Method and apparatus for cleaning robot cord winding recognition

Abstract

The application discloses a line rope winding identification method for a cleaning robot, comprising the following steps: an angle monitoring step: establishing a pitch container for accumulating a pitch angle generated in the movement of the cleaning robot and a roll container for accumulating a roll angle generated in the movement of the cleaning robot; and continuously accumulating the angle data generated by the cleaning robot through the pitch container and the roll container respectively; the pitch angle is accumulated in the pitch container to obtain a pitch accumulated angle, and the roll angle is accumulated in the roll container to obtain a roll accumulated angle; when the pitch accumulated angle recorded in the pitch container exceeds the maximum capacity of the pitch container or the roll accumulated angle recorded in the roll container exceeds the maximum capacity of the roll container, it is determined that the cleaning robot is wound by a line rope. The scheme can guarantee the agility of the detection of the line rope winding type, and the detection accuracy of the line rope type obstacle is high.

Description

Technical Field

[0001] This application relates to the technical field of robot control, and in particular to a method and apparatus for identifying cord entanglement in cleaning robots. Background Technology

[0002] Cleaning robots navigate using their own detection systems and externally provided data to clean areas or recharge. During their movement, they need to identify and avoid obstacles. However, while current technologies have some ability to identify rope-like obstacles, the accuracy is poor. Existing products either define a specific area for rope obstacles and require the robot to avoid it during navigation, or require the robot to attempt to navigate through the rope to maximize cleaning efficiency. However, due to the low accuracy in identifying rope obstacles, robots still sometimes get entangled in the rope. Therefore, it is necessary to develop a mechanism to identify situations where the robot is entangled in rope obstacles.

[0003] To identify obstacle entanglement, the robot's posture and numerical indicators during operation can be monitored. However, the operating environment of cleaning robots is complex. When the robot is blocked by other obstacles or navigates in environments such as slopes, overcoming obstacles, etc., its posture and numerical indicators may be similar to those exhibited when entangled in rope-like obstacles. This limits the success rate of identification and reduces its effectiveness. Summary of the Invention

[0004] The purpose of this application is to propose a method for identifying tangled cords in cleaning robots, so as to improve the success rate of tangled cord identification.

[0005] To address the aforementioned technical problems, this application provides a method for identifying tangled threads in a cleaning robot, employing the following technical solution:

[0006] A method for identifying tangled cords in cleaning robots includes the following steps:

[0007] Angle monitoring steps: Establish a pitch container for accumulating pitch angles generated during the movement of the cleaning robot, and a roll container for accumulating roll angles generated during the movement of the cleaning robot; and continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively; the pitch angle is accumulated in the pitch container to obtain the pitch accumulation angle, and the roll angle is accumulated in the roll container to obtain the roll accumulation angle;

[0008] When the cumulative pitch angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the cumulative roll angle recorded in the roll container exceeds the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the tether.

[0009] Furthermore, the method for detecting the robot's walking state specifically includes:

[0010] When the data detected by the accelerometer and gyroscope are both non-zero, it is determined that the cleaning robot is in a non-linear walking state, and the cleaning robot performs the angle monitoring step in the non-linear walking state.

[0011] Furthermore, the method for determining whether the pitch accumulation angle exceeds the maximum capacity of the pitch container and the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container includes:

[0012] The rotational speed of the side wheel is detected, and when the side wheel stops rotating, the pitch angle is accumulated in the pitch container and the roll angle is accumulated in the roll container.

[0013] Determine whether the cleaning robot is entangled in a cord by continuously accumulating pitch or roll angles;

[0014] If, during the continuous accumulation of angles over a preset number of times, the pitch accumulation angle is always greater than the maximum capacity of the pitch container, or the roll accumulation angle is always greater than the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the rope.

[0015] When the angles are accumulated continuously for a preset number of times, and the accumulated pitch angle is less than the maximum capacity of the pitch container, and the accumulated roll angle is always less than the maximum capacity of the roll container, it is determined that the cleaning robot is in normal driving state; then it is detected whether the cleaning robot is in a straight-line walking state, and in the non-straight-line walking state, the angle monitoring step is performed.

[0016] Furthermore, after determining that the cleaning robot is entangled in the rope, the method also includes:

[0017] Detect the real-time side brush current applied to the side brush;

[0018] When the difference between the real-time side brush current and the standard side brush current exceeds a preset value, it is determined that the side brush is entangled by the cord; the standard side brush current is the average value of several sets of currents continuously detected on the side brush when the cleaning robot is walking in a straight line.

[0019] Furthermore, the method for calculating the reference current of the side brush specifically includes:

[0020] When the cleaning robot is in a straight-line state, the current of the energized side brush is continuously collected according to the preset sampling number;

[0021] When the reference current is not recorded or is recorded as 0, the magnitude of the current of the energized side brush is assigned to the reference current.

[0022] When the reference current exists and the record is not zero, the magnitude of the current of the energized side brush is averaged with the reference current, and the reference current is updated by the output result.

[0023] Furthermore, when the cleaning robot maintains a straight-line state for more than a preset time, the reference current is updated.

[0024] Furthermore, the method for obtaining the real-time side brush current specifically includes:

[0025] Periodically acquire the current applied to at least two sets of side brushes;

[0026] When the real-time side brush current is 0, the acquired currents are added together and a value is assigned to the real-time side brush current.

[0027] When the real-time brush current is not 0, the acquired currents are added together and averaged with the real-time brush current. The real-time brush current is then updated by assigning the average value.

[0028] Furthermore, the method for obtaining the standard brush current includes:

[0029] When the cleaning robot is in a straight-line walking state, a time period is extracted, during which the cleaning robot maintains a straight-line walking state;

[0030] During the specified time period, the current of the side brush is acquired and assigned to the sampling current; and the current of the side brush is acquired periodically. When the acquired current is not zero, it is averaged with the sampling current to update the sampling current. When the number of times the sampling current is updated exceeds a preset value, the standard side brush current is updated using the sampling current.

[0031] A method for identifying the entanglement state of a cleaning robot involves determining the change in the cleaning robot's heading angle after it becomes entangled in a rope, as described above.

[0032] The cleaning robot is driven to perform a set escape maneuver, and then the tilt angle of the cleaning robot is collected.

[0033] When the change in the angle of the tilting robot between two consecutive measurements is greater than a preset value, a count is made; and when the count exceeds the preset value and the change in heading exceeds the preset value, it is determined that the cleaning robot can escape the predicament.

[0034] A cord entanglement detection device for cleaning robots includes:

[0035] The speed detection module is used to detect the walking status of the cleaning robot. When the cleaning robot is walking in a non-linear state, it detects the rotation speed of the side wheels.

[0036] An angle detection module is used to establish a pitch container for accumulating the pitch angle generated during the movement of the cleaning robot and a roll container for accumulating the roll angle generated during the movement of the cleaning robot when the side wheel stops rotating; and to continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively.

[0037] The current detection module is used to detect the real-time brush current applied to the brush when the pitch accumulation angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container.

[0038] The judgment module is used to determine that the cleaning robot is entangled in the cord when the difference between the real-time side brush current and the standard side brush current exceeds a preset value.

[0039] Compared with existing technologies, the embodiments of this application have the following main advantages: By establishing pitch and roll containers, and then detecting the pitch and roll of the cleaning robot, when the cleaning robot's wheels stop turning and the pitch or roll amplitude is large, it is determined that the cleaning robot is entangled in a rope. This solution ensures agile detection of rope entanglement and has high accuracy in detecting rope-type obstacles. Attached Figure Description

[0040] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of an embodiment of a rope entanglement identification method for a cleaning robot according to this application;

[0042] Figure 2 This is a schematic diagram of the structure of a computer device according to the present invention; Detailed Implementation

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0044] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0045] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0046] refer to Figure 1 The diagram shows a flowchart of one embodiment of a rope entanglement identification method for a cleaning robot according to this application.

[0047] In this embodiment, the electronic device (e.g., the one used for the cord entanglement recognition method for the cleaning robot) operates... Figure 1 The server / terminal device shown can request or receive data and information via wired or wireless connection. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra-wideband) connections, and other currently known or future wireless connection methods.

[0048] A method for identifying tangled cords in cleaning robots includes the following steps:

[0049] Step S100: When the data detected by the accelerometer and gyroscope are both non-zero, it is determined that the cleaning robot is in a non-linear walking state. In the non-linear walking state, the cleaning robot performs the angle monitoring step.

[0050] Step S200: Angle monitoring step: Establish a pitch container for accumulating the pitch angle generated during the movement of the cleaning robot, and a roll container for accumulating the roll angle generated during the movement of the cleaning robot; and continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively; the pitch angle is accumulated in the pitch container to obtain the pitch accumulation angle, and the roll angle is accumulated in the roll container to obtain the roll accumulation angle.

[0051] Step S300: When the cumulative pitch angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the cumulative roll angle recorded in the roll container exceeds the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the tether.

[0052] Step S400: Detect the real-time side brush current applied to the side brush; when the difference between the real-time side brush current and the standard side brush current exceeds a preset value, determine that the side brush is entangled with the cord.

[0053] The standard side brush current is the average value of several sets of currents continuously measured on the side brushes when the cleaning robot is walking in a straight line.

[0054] Compared with the prior art, the embodiments of this application have the following advantages: by detecting the operating status of the cleaning robot and the rotation speed of the side wheels, the situation of the cleaning robot being trapped due to obstacles is first eliminated. Only when the cleaning robot is in a non-linear walking state can the cleaning robot be trapped due to entanglement.

[0055] Next, the pitch and roll of the cleaning robot are monitored. When the robot's pitch or roll amplitude is large, it is determined that the robot is entangled in a tangle. This solution ensures rapid detection of entanglement-related obstacles and determines the degree of obstruction to the side brush's rotation based on the current applied to the energized side brush, thus pinpointing the primary location affected by the tangle-like obstacle. This solution demonstrates high accuracy in detecting tangle-like obstacles.

[0056] Current technologies for detecting obstacles encountered by cleaning robots typically rely on one or a combination of physical quantities, such as those from accelerometers, angular velocities, and sensors that detect wheel rotation speeds (e.g., grids, dials, infrared counters, current). However, these technologies often rely on a single, stable set of data. For example, if an accelerometer or angular velocities detect a large value, the grid, dial, or infrared counter may stop changing. This approach fails to respond to continuously changing sensor data. In situations where the robot is entangled—such as colliding with obstacles, getting stuck, or falling—the data generated is relatively stable. For instance, if a large acceleration value is detected, the acceleration value will not fluctuate significantly afterward. However, the situation is different when the robot becomes entangled. When entangled by obstacles like ropes, the cleaning robot is in continuous, irregular motion. Therefore, when entangled, the robot continuously generates substantial and fluctuating sensor data. The existing solutions are clearly unable to handle the data generated in this scenario, and therefore cannot respond to the entanglement of cleaning robots with rope-like obstacles.

[0057] This solution analyzes the motion state of the cleaning robot layer by layer to determine if the robot is entangled. First, it determines whether the robot is moving in a straight line. The cleaning robot spends most of its time moving in a straight line. Based on the above analysis, when the cleaning robot is entangled, its motion state changes irregularly and continuously. Therefore, it is only necessary to determine whether the cleaning robot is entangled when it is not moving in a straight line. Determining whether the cleaning robot is entangled in this state can effectively save the operating cost of the detection method.

[0058] To determine whether a cleaning robot is moving in a straight line, you can check the changes in the rotational speed of its two wheels, or you can make a judgment based on a combination of data from an angular velocity meter and an accelerometer.

[0059] There are many situations where the robot might become entangled, including getting stuck in a gap under a sofa, squeezing between obstacles, or being trapped between an obstacle and a wall, causing its side wheels to dangle and become stuck. In this case, it's necessary to track the cleaning robot's posture to determine if it's entangled by a rope-like obstacle. This is done by accumulating pitch and roll angles. When the cleaning robot is entangled, the angular velocity meter continuously generates significant values. While capturing individual values ​​is insufficient to definitively determine the robot's motion state, accumulating these values ​​over a period of time can indicate whether the robot exhibits continuous pitch or roll characteristic of entanglement. This is a feature that distinguishes the cleaning robot from other entanglement situations. When the accumulated roll or pitch containers exceed their maximum capacity, the cleaning robot can be confirmed to be entangled by a rope-like obstacle and is in an entangled state.

[0060] Because the bottom of the cleaning robot is flat, the side brushes located at the bottom are most prone to tangling. By detecting the rotation of the side brushes, it's possible to determine the direction from which a tangle-like obstacle is jamming the robot. Specifically, the side brushes are driven by direct current from a motor. When a side brush encounters resistance, feedback is sent to the motor via a linkage, affecting its rotation. At this point, the motor outputs a higher power current to generate greater torque to maintain its rotation. This occurs naturally without electronic control. By detecting the current output from the motor and applied to the side brushes, it's possible to determine if the side brushes are affected by an obstacle. When the current applied to a side brush is excessive, the cleaning robot can determine that the side brush is entangled in a tangle-like obstacle and is jammed. This clearly indicates that the cleaning robot is jammed by a tangle-like obstacle. Furthermore, when there are multiple side brushes, the position of the jammed side brush can be used to determine the orientation of the tangle-like obstacle relative to the cleaning robot.

[0061] Furthermore, the method for detecting the robot's walking state specifically includes:

[0062] When both the accelerometer and gyroscope readings are non-zero, the cleaning robot is determined to be in a non-linear walking state. This method offers a faster response and higher accuracy compared to detecting the rotation of the side wheels.

[0063] Furthermore, the method for determining whether the pitch accumulation angle exceeds the maximum capacity of the pitch container and the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container.

[0064] include:

[0065] The rotational speed of the side wheel is detected, and when the side wheel stops rotating, the pitch angle is accumulated in the pitch container and the roll angle is accumulated in the roll container.

[0066] Determine whether the cleaning robot is entangled in a cord by continuously accumulating pitch or roll angles;

[0067] If, during the continuous accumulation of angles over a preset number of times, the pitch accumulation angle is always greater than the maximum capacity of the pitch container, or the roll accumulation angle is always greater than the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the rope.

[0068] When the angles are accumulated continuously for a preset number of times, and the accumulated pitch angle is less than the maximum capacity of the pitch container, and the accumulated roll angle is always less than the maximum capacity of the roll container, it is determined that the cleaning robot is in normal driving state; then it is detected whether the cleaning robot is in a straight-line walking state, and in the non-straight-line walking state, the angle monitoring step is performed.

[0069] When it's necessary to determine if a cleaning robot is entangled in a tangle by using the accumulated pitch or roll angles, check the rotational speed of each wheel. When the robot attempts to escape an obstacle, it executes segmented movements, such as moving backward or attempting to perform a pre-set arc-shaped movement along a curved path. Between each segment, the robot briefly stops before resuming the next movement. When the wheels stop rotating, the robot's pitch and roll angles are in a briefly stable state. At this time, the pitch and roll angles are stored in the logs. In both the pitch and roll containers, the data is accumulated to the pitch and roll angles. Because pitch and roll angle data are stable, they better reflect the robot's posture. Furthermore, if the robot is entangled, its next movement is usually in the opposite direction, meaning it's highly likely to be in a state where pitch and roll are most pronounced. Recording pitch and roll angle data at this point makes it easier to capture the readings when the accumulated pitch and roll angles are at their maximum, which is beneficial for detecting entanglement. This method has a high recognition rate for entanglement.

[0070] Furthermore, within a preset time range, the pitch accumulation angle always exceeds the maximum capacity of the pitch container or the roll accumulation angle always exceeds the maximum capacity of the roll container.

[0071] Specifically, a time window is set for the pitch and roll containers. Only the cumulative changes detected within the time range are included in the judgment of whether the cleaning robot is entangled by rope-like obstacles, so as to prevent the cumulative error of the data output by the cleaning robot during normal operation.

[0072] Furthermore, the method for calculating the reference current of the side brush specifically includes:

[0073] When the cleaning robot is in a straight-line state, the current of the energized side brush is continuously collected according to the preset sampling number;

[0074] When the reference current is not recorded or is recorded as 0, the magnitude of the current of the energized side brush is assigned to the reference current.

[0075] When the reference current exists and the record is not zero, the magnitude of the current of the energized side brush is averaged with the reference current, and the reference current is updated by the output result.

[0076] In this case, the basis for determining whether the side brush is stuck is the difference between the current magnitude and the standard current magnitude. However, different ground conditions, different side brushes themselves, and different side brush installations can all cause differences in the reference current magnitude. Therefore, the reference current needs to be updated in real time. Specifically, the reference current is updated based on the current collected when the cleaning robot is in a normal driving state of straight-line walking.

[0077] Furthermore, when the cleaning robot maintains a straight-line state for more than a preset time, the reference current is updated. This scheme further enhances the judgment of the cleaning robot's normal driving state, and the reference current obtained at this time has higher accuracy.

[0078] Furthermore, the method for obtaining the real-time side brush current specifically includes:

[0079] Periodically acquire the current applied to at least two sets of side brushes;

[0080] When the real-time side brush current is 0, the acquired currents are added together and a value is assigned to the real-time side brush current.

[0081] When the real-time brush current is not 0, the acquired currents are added together and averaged with the real-time brush current. The real-time brush current is then updated by assigning the average value.

[0082] In this embodiment, the average current is obtained by averaging the acquired current with the recorded real-time brush current to eliminate fluctuations in the real-time brush current. The reference current provided by this scheme is more stable during operation.

[0083] Furthermore, the method for obtaining the standard brush current includes:

[0084] When the cleaning robot is in a straight-line walking state, a time period is extracted, during which the cleaning robot maintains a straight-line walking state;

[0085] During the specified time period, the current of the side brush is acquired and assigned to the sampling current; and the current of the side brush is acquired periodically. When the acquired current is not zero, it is averaged with the sampling current to update the sampling current. When the number of times the sampling current is updated exceeds a preset value, the standard side brush current is updated using the sampling current.

[0086] By using the sampled current as an intermediate variable to store current data, the side brush current is updated only after multiple sampled current measurements are obtained. This scheme controls the update frequency of the standard side brush current, improving the stability of the cleaning robot during operation.

[0087] A method for identifying the entanglement state of a cleaning robot involves determining the change in the cleaning robot's heading angle after it becomes entangled in a rope, as described above.

[0088] The cleaning robot is driven to perform a set escape maneuver, and then the tilt angle of the cleaning robot is collected.

[0089] When the change in the angle of the tilting robot between two consecutive measurements is greater than a preset value, a count is made; and when the count exceeds the preset value and the change in heading exceeds the preset value, it is determined that the cleaning robot can escape the predicament.

[0090] After determining that the cleaning robot is entangled in a rope-like obstacle by summing the values ​​from the roll and pitch containers, the robot, due to its motion being trapped, can still perform pitch and roll oscillations, but the change in its heading angle is limited to a combined 90 degrees. It then performs an escape maneuver. Subsequently, when the robot's heading angle changes by a factor exceeding a preset angle, it can be determined that the robot is no longer affected by the rope-like obstacle. In one embodiment, the robot is considered to have escaped the obstacle when the change in heading angle exceeds a combined 120 degrees. This solution, while determining that the robot is entangled in rope and that the heading angle change range is affected by the roll and pitch containers, uses the heading angle to determine the robot's escape status, demonstrating high accuracy in identifying escape attempts.

[0091] 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. This computer program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0092] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by 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 accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0093] As a response to the above Figure 1 The implementation of the method shown in this application provides an embodiment of a cord entanglement recognition device for a cleaning robot, which is similar to... Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0094] A cord entanglement detection device for cleaning robots includes:

[0095] The speed detection module is used to detect the walking status of the cleaning robot. When the cleaning robot is walking in a non-linear state, it detects the rotation speed of the side wheels.

[0096] An angle detection module is used to establish a pitch container for accumulating the pitch angle generated during the movement of the cleaning robot and a roll container for accumulating the roll angle generated during the movement of the cleaning robot when the side wheel stops rotating; and to continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively.

[0097] The current detection module is used to detect the real-time brush current applied to the brush when the pitch accumulation angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container.

[0098] The judgment module is used to determine that the cleaning robot is entangled in the cord when the difference between the real-time side brush current and the standard side brush current exceeds a preset value.

[0099] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 2 , Figure 2 This is a basic structural block diagram of the computer device in this embodiment.

[0100] Compared with the prior art, the embodiments of this application have the following advantages: by detecting the operating status of the cleaning robot and the rotation speed of the side wheels, the situation of the cleaning robot being trapped due to obstacles is first eliminated. Only when the cleaning robot is in an active state and the side wheels are stopped can the cleaning robot be trapped due to entanglement.

[0101] Next, the pitch and roll of the cleaning robot are monitored. When the robot's wheels stop rotating and the pitch or roll amplitude is significant, it is determined that the robot is entangled in a tangle. This solution ensures rapid detection of entanglement-related obstacles and determines the degree of obstruction to the side brush's rotation based on the current applied to the energized side brush, thus pinpointing the primary location affected by the tangle-like obstacle. This solution demonstrates high accuracy in detecting tangle-like obstacles.

[0102] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are interconnected via a system bus. It should be noted that only the computer device 6 with components 61-63 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0103] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0104] The memory 61 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as the hard disk or memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 6. Of course, the memory 61 may also include both the internal storage unit and its external storage device of the computer device 6. In this embodiment, the memory 61 is typically used to store the operating system and various application software installed on the computer device 6, such as program code for a rope entanglement recognition method for a cleaning robot. In addition, the memory 61 can also be used to temporarily store various types of data that have been output or will be output.

[0105] In some embodiments, the processor 62 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is used to run program code stored in the memory 61 or process data, for example, to run the program code for the rope entanglement recognition method for the cleaning robot.

[0106] The network interface 63 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 6 and other electronic devices.

[0107] This application also provides another embodiment, namely, providing a computer-readable storage medium storing a cord entanglement identification program for a cleaning robot, the cord entanglement identification program for a cleaning robot being executable by at least one processor to cause the at least one processor to perform the steps of the cord entanglement identification method for a cleaning robot as described above.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0109] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A method for identifying tangled cords in a cleaning robot, characterized in that, Includes the following steps: Angle monitoring steps: Establish a pitch container for accumulating pitch angles generated during the movement of the cleaning robot, and a roll container for accumulating roll angles generated during the movement of the cleaning robot; and continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively; the pitch angle is accumulated in the pitch container to obtain the pitch accumulation angle, and the roll angle is accumulated in the roll container to obtain the roll accumulation angle; When the cumulative pitch angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the cumulative roll angle recorded in the roll container exceeds the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the rope. When the data detected by the accelerometer and gyroscope are both non-zero, it is determined that the cleaning robot is in a non-linear walking state. In the non-linear walking state, the cleaning robot performs the angle monitoring step. The methods for determining whether the pitch accumulation angle exceeds the maximum capacity of the pitch container and the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container include: The rotational speed of the side wheel is detected, and when the side wheel stops rotating, the pitch angle is accumulated in the pitch container and the roll angle is accumulated in the roll container. Determine whether the cleaning robot is entangled in a rope by continuously accumulating pitch or roll angles; If, during the continuous accumulation of angles over a preset number of times, the pitch accumulation angle is always greater than the maximum capacity of the pitch container, or the roll accumulation angle is always greater than the maximum capacity of the roll container, it is determined that the cleaning robot is entangled in the rope. When the angles are accumulated continuously for a preset number of times, and the accumulated pitch angle is less than the maximum capacity of the pitch container, and the accumulated roll angle is always less than the maximum capacity of the roll container, it is determined that the cleaning robot is in normal driving state; then it is detected whether the cleaning robot is in a straight-line walking state, and in the non-straight-line walking state, the angle monitoring step is performed.

2. The method for identifying tangled cords in a cleaning robot according to claim 1, characterized in that: After determining that the cleaning robot is entangled in the cord, the method further includes: Detect the real-time side brush current applied to the side brush; When the difference between the real-time side brush current and the standard side brush current exceeds a preset value, it is determined that the side brush is entangled by the cord; the standard side brush current is the average value of several sets of currents continuously detected on the side brush when the cleaning robot is walking in a straight line.

3. The method for identifying tangled cords in a cleaning robot according to claim 2, characterized in that: The standard side brush current is the reference current of the side brush, and the calculation method for the reference current of the side brush specifically includes: When the cleaning robot is in a straight-line state, the current of the energized side brush is continuously collected according to the preset sampling number; When the reference current is not recorded or is recorded as 0, the magnitude of the current of the energized side brush is assigned to the reference current. When the reference current exists and the record is not zero, the magnitude of the current of the energized side brush is averaged with the reference current, and the reference current is updated by the output result.

4. The method for identifying tangled cords in a cleaning robot according to claim 3, characterized in that: When the cleaning robot maintains a straight-line state for more than a preset time, the reference current is updated.

5. The method for identifying tangled cords in a cleaning robot according to claim 4, characterized in that, The method for obtaining the real-time side brush current specifically includes: Periodically acquire the current applied to at least two sets of side brushes; When the real-time side brush current is 0, the acquired currents are added together and a value is assigned to the real-time side brush current. When the real-time brush current is not 0, the acquired currents are added together and averaged with the real-time brush current. The real-time brush current is then updated by assigning the average value.

6. A method for identifying tangled cords in a cleaning robot according to claim 2, characterized in that, The method for obtaining the standard brush current includes: When the cleaning robot is in a straight-line walking state, a time period is extracted, during which the cleaning robot maintains a straight-line walking state; During the specified time period, the current of the side brush is acquired and assigned to the sampling current; and the current of the side brush is acquired periodically. When the acquired current is not zero, it is averaged with the sampling current to update the sampling current. When the number of times the sampling current is updated exceeds a preset value, the standard side brush current is updated using the sampling current.

7. A method for recognizing the detachable state of a tether used in a cleaning robot, characterized in that, The method for identifying cord entanglement in a cleaning robot, as described in any one of claims 1 to 6, determines the change in the robot's heading angle after the robot becomes entangled in cord. The cleaning robot is driven to perform a set escape maneuver, and then the tilt angle of the cleaning robot is collected. When the change in the tilting robot's angle between two consecutive measurements is greater than a preset value, a count is made; and when the count exceeds the preset value and the change in the heading angle exceeds the preset value, it is determined that the cleaning robot can escape its predicament.

8. A cord entanglement detection device for a cleaning robot, characterized in that, include: The speed detection module is used to detect the walking status of the cleaning robot. When the cleaning robot is walking in a non-linear state, it detects the rotation speed of the side wheels. An angle detection module is used to establish a pitch container for accumulating the pitch angle generated during the movement of the cleaning robot and a roll container for accumulating the roll angle generated during the movement of the cleaning robot when the side wheel stops rotating; and to continuously accumulate the angle data generated by the cleaning robot through the pitch container and the roll container respectively. The current detection module is used to detect the real-time brush current applied to the brush when the pitch accumulation angle recorded in the pitch container exceeds the maximum capacity of the pitch container, or the roll accumulation angle recorded in the roll container exceeds the maximum capacity of the roll container. The judgment module is used to determine that the cleaning robot is entangled in the cord when the difference between the real-time side brush current and the standard side brush current exceeds a preset value.

Images