State detection method, device and equipment and readable storage medium
By using linear detectors to detect the status of mopping components in cleaning robots, the complex and cost-effective detection in the prior art is solved, and high accuracy and low cost state detection is achieved, which extends the equipment life.
Patent Information
- Application Number
- CN202311425693.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-30
- Publication Date
- 2025-05-02
AI Technical Summary
The existing cleaning robots use Hall sensors and infrared optocoupler devices to detect the state of the rag disk. The structure is complex, costly and accurate, and the infrared optocoupler devices are prone to liquid corrosion, affecting the life of the equipment.
A linear detector is used to detect the state of the mopping assembly, and the induced voltage is output by detecting the magnetic field strength, and the installation status and position of the mopping assembly are determined based on the induction voltage.
It realizes state detection with simple structure, low cost and high accuracy, avoids the liquid inlet corrosion problem of infrared optocoupler devices, extends the life of the equipment, and optimizes the structural space of the equipment.
Smart Images
Figure CN119916488A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the field of artificial intelligence technology, and in particular to a state detection method, device, equipment and readable storage medium. Background Art
[0002] With the advancement of science and technology and the improvement of people's quality of life, cleaning robots have entered the lives of more and more people. Cleaning robots are a kind of intelligent household cleaning appliances, which can automatically complete tasks such as sweeping, vacuuming, and mopping the floor.
[0003] At present, most cleaning robots on the market are integrated sweeping and mopping robots, which can perform sweeping tasks alone, mopping tasks alone, or sweeping and mopping tasks at the same time. When mopping the floor, the cleaning robot drives the rag plate to rotate relative to the body of the cleaning robot while moving, so as to wipe the floor to achieve the mopping effect. Before mopping the floor, the cleaning robot uses a Hall sensor to detect whether the rag plate is installed in place. If the rag plate is installed in place, an infrared optical coupler device is further used to detect whether the rag plate is in a raised state or a lowered state.
[0004] The above-mentioned method of using the Hall sensor and the infrared photocoupler device to detect the state of the rag plate has a complex structure and high cost. Summary of the invention
[0005] The embodiments of the present application provide a state detection method, device, equipment and readable storage medium, which use a linear detector to detect the state of a mopping component, have a simple structure, low cost and high accuracy.
[0006] In a first aspect, an embodiment of the present application provides a state detection method, which is applied to a self-moving device having a linear detector, and the method includes:
[0007] The linear detector is used to detect the magnetic field strength of a first area, the first area is located below the linear detector, the linear detector is arranged on a driving component, and the driving component is used to provide power for the mopping component of the self-moving device;
[0008] Outputting an induced voltage according to the magnetic field strength;
[0009] The state of the mopping component is determined according to the induced voltage.
[0010] In a second aspect, an embodiment of the present application provides a state detection device, which is provided on a self-moving device having a linear detector, and includes:
[0011] A detection module, used to detect the magnetic field strength of a first area using the linear detector, the first area is located directly below the linear detector, the linear detector is arranged on a driving assembly, and the driving assembly is used to provide power for the mopping assembly;
[0012] An output module, used for outputting an induced voltage according to the magnetic field strength;
[0013] A processing module is used to determine the state of the mopping component according to the induced voltage.
[0014] In a third aspect, an embodiment of the present application provides a self-moving device, including:
[0015] Equipment body;
[0016] A driving assembly, disposed on the equipment body, for driving the lifting assembly;
[0017] A lifting assembly, arranged below the driving assembly, for controlling the position of the mopping assembly;
[0018] The mopping assembly is arranged below the lifting assembly and is used to clean the surface to be cleaned; wherein,
[0019] A linear detector is provided on the driving assembly for detecting the magnetic field intensity of a first area, and the first area is located directly below the linear detector;
[0020] A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the method described in the first aspect or various possible implementations of the first aspect.
[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.
[0022] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.
[0023] The state detection method, device, equipment and readable storage medium provided in the embodiments of the present application are applied to a self-moving device with a linear detector. The self-moving device uses the linear detector to detect the magnetic field strength of the first area, that is, the lower area, outputs an induced voltage according to the magnetic field strength, and then determines the state of the mopping component according to the induced voltage. With this solution, the linear detector is used to detect the state of the mopping component, that is, to detect whether the mopping component is installed, in the rising state or the falling state. The structure is simple, the accuracy is high, and the cost is low. Moreover, the linear detector is set on the driving component, and there is no need to worry about liquid ingress, corrosion, etc. with long-term use, which effectively improves the life of the self-moving device. In addition, there is no need to set up an infrared optical coupler device, which optimizes the structural space of the self-moving device and is low in cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0025] Figure 1 It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application;
[0026] Figure 2 It is an assembly diagram of a mopping assembly, a lifting assembly, and a driving assembly of a self-moving device provided in an embodiment of the present application;
[0027] Figure 3A When the mopping component is in the lowered state Figure 2 Schematic diagram of the cross section along the AA direction;
[0028] Figure 3B When the mopping component is in the raised state Figure 2 Schematic diagram of the cross section along the AA direction;
[0029] Figure 4A It is a schematic diagram of an angle of a housing of a lifting assembly of a self-moving device provided in an embodiment of the present application;
[0030] Figure 4B is a schematic diagram of another angle of the housing of the lifting assembly of the self-moving device provided in an embodiment of the present application;
[0031] Figure 4C is a schematic diagram of a spiral assembly of a self-moving device provided in an embodiment of the present application;
[0032] Figure 5A is a cross-sectional schematic diagram of the lifting component when the mopping component is in a raised state;
[0033] Figure 5B is a cross-sectional schematic diagram of the lifting assembly when the mopping assembly is in a descending state;
[0034] Figure 6 is a flow chart of a state detection method provided in an embodiment of the present application;
[0035] Figure 7 It is a connection circuit diagram of a linear detector and a mainboard applicable to the state detection method provided in an embodiment of the present application;
[0036] Figure 8 It is a schematic diagram of the detection device provided in the embodiment of the present application. DETAILED DESCRIPTION
[0037] Self-moving devices are also called robots, autonomous mobile devices, self-moving robots, etc. They are widely used in various industries because they can free human hands.
[0038] A cleaning robot is a common smart home appliance that can sweep the floor with a sweeping component and mop the floor with a mopping component, so it is very popular. The mopping component includes a rag plate, a rag mounted on the rag plate, a magnet above the rag plate, and the like.
[0039] Due to the complex working environment, the mopping function is not necessary in some environments. For example, when the floor is carpeted, if the mopping function is used, the friction between the rag and the carpet will make the carpet dirtier. In addition, when the mopping function needs to be activated, it is necessary to ensure that the mopping component is installed in place. Therefore, it is necessary to detect the status of the mopping component.
[0040] The mopping component has the following states: Uninstalled, Installed and the rag plate is in the lowered state, Installed and the rag plate is in the raised state. When the rag plate is in the lowered state, it means that the rag plate has reached the lowest point and can perform the mopping task. For example, the cleaning robot sweeps and mops at the same time. When the rag plate is in the raised state, it means that the rag plate has reached the highest point and performs the sweeping task alone.
[0041] Usually, a magnet is set on the mopping component, and the cleaning robot uses a Hall sensor to detect whether the rag plate is installed in place. If the rag plate is installed in place, an infrared optical coupler device is further used to detect whether the rag plate is in a raised state or a lowered state. When the mopping component is not installed in place, the Hall sensor cannot collect the voltage signal transmitted by the magnet above the rag plate, and transmits the information that the voltage signal cannot be collected to the host, causing the host to alarm to remind the user that the mopping component is not installed.
[0042] When the mopping assembly is in place and the rag plate is in a lowered state, the Hall sensor collects the voltage signal transmitted by the magnet above the rag plate and feeds it back to the host, allowing the host to determine that the mopping assembly is in place. At this time, if the black baffle between the receiving lamp and the transmitting lamp of the infrared optocoupler device is in a lowered state, the receiving lamp can receive the light emitted by the transmitting lamp, and the voltage inside the infrared optocoupler device is pulled down. The infrared optocoupler device feeds back the lowered voltage to the host, allowing the host to determine that the rag plate is in a lowered state. After that, the cleaning robot enters the mopping mode.
[0043] If the receiving light and the transmitting light of the infrared optocoupler are blocked by a black baffle, the receiving light cannot receive the light emitted by the transmitting light, and the voltage inside the infrared optocoupler is pulled up. The infrared optocoupler feeds back the pulled-up voltage to the host, so that the host determines that the rag plate is in the rising state. After that, the cleaning robot enters the sweeping mode.
[0044] The above detection method using Hall sensors and infrared optocouplers has a high input and output (IO) port occupancy rate, high cost, and unreasonable structural space. Moreover, optocoupler detection will produce errors due to assembly structure tolerance, self-tolerance, etc., and has poor reliability. In addition, with the long-term use of the cleaning robot, the infrared optocoupler will have risks such as liquid ingress and corrosion, and its waterproof ability is poor, which limits the life of the cleaning robot.
[0045] Based on this, the embodiments of the present application provide a state detection method, device, equipment and readable storage medium, which use a linear detector to detect the state of the mopping component, with a simple structure, low cost and high accuracy.
[0046] Figure 1 It is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present application. Figure 2 It is an assembly diagram of a mopping component, a lifting component and a driving component of a self-moving device provided in an embodiment of the present application.
[0047] Please refer to Figure 1 and Figure 2 The self-moving device 100 provided in the embodiment of the present application has a mopping assembly 20 disposed on the device body 10. The self-moving device 10 can automatically move on the surface to be cleaned to clean and remove dust from the surface to be cleaned that it passes through, and can also use the mopping assembly 20 to scrub the surface to be cleaned. The surface to be cleaned can be the ground, the surface to be cleaned of an object, etc.
[0048] The device body 10 of the self-moving device 100 is used to carry and protect the other components of the self-moving device 100. The device body 10 is provided with a mechanism for driving the self-moving device 100 to move, such as a driving wheel, a universal wheel, etc. In addition, a roller brush, etc. is also provided on the device body 10. In addition, the self-moving device 100 also has a dust collection function.
[0049] The mopping assembly 20 is used to clean the surface to be cleaned. For example, the mopping assembly 20 is rotatable, and the surface to be cleaned is scrubbed by the rotation of the mopping assembly 20 around its own central axis. The mopping assembly 20 includes a rotatable rag, a rag holder, and the like.
[0050] A driving assembly 30 is provided on the device body 10 of the self-mobile device 100, and the driving assembly 30 is transmission-connected with the mopping assembly 20 and the lifting assembly 40, and is used to drive the mopping assembly 20 to rotate to clean the surface to be cleaned, and to drive the mopping assembly 20 to rise or fall through the lifting assembly 40.
[0051] In the embodiment of the present application, a linear detector is provided on the driving assembly 30 of the mobile device 100 to detect the magnetic field strength of the first area, and the first area is located below the linear detector. The linear detector is also called a linear Hall effect sensor, which is a small universal Hall sensor device that works by relying on the magnetic field of a permanent magnet and an electromagnet. Figure 1 and Figure 2 The linear detector is not shown.
[0052] The mobile device 100 outputs an induced voltage according to the magnetic field strength detected by the linear detector, and then determines the state of the mopping component 20 according to the induced voltage, such as whether it is installed in place, in an ascending state or a descending state.
[0053] The driving assembly 30 includes a driving motor and a power output shaft connected to the driving motor. The driving motor is the core driving element of the driving assembly 30, and the power output shaft is used to transmit the torque output by the driving motor to the mopping assembly 20 to drive the mopping assembly 20 to rotate; or, drive the mopping assembly 20 to rise or fall through the lifting assembly 40.
[0054] The mopping component has the following states: not installed, installed and the rag plate is in the lowered state, installed and the rag plate is in the raised state. When the rag plate is in the lowered state, it means that the rag plate has reached the lowest point and can perform mopping tasks or sweeping and mopping tasks. When the rag plate is in the raised state, it means that the rag plate has reached the highest point and can perform sweeping tasks alone.
[0055] Figure 3A When the mopping component is in the lowered state Figure 2 Schematic diagram of the cross section along the AA direction; Figure 3B When the mopping component is in the raised state Figure 2 Schematic diagram of the cross section along the AA direction.
[0056] Please refer to Figure 3A, a magnet 21 is arranged above the mopping assembly 20. A linear detector 31 is arranged on the gear box cover of the driving motor 32 of the driving assembly 30. The output shaft 33 of the driving motor gear box of the driving assembly 30 is connected to the output sleeve 34 of the lifting assembly 40 by screws. The driving motor of the driving assembly 30 drives the output shaft 33 of the gear box to rotate through the gear, thereby driving the output sleeve 34 to rotate.
[0057] When the output sleeve 34 rotates clockwise, the one-way bearing 35 of the lifting assembly 40 rotates, driving the gyro cam 36 to rotate, so that the roller of the lifting sleeve 37 of the lifting assembly 40 rotates and moves on the spiral boss of the spiral cam 36. At this time, the lifting sleeve 37 descends under the action of the spring and gravity, and finally the mopping assembly 20 is in a descending state.
[0058] Please refer to Figure 3B When the output sleeve 34 rotates counterclockwise, the one-way bearing 35 cannot rotate, and the spiral cam 36 cannot rotate. At the same time, the roller of the lifting sleeve 37 rotates and moves on the spiral boss of the spiral cam 36, and the lifting sleeve 37 rises to overcome the spring and gravity, so that the mopping assembly 20 is in an ascending state.
[0059] In the embodiment of the present application, when the mopping assembly 20 is installed in place, the self-moving device controls the rise and fall of the mopping assembly 20 through the lifting assembly 40. The lifting assembly 40 includes a shell and a spiral assembly. Figure 4A is a schematic diagram of an angle of a housing of a lifting assembly of a self-moving device provided in an embodiment of the present application, Figure 4B It is a schematic diagram of another angle of the housing of the lifting assembly of the self-moving device provided in an embodiment of the present application. Figure 4C It is a schematic diagram of a spiral assembly of a self-moving device provided in an embodiment of the present application.
[0060] Please refer to Figure 4A to Figure 4C The spiral assembly is assembled into the housing of the lifting assembly to form the lifting assembly. The spiral assembly has a transmission guide rail. Through the cooperation of the spiral assembly and the housing, the purpose of controlling the mopping assembly to rise or fall is achieved through the lifting assembly.
[0061] Figure 5A is a cross-sectional schematic diagram of the lifting component when the mopping component is in a raised state; Figure 5B This is a cross-sectional diagram of the lifting assembly when the mopping assembly is in the lowered state. Figure 5AThe output shaft of the drive motor gearbox of the drive assembly is connected to the output sleeve 34 by screws. The drive motor drives the one-way bearing 35 of the gearbox to rotate through the gear, thereby driving the output sleeve 34 to rotate. When the output sleeve 34 rotates counterclockwise, the one-way bearing 35 cannot rotate, and the spiral cam 36 cannot rotate. At the same time, the roller of the lifting sleeve 37 rotates and moves on the spiral boss of the spiral cam 36, and the lifting sleeve 37 overcomes the spring and gravity to rise, so that the mopping assembly is in an ascending state.
[0062] Please refer to Figure 5B When the output sleeve 34 rotates clockwise, the one-way bearing 35 rotates, driving the gyro cam 36 to rotate, so that the roller of the lifting sleeve 37 rotates and moves on the spiral boss of the spiral cam 36. At this time, the lifting sleeve 37 descends under the action of the spring and gravity, so that the mopping assembly 20 is in a descending state.
[0063] Below, based on the description of the self-moving device, the lifting assembly, the linear detector, etc., the state detection method described in the embodiment of the present application is only described in detail. Figure 6 , Figure 6 : is a flow chart of a state detection method provided by an embodiment of the present application. This embodiment is applied to a self-moving device having a linear detector, and this embodiment includes:
[0064] 601. Detect the magnetic field strength of a first area using the linear detector, where the first area is located below the linear detector, and the linear detector is disposed on a driving component, and the driving component is used to provide power for a mopping component of the self-moving device.
[0065] In the embodiment of the present application, the linear detector is a small universal linear Hall sensor that relies on permanent magnets and electromagnet magnetic fields to work, also known as a linear Hall effect sensor. It adopts complementary metal oxide semiconductor (CMOS) technology, has the advantages of low voltage and low power consumption, and can work between 3 volts (V) and 5V. Compared with the detection method of the combination of infrared optocoupler devices and Hall sensors, the linear detector has lower costs, more accurate detection results, and simpler structural requirements.
[0066] The output voltage of the linear detector is set by the supply voltage and changes linearly with the magnetic field strength. The magnetic field strength is the magnetic field strength of the first area detected by the linear detector, that is, the area below the linear detector. Assuming that the magnetic field strength is C1 when the mopping component is not installed, the magnetic field strength is C2 when the mopping component is installed and in a descending state, and the magnetic field strength is C3 when the mopping component is installed and in an ascending state, then C1<C2<C3. The magnetic field strength is the Hall induction strength. The greater the magnetic field strength, the greater the Hall induction strength.
[0067] 602. Output an induced voltage according to the magnetic field strength.
[0068] The linear detector outputs an induced voltage according to the magnetic field strength, and the induced voltage is, for example, an analog voltage. The greater the magnetic field strength, the smaller the induced voltage.
[0069] 603. Determine the state of the mopping component according to the induced voltage.
[0070] The self-mobile device compares the induced voltage with a preset voltage threshold, etc., to determine the state of the mopping component.
[0071] The state detection method provided in the embodiment of the present application is applied to a self-moving device with a linear detector. The self-moving device uses the linear detector to detect the magnetic field strength of the first area, that is, the lower area, outputs an induced voltage according to the magnetic field strength, and then determines the state of the mopping component according to the induced voltage. With this solution, the linear detector is used to detect the state of the mopping component, that is, to detect whether the mopping component is installed, in the rising state or the falling state. The structure is simple, the accuracy is high, and the cost is low. Moreover, the linear detector is set on the driving component, and there is no need to worry about liquid ingress, corrosion, etc. with long-term use, which effectively improves the life of the self-moving device. In addition, there is no need to set up an infrared optical coupler device, which optimizes the structural space of the self-moving device and is low-cost.
[0072] Optionally, in the above embodiment, in the process of determining the state of the mopping component according to the induced voltage by the self-mobile device, first, the induced voltage is converted into a digital voltage. Then, whether to install the mopping component is determined according to the digital voltage. When the mopping component is installed, the state of the mopping component is further determined.
[0073] In order to facilitate the self-moving device to better read the voltage, in the embodiment of the present application, the simulated induced voltage is further converted into a digital voltage. Afterwards, the self-moving device determines whether the mopping component is installed according to the digital voltage. When the mopping component is installed, the state of the mopping component is further determined, that is, whether it is in an upward state or a downward state.
[0074] Figure 7 This is a connection circuit diagram of a linear detector and a mainboard applicable to the state detection method provided in the embodiment of the present application. Figure 7 A digital-to-analog conversion module 711 is provided on the mainboard 71 of the mobile device. The detection circuit 72 includes a linear detector 721, an amplifier 722, a first resistor 723, a second resistor 724, and a third resistor 725. The first resistor 723 is a voltage-dividing resistor for adjusting the input current of the linear detector 721, and the second resistor 724 and the third resistor 725 are amplification factor adjustment resistors. The amplification factor is: (R2+R3) / R2.
[0075] The embodiment of the present application does not limit the resistance values of the first resistor 723, the second resistor 724 and the third resistor 725. For example, in one embodiment, the first resistor 723 is a 33 ohm (Ω) resistor, the second resistor 724 is a 10KΩ resistor, and the third resistor 725 is a 200KΩ resistor.
[0076] Figure 7 In the embodiment, the linear detector 721, the amplifier 722 and the digital-to-analog conversion module 711 are all powered by the mainboard, and the output end of the linear detector 721 is connected to the digital-to-analog conversion module 711 on the mainboard 71. Based on this structure, after the linear detector 721 detects the magnetic field strength, it outputs an analog induced voltage according to the magnetic field strength, and the induced voltage is amplified by the amplifier and input into the digital-to-analog conversion module 711. The digital-to-analog conversion module 711 performs digital-to-analog conversion on the amplified analog voltage to obtain a digital voltage. The analog-to-digital conversion module 711 can calculate the analog voltage corresponding to the induced voltage output by the current linear detector, and then determine the state of the mopping component, solving the problem that the lifting and lowering of the mopping component cannot be detected.
[0077] By adopting this solution, the analog voltage output by the linear detector is amplified and converted into a digital voltage, and based on the digital voltage, it is determined whether the mopping component is installed and whether the mopping component is in an ascending state or a descending state, with high accuracy and high speed.
[0078] Optionally, in the above embodiment, when the self-mobile device determines whether to install the mopping component according to the digital voltage, first, it is determined whether the digital voltage is greater than a first threshold. When the digital voltage is greater than the first threshold, it is determined that the mopping component is not installed. When the digital voltage is less than or equal to the first threshold, the self-mobile device determines that the mopping component is installed.
[0079] The first threshold, the first endpoint of the target interval, the second endpoint, etc. are pre-stored on the self-mobile device. The self-mobile device compares the digital voltage and the first threshold to draw a conclusion on whether the mopping component is installed. This is because when the mopping component is not installed, the magnetic field strength is the smallest; when the mopping component is installed but in a descending state, the magnetic field strength becomes larger; when the mopping component is installed but in an ascending state, the magnetic field strength is the largest. The greater the magnetic field strength, the lower the digital voltage. Therefore, if the mopping component is installed, the digital voltage must be lower than the digital voltage when it is not installed. Therefore, the first threshold is set in advance, and when the digital voltage is greater than the first threshold, the self-mobile device determines that the mopping component is not installed. Otherwise, the self-mobile device determines that the mopping component is installed.
[0080] With this solution, the mobile device compares the magnitude relationship between the digital voltage and the first threshold value to determine whether the mopping component is installed, which is simple and fast.
[0081] Optionally, in the above embodiment, when the mopping component is installed from the mobile device, the position of the mopping component is further determined, that is, whether the mopping component is in an ascending state or a descending state. During the judgment process, the electronic device determines whether the digital voltage is in the target interval. If the digital voltage is in the target interval, it means that the mopping component is in a descending state.
[0082] Exemplarily, since the digital voltage is the largest when the mopping component is not installed, when the self-moving device is installed with the mopping component, the digital voltage must be less than the first threshold. The self-moving device further determines whether the digital voltage is located in the target area, and the second end of the target area is, for example, the first threshold. The first end can be set according to the critical value of the rising state and the falling state.
[0083] With this solution, after the mobile device determines that the mopping component is installed, the digital voltage is further compared with the target interval to determine whether the mopping component is in a descending state, which is simple and fast.
[0084] Optionally, in the above embodiment, when the digital voltage is less than the first endpoint, it is determined that the mopping component is in a rising state.
[0085] Exemplarily, the mopping component of the self-moving device rises or falls under the control of the lifting component. The mopping component is in an ascending state after leaving the surface to be cleaned. The lifting component can control the mopping component to rise a certain distance. During the ascending process, the distance between the mopping component and the surface to be cleaned becomes larger and larger, the magnetic field strength detected by the linear detector becomes larger and larger, and the digital voltage becomes smaller and smaller. When the mopping component rises to the highest point, the digital voltage is the smallest. Obviously, when the mopping area just leaves the ground and is in an ascending state, the digital voltage is the largest, close to the first end of the target interval.
[0086] With this solution, after the mobile device determines that the mopping component is installed, the digital voltage is further compared with the first end of the target interval to determine whether the mopping component is in a rising state, which is simple and fast.
[0087] Optionally, in the above embodiment, after the mobile device determines the state of the mopping component according to the induced voltage, it also determines the material information of the second area entered after a preset time. When the material information indicates that the second area is made of velvet material, the mopping component is controlled to enter the second area after being in the rising state.
[0088] For example, when the self-moving device determines that the mopping component is in the descending state according to the induced voltage, it is considered that the self-moving device is in the working mode of sweeping and mopping. After that, the self-moving device continuously predicts the material of the second area, that is, the area entered within the preset time in the future.
[0089] For example, the self-mobile device uses an image sensor to collect an image of the second area that is about to enter, and analyzes the image to determine whether the material of the second area is a velvet material, such as a carpet. If the second area is made of velvet, it means that the area is not suitable for the sweeping and mopping working mode. Therefore, when the self-mobile device enters the second area, the mopping component is automatically raised to switch to the sweeping mode, that is, only sweeping without mopping, so as to avoid the mopping component from wetting and dirtying the carpet.
[0090] For another example, the mobile device stores the material information of the surface to be cleaned in the working area in advance. During the working process, the material of the second area to be entered in the future is continuously determined according to the current position, and it is determined whether the material of the second area is velvet material, such as carpet. If it is velvet material, the mopping component is raised before entering the second area.
[0091] Similarly, when the mopping component is currently in the rising state, that is, when the self-mobile device is working in the sweeping mode, the image sensor or the pre-stored material information of the surface to be cleaned can also be used to determine the material of the second area. If the second area is made of hard material, the mopping component is lowered when entering the second area, and the mode is switched to sweeping and mopping.
[0092] By adopting this solution, the mobile device continuously predicts the material of the second area to be entered in the future, and switches the working mode in time, so that the working mode and material of the second area are adapted to achieve the purpose of improving the work quality.
[0093] Optionally, in the above embodiment, after the self-mobile device determines the state of the mopping component, it also determines the working mode of the self-mobile device. When the working mode and the state of the mopping component are not compatible, the mopping component is controlled to rise or fall so that the working mode and the state of the mopping component are compatible.
[0094] Exemplarily, when the self-moving device is in the sweeping mode, the mopping component should be in the rising state; when the self-moving device is in the sweeping and mopping mode, the mopping component should be in the descending state. When the working mode and the mopping component state are not compatible, for example, the self-moving device is in the sweeping mode, but the mopping component is in the descending state, at this time, the self-moving device controls the mopping component to rise so that the mopping component is in the rising state in the sweeping mode. For another example, when the self-moving device is in the sweeping and mopping mode, but the mopping component is in the rising state, at this time, the self-moving device controls the mopping component to descend so that the mopping component is in the descending state in the sweeping and mopping mode.
[0095] In practice, when the self-mobile device receives a cleaning instruction to start the mopping function, it is equivalent to obtaining a trigger condition, which triggers the self-mobile device to detect the magnetic field strength of the first area using a linear detector. For example, when the self-mobile device is turned on, the default working mode is the sweep-and-mop mode. Therefore, when the self-mobile device receives a power-on instruction, it is equivalent to receiving a cleaning instruction requesting to start the mopping function. After that, after the self-mobile device determines that the mopping component has been installed, it continues to determine whether the mopping component is in a descending state. If the mopping component is in an ascending state, the mopping component is controlled to descend by the lifting component so that the self-mobile device switches to the sweep-and-mop mode.
[0096] For another example, during the operation of the self-mobile device, the user controls the self-mobile device to work in the sweeping mode through voice, APP, etc. When the self-mobile device receives the cleaning instruction sent by the user through voice, APP, etc. to start the mopping function, the linear detector is used to detect the magnetic field strength of the first area, and the digital voltage corresponding to the magnetic field strength is used to determine whether to install the mopping component. When the mopping component is installed in place, continue to determine whether the mopping component is in a descending state. If the mopping component is in an ascending state, the mopping component is controlled to descend through the lifting component, so that the self-mobile device switches to the sweeping and mopping mode.
[0097] With this solution, when the working mode of the mobile device is not compatible with the state of the mopping component, the mopping component is controlled to rise or fall so that the working mode and the state of the mopping component are compatible, thereby achieving the purpose of improving the cleaning instructions.
[0098] The above-mentioned state detection method is described in detail below in combination with specific application scenarios.
[0099] Application scenarios:
[0100] The user has a self-moving device with a linear detector at home. The linear detector is set on the drive component, which is used to provide power for the mopping component. The user can start the self-moving device through APP, buttons, etc. to clean each room in the home. After the self-moving device is started, the linear detector is used to detect the magnetic field strength of the first area below, and it is found that the magnetic field strength is C1. The self-moving device outputs an analog induced voltage A1 according to the magnetic field strength C1, A1 = 2.421V. After that, the self-moving device performs analog-to-digital conversion on the induced voltage A1 to obtain a digital voltage B1, B1 = 3100. The first threshold 2900 is pre-stored on the self-moving device. The self-moving device compares the digital voltage B1 with the first threshold and finds that the digital voltage B1 is greater than the first threshold. Therefore, the self-moving device determines that the mopping component is not installed. At this time, the self-moving device outputs prompt information through animation, light, voice, etc. to prompt the user that the mopping component is not installed.
[0101] After the self-mobile device is started, if the magnetic field strength of the first area below is detected by a linear detector, it is found that the magnetic field strength is C2, and the simulated induced voltage A2 is output according to the magnetic field strength C2, A2 = 1.949V. Afterwards, the self-mobile device performs analog-to-digital conversion on the induced voltage A2 to obtain a digital voltage B2, B2 = 2400. A target interval is pre-stored on the self-mobile device, and the target interval is [2200, 2900]. The self-mobile device compares the digital voltage B2 with the target interval and finds that the digital voltage B2 is within the target interval. Therefore, the self-mobile device determines that the mopping component has been installed and the mopping component is in a descending state. Next, the self-mobile device determines the material of the working surface to be cleaned. If the working surface to be cleaned is a hard material, it works in a sweeping and mopping working mode. During the working process, the material of the second area, such as the area to be entered in 5 seconds, is predetermined. If the area to be entered in 5 seconds is a velvet material, the mopping component is controlled to be in an ascending state before entering the second area, and enters the second area in the sweeping mode.
[0102] After the self-mobile device is started, if a linear detector is used to detect the magnetic field strength of the first area below, it is found that the magnetic field strength is C3, and the simulated induced voltage A3 is output according to the magnetic field strength C3, A3 = 1.461V. Afterwards, the self-mobile device performs analog-to-digital conversion on the induced voltage A3 to obtain a digital voltage B3, B3 = 1800. A target interval is pre-stored on the self-mobile device, and the target interval is [2200, 2900]. The self-mobile device compares the digital voltage B3 with the target interval and finds that the digital voltage B3 is less than the first endpoint 2200 of the target interval. Therefore, the self-mobile device determines that the mopping component has been installed and the mopping component is in an ascending state. Next, the self-mobile device determines the material of the working surface to be cleaned. If the working surface to be cleaned is a hard material, the mopping component is first controlled to enter the descending state, and then work in the sweeping and mopping working mode. If the working surface to be cleaned is a storage material, it works in the sweeping mode. During the working process, the material of the second area, such as the area to be entered in 5 seconds, is pre-determined. If the area to be entered in 5 seconds is made of velvet material, the mopping component is controlled to be in an ascending state before entering the second area, and the second area is entered in the sweeping mode.
[0103] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.
[0104] Figure 8 800 is a schematic diagram of a detection device provided in an embodiment of the present application. The detection device 800 includes:
[0105] A detection module 81, used to detect the magnetic field strength of a first area using the linear detector, the first area is located directly below the linear detector, the linear detector is arranged on a driving assembly, and the driving assembly is used to provide power for the mopping assembly;
[0106] An output module 82, used to output an induced voltage according to the magnetic field strength;
[0107] The processing module 83 is used to determine the state of the mopping component according to the induced voltage.
[0108] In a feasible implementation, the processing module 82 is used to convert the induced voltage into a digital voltage; determine whether to install the mopping component according to the digital voltage; and determine the position of the mopping component when installing the mopping component.
[0109] In a feasible implementation, when the processing module 82 determines whether the mopping component is installed based on the digital voltage, it is used to determine whether the digital voltage is greater than a first threshold; when the digital voltage is greater than the first threshold, it is determined that the mopping component is not installed; when the digital voltage is less than or equal to the first threshold, it is determined that the mopping component is installed.
[0110] In a feasible implementation, the processing module 82 is used to determine whether the digital voltage is in a target interval when the mopping component is installed, the endpoints of the target interval include a first endpoint and a second endpoint, the second endpoint is greater than the first endpoint, and the second endpoint is a first threshold; when the digital voltage is in the target interval, it is determined that the mopping component is in a descending state.
[0111] In a feasible implementation, the processing module 82 is used to determine that the mopping component is in a rising state when the digital voltage is less than the first endpoint.
[0112] In a feasible implementation, after the processing module 82 determines the state of the mopping component according to the induced voltage, it is also used to determine the material information of the second area, where the second area is entered after a preset time period; when the material information indicates that the second area is made of velvet material, the mopping component is controlled to be in an ascending state and then enter the second area.
[0113] In a feasible implementation, the processing module 82 is also used to determine the working mode of the self-moving device; when the working mode and the state of the mopping component are not compatible, the mopping component is controlled to rise or fall so that the working mode and the state of the mopping component are compatible.
[0114] The control device provided in the embodiment of the present application can execute the actions of the cleaning equipment in the above-mentioned embodiment. Its implementation principle and technical effect are similar and will not be repeated here.
[0115] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are executed by a processor to perform the detection method as described above.
[0116] An embodiment of the present application also provides a computer program product, which includes a computer program, and the computer program is executed by a processor to perform the detection method as described above.
[0117] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.
[0118] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.
Claims
1. A state detection method, characterized in that: Applied to a self-moving device having a linear detector, the method comprises: The linear detector is used to detect the magnetic field strength of a first area, the first area is located below the linear detector, the linear detector is arranged on a driving component, and the driving component is used to provide power for the mopping component of the self-moving device; Outputting an induced voltage according to the magnetic field strength; The state of the mopping component is determined according to the induced voltage.
2. The method according to claim 1, characterized in that The determining the state of the mopping component according to the induced voltage includes: Converting the induced voltage into a digital voltage; determining whether to install the mopping component according to the digital voltage; When installing the mopping assembly, the position of the mopping assembly is determined.
3. The method according to claim 2, characterized in that The step of determining whether to install the mopping assembly according to the digital voltage includes: determining whether the digital voltage is greater than a first threshold; When the digital voltage is greater than the first threshold, it is determined that the mopping component is not installed; When the digital voltage is less than or equal to the first threshold, it is determined that the mopping assembly has been installed.
4. The method according to claim 2, characterized in that: When installing the mopping assembly, determining the position of the mopping assembly includes: When the mopping component is installed, determining whether the digital voltage is in a target interval, the endpoints of the target interval comprising a first endpoint and a second endpoint, the second endpoint being greater than the first endpoint, and the second endpoint being a first threshold; When the digital voltage is in the target interval, it is determined that the mopping component is in a descending state.
5. The method according to claim 4, characterized in that Also includes: When the digital voltage is less than the first endpoint, it is determined that the mopping component is in a rising state.
6. The method according to any one of claims 1 to 5, characterized in that: After determining the state of the mopping component according to the induced voltage, the method further includes: Determining material information of a second area, where the second area is an area entered after a preset time period; When the material information indicates that the second area is made of velvet material, the mopping component is controlled to be in a rising state and then enter the second area.
7. The method according to any one of claims 1 to 5, characterized in that: Also includes: Determining an operating mode of the self-mobile device; When the working mode and the state of the mopping component are not compatible, the mopping component is controlled to rise or fall so that the working mode and the state of the mopping component are compatible.
8. A detection device, characterized in that: The device is arranged on a self-moving device having a linear detector, and the device comprises: A detection module, used to detect the magnetic field strength of a first area using the linear detector, the first area is located directly below the linear detector, the linear detector is arranged on a driving assembly, and the driving assembly is used to provide power for the mopping assembly; An output module, used for outputting an induced voltage according to the magnetic field strength; A processing module is used to determine the state of the mopping component according to the induced voltage.
9. A self-propelled device, characterized in that: include: Equipment body; A driving assembly, arranged on the equipment body, for driving the lifting assembly; A lifting assembly, arranged below the driving assembly, for controlling the position of the mopping assembly of the self-moving device; The mopping assembly is arranged below the lifting assembly and is used to clean the surface to be cleaned; wherein, A linear detector is provided on the driving assembly for detecting the magnetic field intensity of a first area, and the first area is located directly below the linear detector; A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the magnetic field strength is processed to implement the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.