Floor sweeping robot, control method and device of floor sweeping robot and storage medium

Abstract

The invention discloses a sweeping robot, a control method and device of the sweeping robot and a storage medium. The sweeping robot comprises a foresight obstacle detection module and a robot body terrain clearance detection module. The first MCU is connected with the foresight obstacle detection module, the second MCU is connected with the machine body terrain clearance detection module, and the third MCU is connected with the second MCU; the foresight barrier detection module comprises at least one group of barrier detection units, and each group of barrier detection units comprises a transmitting lamp and two receiving lamps; the machine body terrain clearance detection module comprises a first-class height detection unit and a second-class height detection unit, the first-class height detection unit comprises a transmitting lamp and a receiving lamp, and the second-class height detection unit comprises a transmitting lamp and two receiving lamps. According to the sweeping robot, the timeliness of data feedback is improved, the action is quicker, the working efficiency is improved, and the detection precision of the obstacle and the terrain clearance of the robot body is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a sweeping robot, a control method and device for the sweeping robot, and a storage medium. Background Art

[0002] Traditional sweeping robots separate the obstacle avoidance module from the anti-fall module. The data processing is collected and calculated by the main MCU and then applied by the software algorithm, which is not very effective. In addition, the traditional obstacle avoidance and anti-fall use the same transmission and reception method, and the detection distance range accuracy is not high. Summary of the invention

[0003] The present invention provides a sweeping robot, a control method, a device and a storage medium for the sweeping robot, so as to solve the problems that the obstacle avoidance module and the anti-fall module of the existing sweeping robot are designed separately and only one main MCU is used for calculation, resulting in low time efficiency, and the obstacle avoidance and anti-fall use one transmission and receiving method, resulting in low accuracy of the detection distance range.

[0004] According to one aspect of the present invention, a sweeping robot is provided, comprising: a forward obstacle detection module and a body ground height detection module; a first microcontroller MCU communicatively connected to the forward obstacle detection module, a second MCU communicatively connected to the body ground height detection module, and a third MCU communicatively connected to the second MCU; the second MCU is communicatively connected to the first MCU;

[0005] The forward-looking obstacle detection module includes at least one group of obstacle detection units, each group of obstacle detection units includes a transmitting light and two receiving lights arranged longitudinally;

[0006] The fuselage height detection module from the ground includes a first type of height detection unit and a second type of height detection unit. The first type of height detection unit includes a transmitting light and a receiving light arranged horizontally, and the second type of height detection unit includes a transmitting light and two receiving lights arranged horizontally.

[0007] According to another aspect of the present invention, a control method for a sweeping robot is provided. The method is applied to the sweeping robot according to any embodiment of the present invention. The method comprises:

[0008] The forward obstacle detection module is used to collect obstacle data in front of the sweeping robot to be controlled, and the obstacle distance is calculated by the first MCU according to the obstacle data;

[0009] Using the first MCU to send the obstacle distance to the third MCU via the second MCU;

[0010] Using the body ground height detection module to collect the real-time ground height data of the cleaning robot to be controlled, and calculating the real-time ground height through the second MCU according to the real-time ground height data;

[0011] Using the second MCU to send the real-time height above the ground to a third MCU;

[0012] The cleaning robot to be controlled is controlled by the third MCU according to the obstacle distance and the real-time height distance from the ground.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the sweeping robot described in any embodiment of the present invention when executed.

[0014] The technical solution of the embodiment of the present invention is to design a sweeping robot including a forward obstacle detection module and a body ground height detection module; a first microcontroller MCU communicatively connected to the forward obstacle detection module, a second MCU communicatively connected to the body ground height detection module, and a third MCU communicatively connected to the second MCU; the second MCU is communicatively connected to the first MCU; the forward obstacle detection module includes at least one group of obstacle detection units, each group of obstacle detection units includes a transmitting light and two receiving lights arranged vertically; the body ground height detection module includes a first type of height detection unit and a second type of height detection unit, the first type of height detection unit includes a lateral The second type of height detection unit includes a transmitting light and two receiving lights arranged horizontally, and adopts multiple MCUs to process data, one transmitting light and two receiving lights to detect obstacles, and the technical means of detecting the height of the body from the ground by pairing and triangulation measurement solves the problem that the obstacle avoidance module and the anti-fall module of the existing sweeping robot are designed separately and processed by one MCU, resulting in low service timeliness, and the obstacle avoidance and anti-fall use one transmitting and receiving method, resulting in low accuracy of the detection distance range. It improves the timeliness of data feedback, makes the sweeping robot move faster, improves the work efficiency of the sweeping machine, and improves the detection accuracy of obstacles and the height of the body from the ground.

[0015] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1a A schematic diagram of the structure of a sweeping robot provided by an embodiment of the present invention;

[0018] Figure 1b A schematic diagram of the viewing angles of nine groups of obstacle detection units of a sweeping robot provided by an embodiment of the present invention;

[0019] Figure 1c A schematic diagram of the structure of each group of obstacle detection units of a sweeping robot provided by an embodiment of the present invention;

[0020] Figure 1d A schematic diagram of the structure of a single second-type height detection unit of a sweeping robot provided by an embodiment of the present invention;

[0021] Figure 1e A schematic diagram of the structure of a single second-type height detection unit of a sweeping robot provided by an embodiment of the present invention;

[0022] Figure 2a A flow chart of a control method of a sweeping robot provided in Embodiment 2 of the present invention;

[0023] Figure 2b A schematic diagram of the working logic of a forward obstacle detection module and a first MCU provided in the second embodiment of the present invention;

[0024] Figure 2c A schematic diagram of the working logic of a fuselage ground height detection module and a second MCU provided in the second embodiment of the present invention;

[0025] Figure 2d A schematic diagram of the control method principle of a sweeping robot is provided for this embodiment;

[0026] Figure 3 A schematic diagram of the structure of a control device for a sweeping robot provided in Embodiment 3 of the present invention;

[0027] Figure 4 It is a structural schematic diagram of an electronic device for implementing the control method of the sweeping robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1a The schematic diagram of the structure of a sweeping robot provided by an embodiment of the present invention is shown in FIG. Figure 1a As shown, the sweeping robot includes: a forward obstacle detection module 110 and a body ground height detection module 120; a first MCU 130 communicatively connected to the forward obstacle detection module, a second MCU 140 communicatively connected to the body ground height detection module, and a third MCU 150 communicatively connected to the second MCU; the second MCU 140 is communicatively connected to the first MCU 130;

[0032] The forward obstacle detection module 110 includes at least one group of obstacle detection units 1101, each group of obstacle detection units includes a transmitting light and two receiving lights arranged longitudinally;

[0033] The fuselage height detection module 120 includes a first type height detection unit 1201 and a second type height detection unit 1202. The first type height detection unit includes a transmitting light and a receiving light arranged horizontally, and the second type height detection unit includes a transmitting light and two receiving lights arranged horizontally.

[0034] The technical solution of this embodiment is to design a sweeping robot including a forward obstacle detection module and a body ground height detection module; a first microcontroller MCU communicatively connected to the forward obstacle detection module, a second MCU communicatively connected to the body ground height detection module, and a third MCU communicatively connected to the second MCU; the second MCU is communicatively connected to the first MCU; the forward obstacle detection module includes at least one group of obstacle detection units, each group of obstacle detection units includes a transmitting light and two receiving lights arranged longitudinally; the body ground height detection module includes a first type of height detection unit and a second type of height detection unit, the first type of height detection unit includes a transversely arranged The first type of height detection unit includes a transmitting light and a receiving light, and the second type of height detection unit includes a transmitting light and two receiving lights arranged horizontally. It adopts multiple MCUs to process data, one transmitting light and two receiving lights to detect obstacles, and uses tubes and triangulation to detect the height of the fuselage from the ground. It solves the problem that the obstacle avoidance module and the anti-fall module of the existing sweeping robot are designed separately and processed by one MCU, resulting in low service timeliness, and the obstacle avoidance and anti-fall use one transmitting and receiving method, resulting in low accuracy of the detection distance range. It improves the timeliness of data feedback, makes the sweeping robot move faster, improves the work efficiency of the sweeping robot, and improves the detection accuracy of obstacles and the height of the fuselage from the ground.

[0035] Optionally, the forward obstacle detection module includes 9 groups of obstacle detection units arranged from left to right along the front of the fuselage;

[0036] Each set of obstacle detection units is used to detect obstacles within a 60° field of view from left to right in front, and the forward-looking obstacle detection module is used to detect obstacles within a 170° field of view from left to right in front;

[0037] Each set of obstacle detection units is used to detect obstacles within the ±15° field of view of the front horizontal line of sight.

[0038] For example, Figure 1b The sweeping robot shown in the figure can use 9 groups of obstacle detection units. According to the angles of the transmitting light and the receiving light, a single obstacle detection unit can detect obstacles within 60° from left to right in front. The forward obstacle detection module can achieve an FOV (Field of View) equivalent to 170° in front, so as to achieve no blind spot detection within 2 cm in front of the sweeping robot. Figure 1b The distance data detected by the obstacle detection unit on the far right of the fuselage shown in FIG. 1 can also be used for cleaning the fuselage along the wall. The structural schematic diagram of each group of obstacle detection units can be as follows: Figure 1c As shown, each set of obstacle detection units includes a longitudinal transmitting light and two receiving lights, and each set of obstacle detection units can detect obstacles within a ±15° field of view of the horizontal line of sight in front.

[0039] Optionally, each group of obstacle detection units can calculate the distance of the obstacle based on the principle of triangulation. Specifically, the first MCU can control one transmitting light and two receiving lights of each group of obstacle detection units in the forward obstacle detection module, cooperate with structural parts (to prevent cross-light), collect data, and calculate distance data. Based on the principle of triangulation, the signal is collected, amplified, and calculated to obtain the distance of the obstacle.

[0040] Optionally, the body ground height detection module may include two groups of first-class height detection units and two groups of second-class height detection units; the two groups of first-class height detection units are respectively arranged on the left and right sides of the chassis of the sweeping robot; the two groups of second-class height detection units are respectively arranged on the front and back sides of the chassis of the sweeping robot.

[0041] Optionally, the first type of height detection unit may calculate the height distance of the first fuselage from the ground based on a light reflection ranging method;

[0042] The second type of height detection unit calculates the height distance of the second fuselage from the ground based on the triangulation principle;

[0043] The second type of height detection unit is used for carpet detection.

[0044] In this embodiment, the structural diagram of a single first-type height detection unit can be as follows: Figure 1d As shown, a transmitting light and a receiving light are included. Specifically, the second MCU can be used to collect the signal strength received by the transmitting light and the receiving light through an ADC (Analog-to-Digital Converter) to calculate the distance data.

[0045] The structural diagram of a single second type height detection unit can be as follows: Figure 1e As shown, it includes a transmitting lamp and two receiving lamps. The two groups of second-type height detection units of this embodiment can be arranged on the front and rear sides of the chassis of the sweeping robot. The second-type height detection unit arranged on the front side of the chassis of the sweeping robot can be used to limit the placement of the three lamps within a certain angle. The three lamp tubes intersect at a height of about 20mm from the lamp tubes. Through triangulation, the height from the ground is detected, and the distance is accurate within 10cm, and it can be applied to any material ground. The second-type height detection unit arranged on the rear side of the chassis of the sweeping robot can be used to limit the placement of the three lamps within a certain angle. Through the principle of triangulation, combined with the fact that the transmitting light source has more mirror reflection signals on smooth ground and more diffuse reflection signals on carpet ground, the data received by the receiving lamp tube is more different, and it can be distinguished whether the road surface on which the sweeping robot walks is a hard ground or a carpet.

[0046] Embodiment 2

[0047] Figure 2aThis is a flow chart of a control method for a sweeping robot provided in the second embodiment of the present invention. This embodiment is applicable to the case of controlling the sweeping robot to move forward. The method can be executed by a control device of the sweeping robot. The control device of the sweeping robot can be implemented in the form of hardware and / or software. The control device of the sweeping robot can be configured in the main controller of the sweeping robot described in the above embodiment. Figure 2a As shown, the method includes:

[0048] S210: using the forward obstacle detection module to collect obstacle data ahead of the sweeping robot to be controlled, and calculating the obstacle distance through the first MCU according to the obstacle data.

[0049] S220: Use the first MCU to send the obstacle distance to the third MCU via the second MCU.

[0050] S230, using the body ground height detection module to collect the real-time ground height data of the sweeping robot to be controlled, and calculating the real-time ground height through the second MCU according to the real-time ground height data.

[0051] S240: Use the second MCU to send the real-time height above the ground to the third MCU.

[0052] S250: Control the sweeping robot to be controlled by a third MCU according to the obstacle distance and the real-time height above the ground.

[0053] In this embodiment, the forward obstacle detection module and the fuselage ground height detection module can be integrated on a PCBA (Printed Circuit Board Assembly), and the first MCU and the second MCU can perform data calculation and cache respectively, and then send the data to the third MCU through the serial port communication between the boards. After receiving the data, the third MCU implements the front obstacle avoidance and anti-fall function of the fuselage according to the algorithm logic.

[0054] Specifically, the working logic of the forward obstacle detection module and the first MCU can be as follows: Figure 2bAs shown. Initialize IIC (Inter-Integrated Circuit, integrated circuit bus) and serial port initialization; set sampling chip registers; check the calibration data stored in flash; read flash-1 data, perform chesum to determine whether it passes, if it passes, use flash to store calibration data, if not, read flash-2 data, perform chesum to determine whether it passes, if not, use default settings to calibrate data and start the main loop of the program, if it passes, use flash to store calibration data and start the main loop of the program. After starting the main loop of the program, data acquisition is performed, obstacle detection data is read from the acquisition chip for data calculation and output of the obstacle detection distance, the obstacle detection distance is sent as data, and it is determined whether a test instruction is received. If a test instruction is received, the test protocol (i.e., original data) can be output; if no test instruction is received, the normal protocol (i.e., obstacle detection distance) can be output. After outputting the test protocol or the normal protocol, the operation of starting the main loop of the program can be returned to; after starting the main loop of the program, it can be determined whether a calibration instruction is received. If a calibration instruction is received, the calibration process can be entered, and the calibration data can be written to the flash for storage, thereby exiting the calibration and returning to the operation of starting the main loop of the program. If no calibration instruction is received, the operation of starting the main loop of the program can be directly returned to.

[0055] The working logic of the fuselage height detection module and the second MCU can be as follows: Figure 2cAs shown. Start to initialize IIC, serial port, ADC, and IO; set sampling chip registers; check the calibration data stored in flash; read flash-1 data, perform chesum to determine whether it passes, if not, read flash-2 data, perform chesum to determine whether it passes, if not, use the default settings to calibrate the data and start the main loop of the program, if not, use flash to store the calibration data and start the main loop of the program. After starting the main loop of the program, data acquisition can be performed, and the ground clearance detection data can be read from the acquisition chip (or the ground clearance detection data can be obtained through the ADC) to perform data calculation and output the ground clearance detection distance and the carpet detection result, and further data sending can be performed to determine whether a test instruction is received. If a test instruction is received, the test protocol (i.e., original data) can be output. If a test instruction is not received, the normal protocol (i.e., ground clearance detection distance and carpet detection result) can be output. After outputting the test protocol or the normal protocol, the operation of starting the main loop of the program can be returned to; after starting the main loop of the program, it can also be determined whether a calibration instruction is received. If a calibration instruction is received, the calibration process can be entered, and the calibration data can be written to the flash for storage, thereby exiting the calibration and returning to the operation of starting the main loop of the program. If no calibration instruction is received, the operation of starting the main loop of the program can be directly returned to; after starting the main loop of the program, the forward obstacle detection result sent by the first MCU can be received and the data can be transparently transmitted to the third MCU.

[0056] The technical solution of this embodiment is to collect obstacle data in front of the sweeping robot to be controlled by using the forward obstacle detection module, and calculate the obstacle distance through the first MCU according to the obstacle data; use the first MCU to send the obstacle distance to the third MCU through the second MCU; use the fuselage height detection module to collect the real-time height data of the sweeping robot to be controlled, and calculate the real-time height from the ground through the second MCU according to the real-time height data; use the second MCU to send the real-time height from the ground to the third MCU; and control the sweeping robot to be controlled through the third MCU according to the obstacle distance and the real-time height from the ground. The technical means of using multiple MCUs to process data solves the problem of low timeliness caused by the separate design of the obstacle avoidance module and the anti-fall module of the existing sweeping robot and using one MCU for processing, improves the timeliness of data feedback, makes the sweeping robot move faster, and improves the work efficiency of the sweeping robot.

[0057] In order to enable those skilled in the art to better understand the control method of the sweeping robot of this embodiment, Figure 2dA schematic diagram of the control method of a sweeping robot is provided for this embodiment. Based on a PCBA, the MCU1 chip (equivalent to the first MCU) processes the data collection and data filtering of the distance detection of the front obstacle, and sends the measured distance of the obstacle to the processing unit MCU2 (equivalent to the second MCU) through geometric calculation; MCU2 performs body logic processing according to the data, and collects 2 groups of anti-fall signals and 2 groups of pipe detection signal processing to realize the front obstacle avoidance and anti-fall functions of the sweeping robot, and MCU2 sends the data to the main program MCU (equivalent to the third MCU) for obstacle avoidance and anti-fall control. Through the algorithm, the front obstacle can be identified at 5±0.5cm and the machine can avoid the obstacle; the height from the ground can be identified at 6~8cm and the machine can walk normally, and the height of the body from the ground exceeds 8cm and the machine will not fall.

[0058] Embodiment 3

[0059] Figure 3 This is a schematic diagram of the structure of a control device for a sweeping robot provided in Embodiment 3 of the present invention. The device is integrated into the sweeping robot described in any embodiment of the present invention, such as Figure 3 As shown, the device includes: an obstacle distance calculation unit 310, an obstacle distance sending unit 320, a real-time ground height calculation unit 330, a real-time ground height sending unit 340 and a sweeping robot control unit 350. Among them:

[0060] The obstacle distance calculation unit 310 is used to collect obstacle data in front of the sweeping robot to be controlled by using the forward obstacle detection module, and calculate the obstacle distance through the first MCU according to the obstacle data;

[0061] The obstacle distance sending unit 320 is used to use the first MCU to send the obstacle distance to the third MCU through the second MCU;

[0062] A real-time ground clearance calculation unit 330 is used to collect the real-time ground clearance data of the cleaning robot to be controlled by using the body ground clearance detection module, and calculate the real-time ground clearance through the second MCU according to the real-time ground clearance data;

[0063] A real-time ground clearance sending unit 340 is used to send the real-time ground clearance to a third MCU using the second MCU;

[0064] The cleaning robot control unit 350 is used to control the cleaning robot to be controlled through the third MCU according to the obstacle distance and the real-time height distance from the ground.

[0065] The technical solution of this embodiment is to collect obstacle data in front of the sweeping robot to be controlled by using the forward obstacle detection module, and calculate the obstacle distance through the first MCU according to the obstacle data; use the first MCU to send the obstacle distance to the third MCU through the second MCU; use the fuselage height detection module to collect the real-time height data of the sweeping robot to be controlled, and calculate the real-time height from the ground through the second MCU according to the real-time height data; use the second MCU to send the real-time height from the ground to the third MCU; and control the sweeping robot to be controlled through the third MCU according to the obstacle distance and the real-time height from the ground. The technical means of using multiple MCUs to process data solves the problem of low timeliness caused by the separate design of the obstacle avoidance module and the anti-fall module of the existing sweeping robot and using one MCU for processing, improves the timeliness of data feedback, makes the sweeping robot move faster, and improves the work efficiency of the sweeping robot.

[0066] Optionally, the real-time ground clearance calculation unit 330 may include:

[0067] The ground height data collection subunit is used to collect the ground height data of the first body of the cleaning robot to be controlled by using the first type of height detection unit; and collect the ground height data of the second body of the cleaning robot to be controlled by using the second type of height detection unit;

[0068] The real-time ground clearance calculation subunit is used to calculate the real-time ground clearance through the second MCU according to the first fuselage ground clearance data and the second fuselage ground clearance data.

[0069] The control device of the sweeping robot also includes a carpet detection unit for:

[0070] Using the second type of height detection unit to perform carpet detection on the ground on which the sweeping robot to be controlled is traveling;

[0071] The carpet detection result is sent to the third MCU, so that the third MCU controls the sweeping robot to be controlled according to the carpet detection result.

[0072] The control device of the sweeping robot provided by the embodiment of the present invention and integrated into any embodiment of the present invention can execute the control method of the sweeping robot provided by any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method.

[0073] Embodiment 4

[0074] Figure 4A schematic diagram of an electronic device 400 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers or various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0075] like Figure 4 As shown, the electronic device 400 includes at least one processor 401, and a memory connected to the at least one processor 401 in communication, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 401 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0076] Multiple components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0077] The processor 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 401 executes the various methods and processes described above, such as a control method for a sweeping robot.

[0078] In some embodiments, the control method of the sweeping robot may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the processor 401, one or more steps of the control method of the sweeping robot described above may be performed. Alternatively, in other embodiments, the processor 401 may be configured to execute the control method of the sweeping robot in any other appropriate manner (e.g., by means of firmware).

[0079] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0081] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0083] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0084] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0085] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0086] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sweeping robot, characterized in that: include: A forward obstacle detection module and a fuselage height-from-the-ground detection module; a first microcontroller MCU communicatively connected to the forward obstacle detection module, a second MCU communicatively connected to the fuselage height-from-the-ground detection module, and a third MCU communicatively connected to the second MCU; the second MCU is communicatively connected to the first MCU; The forward-looking obstacle detection module includes at least one group of obstacle detection units, each group of obstacle detection units includes a transmitting light and two receiving lights arranged longitudinally; The fuselage height detection module from the ground includes a first type of height detection unit and a second type of height detection unit. The first type of height detection unit includes a transmitting light and a receiving light arranged horizontally, and the second type of height detection unit includes a transmitting light and two receiving lights arranged horizontally.

2. The sweeping robot according to claim 1, characterized in that: include: The forward obstacle detection module includes 9 groups of obstacle detection units arranged from left to right along the front of the fuselage; Each group of obstacle detection units is used to detect obstacles within a 60° field of view from left to right in front, and the forward-looking obstacle detection module is used to detect obstacles within a 170° field of view from left to right in front; Each group of obstacle detection units is used to detect obstacles within a ±15° field of view of the front horizontal line of sight.

3. The sweeping robot according to claim 1, characterized in that: include: Each group of obstacle detection units calculates the distance of the obstacle based on the triangulation principle.

4. The sweeping robot according to claim 1, characterized in that: include: The fuselage height detection module comprises two groups of first-type height detection units and two groups of second-type height detection units; The two groups of first-type height detection units are respectively arranged on the left and right sides of the chassis of the sweeping robot; The two groups of second type height detection units are respectively arranged on the front and rear sides of the chassis of the sweeping robot.

5. The sweeping robot according to claim 1, characterized in that: include: The first type of height detection unit calculates the height distance of the first fuselage from the ground based on the light reflection ranging method; The second type of height detection unit calculates the height distance of the second fuselage from the ground based on the triangulation distance measurement principle; The second type of height detection unit is used for carpet detection.

6. A control method for a sweeping robot, applied to the sweeping robot according to any one of claims 1 to 5, characterized in that: include: The forward obstacle detection module is used to collect obstacle data in front of the sweeping robot to be controlled, and the obstacle distance is calculated by the first MCU according to the obstacle data; Using the first MCU to send the obstacle distance to the third MCU via the second MCU; Using the body ground height detection module to collect the real-time ground height data of the cleaning robot to be controlled, and calculating the real-time ground height through the second MCU according to the real-time ground height data; Using the second MCU to send the real-time height above the ground to a third MCU; The cleaning robot to be controlled is controlled by the third MCU according to the obstacle distance and the real-time height distance from the ground.

7. The method according to claim 6, characterized in that The real-time ground height data of the sweeping robot to be controlled is collected by using the body ground height detection module, including: Using a first type of height detection unit to collect the height data of the first body of the sweeping robot to be controlled from the ground; Using the second type of height detection unit to collect the height data of the second body of the sweeping robot to be controlled from the ground; Calculating the real-time ground clearance by the second MCU according to the real-time ground clearance data includes: The real-time height above the ground is calculated by the second MCU according to the first body height above the ground data and the second body height above the ground data.

8. The method according to claim 6, characterized in that Also includes: Using the second type of height detection unit to perform carpet detection on the ground where the sweeping robot to be controlled is traveling; The carpet detection result is sent to the third MCU, so that the third MCU controls the sweeping robot to be controlled according to the carpet detection result.

9. A control device for a sweeping robot, integrated into the sweeping robot according to any one of claims 1 to 5, characterized in that: include: An obstacle distance calculation unit, used to collect obstacle data ahead of the sweeping robot to be controlled by using the forward-looking obstacle detection module, and calculate the obstacle distance through the first MCU according to the obstacle data; An obstacle distance sending unit, configured to use the first MCU to send the obstacle distance to a third MCU via the second MCU; A real-time ground clearance calculation unit, configured to collect real-time ground clearance data of the sweeping robot to be controlled by using the body ground clearance detection module, and calculate the real-time ground clearance through the second MCU according to the real-time ground clearance data; A real-time ground clearance sending unit, configured to send the real-time ground clearance to a third MCU using the second MCU; The sweeping robot control unit is used to control the sweeping robot to be controlled through the third MCU according to the obstacle distance and the real-time height distance from the ground.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the sweeping robot according to any one of claims 6 to 8 when executed.

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