the edge of a fan-shaped area with the second ultrasonic sensor as the center, the first distance as the radius, and the central angle as a preset angle; Based on the candidate position, the direction of movement, the speed of movement, and the distance of movement, the positional relationship information of the sweeping robot relative to the target obstacle is determined; Based on the positional relationship information, the motion trajectory of the sweeping machine is determined with the target obstacle as the origin of the coordinate system.

3. The control method for a sweeper according to claim 1, characterized in that, After the step of obtaining the first distance between the sweeping robot and the target obstacle via the second ultrasonic sensor, the method further includes: Based on the time-of-flight information of the ultrasonic signal obtained by the first ultrasonic sensor to the ground, a second distance between the sweeping machine and the ground is determined; If the first distance is greater than a preset first threshold, the tilt angle of the gyroscope is greater than a preset angle, and the degree of change of the second distance within a preset time is greater than a preset second threshold, it is determined that the sweeping robot is currently encountering a special obstacle. The area where the special obstacle is located is marked on the map as a special scene area; the marking of the special scene area is used to prompt the robot vacuum cleaner to avoid the special scene area when performing the cleaning task.

4. The control method for a sweeper according to claim 3, characterized in that, The method further includes: When the gyroscope and the pressure sensor are in a stable state and no trigger signal is received from the gyroscope and the pressure sensor, it is determined whether the second distance is greater than a preset third threshold. If the second distance is greater than a preset third threshold, the current target position of the sweeping robot is determined; Control the sweeping machine to perform obstacle avoidance operations so that the sweeping machine moves away from the current target location.

5. The control method for a sweeper according to claim 1, characterized in that, The method further includes: Obtain the ground material type at the current location of the sweeping robot; When the ground material is not flat and the first ultrasonic sensor has a blind zone, the flight time information is corrected based on the gyroscope information. If the ground material is not flat and the gyroscope has a blind spot, the gyroscope information is corrected based on the time-of-flight information.

6. A control device for a sweeper, characterized in that, An application is made in a sweeping machine, wherein the sweeping machine is equipped with a first ultrasonic sensor, a gyroscope, and a pressure sensor for detecting the ground, and the pressure sensor is attached to the inner side of the sweeping machine's baffle. The sweeping machine is also equipped with a second ultrasonic sensor for detecting surrounding obstacles. The device includes: The acquisition module is used to acquire the time-of-flight information of the ultrasonic signal to the ground through the first ultrasonic sensor when the pressure sensor detects a collision feedback signal; and The gyroscope information corresponding to the gyroscope signal is obtained through the gyroscope. The determination module is used to determine whether the robot vacuum cleaner body is in an unstable state based on the flight time information and the gyroscope information. The control module is used to determine that the pressure sensor does not give a false alarm if the robot vacuum body is in an unstable state. The determination module is used to, when there is a target obstacle around the sweeper, obtain a first distance between the sweeper and the target obstacle through the second ultrasonic sensor; and obtain the sweeper's motion direction information through the gyroscope; when the motion direction information indicates that the sweeper is in a forward state and the first distance increases, determine that the target obstacle is located in the opposite direction of the sweeper's motion direction; when the motion direction information indicates that the sweeper is in a forward state and the first distance decreases, determine that the target obstacle is located in the same direction as the sweeper's motion direction.

7. A sweeping robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the control method for the sweeping machine according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the sweeping machine according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the sweeping machine according to any one of claims 1 to 5.

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