Wall collision reversing method, system and device of cleaning robot and cleaning robot

Abstract

The invention discloses a wall collision reversing method, system and device of a cleaning robot and the cleaning robot, and the method comprises the steps that acceleration data of N cleaning robots are collected, and N is a positive integer; performing absolute difference value operation on the N acceleration data to obtain a target difference value; judging whether the target difference value is greater than a preset difference value; if the target difference value is larger than the preset difference value, it is determined that the cleaning robot does not collide with the wall, and the cleaning robot is controlled to continue to move in the current direction; if the target difference value is smaller than or equal to the preset difference value, it is determined that the cleaning robot collides with the wall, and the cleaning robot is controlled to reverse. According to the invention, the collision detection is carried out by using the N acceleration data, the collision detection is prevented from being carried out according to the sudden acceleration change, and the accuracy of the collision detection result is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to a method, system, device and cleaning robot for reversing direction when a cleaning robot hits a wall. Background Art

[0002] Underwater cleaning robots are widely used to clean the interiors of various water-retaining structures and equipment. For example, swimming pools can be cleaned automatically by underwater robots, without draining the water. This replaces traditional manual cleaning methods, such as brushing or changing water, and eliminates laborious labor while conserving precious water resources. Obstacle avoidance is a fundamental and crucial aspect of underwater robot operations, and effective wall detection technology is crucial for these robots.

[0003] However, existing technologies typically use sensors to detect changes in the robot's motion, detecting sudden changes in acceleration during the robot's movement. However, when an underwater cleaning robot moves in the pool, the acceleration changes dramatically due to the vibration of the water ripples. Therefore, simply detecting the underwater cleaning robot's impact based on sudden changes in acceleration can result in inaccurate results.

[0004] Therefore, there is still an urgent need for a wall collision reversing method that can improve the accuracy of wall collision detection results. Summary of the Invention

[0005] The main purpose of the present invention is to propose a wall-impact reversing method, system, device and cleaning robot for a cleaning robot, so as to solve the problem that the existing defect of detecting the wall of an underwater cleaning robot is inaccurate only by acceleration mutation.

[0006] To achieve the above-mentioned object, the present invention proposes a wall-impact reversing method for a cleaning robot, the wall-impact reversing method comprising:

[0007] Collect acceleration data of N cleaning robots, where N is a positive integer;

[0008] Performing an absolute difference operation on the N acceleration data to obtain a target difference;

[0009] Determining whether the target difference is greater than a preset difference;

[0010] If the target difference is greater than the preset difference, it is determined that the cleaning robot has not hit the wall, and the cleaning robot is controlled to continue moving in the current direction;

[0011] If the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit a wall, and the cleaning robot is controlled to reverse.

[0012] In some embodiments, after performing all steps, the method further includes:

[0013] Clear N / 2 acceleration data;

[0014] Continue to collect N / 2 acceleration data, and perform an absolute difference operation on the N acceleration data to obtain a target difference.

[0015] In some embodiments, collecting acceleration data of N cleaning robots includes:

[0016] Continuously collecting N acceleration data;

[0017] The N acceleration data are cached in the order of acquisition time.

[0018] In some embodiments, clearing N / 2 acceleration data includes:

[0019] Determining the first N / 2 acceleration data collected according to the collection time sequence;

[0020] Clear the first N / 2 acceleration data collected.

[0021] In some embodiments, after performing all steps, the method further includes:

[0022] Continue to collect 1 piece of acceleration data to obtain N+1 pieces of acceleration data;

[0023] The N acceleration data are updated according to the N+1 acceleration data, and an absolute difference operation is performed on the N acceleration data to obtain a target difference.

[0024] In some embodiments, before collecting acceleration data of N cleaning robots, the method further includes:

[0025] Determining whether the cleaning robot is in motion;

[0026] If the cleaning robot is in motion, executing the step of collecting acceleration data of N cleaning robots moving in the current motion direction;

[0027] If the cleaning robot is not in motion, the cleaning robot is controlled to enter a standby state.

[0028] In some embodiments, performing an absolute difference operation on the N acceleration data to obtain a target difference includes:

[0029] For the N acceleration data, calculating the absolute difference between two adjacent acceleration data to obtain N-1 absolute differences;

[0030] The average of the N-1 absolute differences is calculated to obtain the target difference.

[0031] The present invention also proposes a wall-impact reversing system for a cleaning robot, the wall-impact reversing system for the cleaning robot comprising a cleaning robot and a control module, the control module being built into the cleaning robot and being capable of executing any one of the above-described wall-impact reversing methods for the cleaning robot.

[0032] The present invention also provides a wall-impact reversing device for a cleaning robot, comprising:

[0033] at least one processor; and,

[0034] a memory communicatively connected to the at least one processor; wherein,

[0035] The memory stores instructions executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned wall-impacting reversing methods for the cleaning robot.

[0036] The present invention also proposes a cleaning robot, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it can execute any of the above-mentioned wall-impacting reversing methods for the cleaning robot.

[0037] The present invention collects acceleration data of N cleaning robots, calculates the absolute difference of the N acceleration data to obtain a target difference, and judges whether the target difference is greater than a preset difference; when the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit a wall, and the cleaning robot is controlled to change direction; the target difference is obtained by calculating the absolute difference of the N acceleration data, and it is judged whether the cleaning robot has hit a wall according to the target difference and the preset difference; the N acceleration data are used to perform wall collision detection, thereby avoiding the use of a single acceleration mutation to perform wall collision detection and improving the accuracy of the wall collision detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the flow of the wall-impact reversing method of the cleaning robot in an embodiment of the present invention;

[0039] Figure 2 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0040] Figure 3 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0041] Figure 4 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0042] Figure 5 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0043] Figure 6 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0044] Figure 7 1 is another flow chart of the method for reversing a cleaning robot upon hitting a wall according to an embodiment of the present invention;

[0045] Figure 8 Schematic diagram of the structure of the wall-impacting reversing system of the cleaning robot according to an embodiment of the present invention;

[0046] Figure 9 The figure is a schematic structural diagram of a wall-impacting reversing device of a cleaning robot according to an embodiment of the present invention.

[0047] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings to clearly and completely describe the solutions 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 making any creative efforts are within the scope of protection of the present invention.

[0049] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0051] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] To achieve the above-mentioned object, the present invention provides a method for reversing the direction of a cleaning robot after hitting a wall, the method comprising:

[0053] Step S110, collecting acceleration data of N cleaning robots, where N is a positive integer;

[0054] Step S120, performing an absolute difference operation on the N acceleration data to obtain a target difference;

[0055] Step S130, determining whether the target difference is greater than a preset difference;

[0056] Step S140 , if the target difference is greater than the preset difference, it is determined that the cleaning robot has not hit the wall, and the cleaning robot is controlled to continue moving in the current direction;

[0057] Step S150: If the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit the wall, and the cleaning robot is controlled to reverse.

[0058] In this embodiment, referring to Figure 1 and Figure 8 The wall-impact reversing method for a cleaning robot can be applied to a wall-impact reversing system for a cleaning robot. The wall-impact reversing system for a cleaning robot includes a cleaning robot and a control module. The control module is built into the cleaning robot and is capable of executing the wall-impact reversing method for the cleaning robot. In this embodiment, the control module is the main body for executing the steps of the method.

[0059] It is understandable that the cleaning robot is an underwater cleaning robot, which can perform underwater operations and be applied to the cleaning of the inner walls of various water storage buildings or equipment. When the cleaning robot moves in the water, due to the influence of water ripple vibrations, the acceleration of the cleaning robot changes drastically during movement, making it inaccurate to detect the wall collision of the cleaning robot by a single acceleration mutation. The present application performs wall collision detection by collecting acceleration data of N cleaning robots, wherein the value of N can be flexibly selected according to the time from the occurrence of the wall collision to the approximate stillness required by the actual situation; and N is a positive integer, and N is greater than or equal to 2. In the present application, in order to improve the accuracy of wall collision detection, the value of N is much greater than 2. For example: the value of N is 10, 11 or 12, etc. By using multiple acceleration data to detect wall collision, it is avoided to detect wall collision by a single acceleration mutation, thereby improving the accuracy of the wall collision detection result.

[0060] When the cleaning robot is operating underwater, the control module detects any collisions with a wall. If so, the robot will reverse direction (change its direction of travel) to allow it to continue operating in the opposite direction. The cleaning robot is equipped with an accelerometer that can detect the robot's acceleration data in real time. After the accelerometer detects the robot's acceleration data in real time, the control module uses the accelerometer to collect acceleration data. The control module can continuously collect acceleration data until N acceleration data are collected. Alternatively, the control module can collect acceleration data at regular intervals until N acceleration data are collected. For example, if N is 10 and acceleration data is collected every 1 second, the control module can collect acceleration data every 1 second, for a total of 10 seconds, thus collecting 10 acceleration data points. Alternatively, if N is 20 and acceleration data is collected every 0.5 seconds, the control module can collect acceleration data every 0.5 seconds, for a total of 10 seconds, thus collecting 20 acceleration data points.

[0061] After the control module collects N acceleration data, it can process them. The control module performs an absolute difference operation on the N acceleration data to obtain a target difference. For example, the control module can sort the N collected acceleration data (perhaps by acquisition time), then perform an absolute difference operation on adjacent acceleration data to obtain multiple absolute differences. The target difference is then obtained by averaging these multiple absolute differences.

[0062] After the control module obtains the target difference, it uses it to determine whether the cleaning robot has hit a wall. A preset difference is pre-stored in the control module, which can be determined based on acceleration data acquired while the cleaning robot is in motion and approximately stationary after hitting a wall. That is, before detecting a wall collision, the control module needs to collect a large amount of acceleration data, primarily acceleration data from the cleaning robot in motion and acceleration data from the cleaning robot in an approximately stationary state after hitting a wall, and then use this data to determine the preset difference. After obtaining the target difference, the control module determines whether the target difference is greater than the preset difference.

[0063] If it is determined that the target difference is greater than the preset difference, the control module can determine that the cleaning robot has not hit the wall. At this time, the control module can control the cleaning robot to continue moving in the current direction.

[0064] If it is determined that the target difference is less than or equal to the preset difference, the control module can determine that the cleaning robot has hit a wall. At this time, the control module needs to control the cleaning robot to reverse (that is, change the current direction to the preset direction). Among them, the cleaning robot has hit a wall means that the cleaning robot has encountered an obstacle in the current direction and cannot continue to move in the current direction. The preset direction can be the opposite direction of the current direction. At this time, the control module controls the cleaning robot to reverse so that the cleaning robot can clean back and forth. The preset direction can be perpendicular to the current direction. At this time, the control module controls the cleaning robot to reverse so that the cleaning robot can bypass the obstacle.

[0065] This embodiment collects acceleration data of N cleaning robots, calculates the absolute difference of the N acceleration data to obtain a target difference, and determines whether the target difference is greater than a preset difference; when the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit the wall, and the cleaning robot is controlled to change direction; the target difference is obtained by calculating the absolute difference of N acceleration data, and whether the cleaning robot has hit the wall is determined based on the target difference and the preset difference; N acceleration data are used to perform wall collision detection, thereby avoiding the use of a single acceleration mutation for wall collision detection and improving the accuracy of the wall collision detection result.

[0066] In some embodiments, after performing all steps, the method further includes:

[0067] Step S160, clearing N / 2 acceleration data;

[0068] Step S161 , continuing to collect N / 2 acceleration data, and performing an absolute difference operation on the N acceleration data to obtain a target difference.

[0069] In this embodiment, referring to Figure 2After executing step S140 or step S150, the control module will first clear the acceleration data and then collect acceleration data, thus entering the next round of detection. The control module first clears N / 2 acceleration data, that is, the control module needs to first clear half of the acceleration data collected previously. Among them, especially when N is an odd number, the value of N / 2 can be rounded. For example: if N is 11, then N / 2=5.5, then N / 2 is rounded off, that is, N / 2 can be equal to 6.

[0070] After the control module clears N / 2 acceleration data, it needs to fill in the gaps in the cleared acceleration data to bring the total number of acceleration data to N. Therefore, the control module needs to continue collecting N / 2 acceleration data to bring the total number of acceleration data to N. At this point, the control module can continue performing the absolute difference calculation on the N acceleration data to obtain the target difference value, thus entering the next round of wall collision detection.

[0071] In some embodiments, the aforementioned collection of acceleration data of N cleaning robots includes:

[0072] Step S170, continuously collecting N acceleration data;

[0073] Step S171 , buffering N acceleration data in the order of acquisition time.

[0074] In this embodiment, referring to Figure 3 When executing step S110, the control module can also cache the collected acceleration data in the order of collection time. The control module continuously collects N acceleration data. The control module can also collect acceleration data once at regular intervals until N acceleration data are collected. For example: if N is 10, and the data is collected once every 1 second, then the control module can collect one acceleration data every 1 second, and a total of 10 seconds are required to collect data, thereby collecting 10 acceleration data. Of course, if N is 20, and the data is collected every 0.5 seconds, then the control module can collect one acceleration data every 0.5 seconds, and a total of 10 seconds are required to collect data, thereby collecting 20 acceleration data.

[0075] The control module also needs to cache the collected acceleration data in the order of collection time. That is, the acceleration data collected first is cached first, and the acceleration data collected later is cached later. The control module can first collect N acceleration data, and then cache N acceleration data in the order of collection time. The control module can also cache acceleration data while collecting it; that is, the control module caches the acceleration data as soon as it collects one acceleration data, until N acceleration data are collected.

[0076] In some embodiments, the aforementioned clearing of N / 2 acceleration data includes:

[0077] Step S180, determining the first N / 2 acceleration data collected according to the collection time sequence;

[0078] Step S181, clearing the first N / 2 acceleration data collected.

[0079] In this embodiment, referring to Figure 4 , when the control module executes step S160, it clears the acceleration data collected first. The control module can determine the first N / 2 acceleration data collected according to the acquisition time sequence, and then clear the first N / 2 acceleration data collected. That is, the control module can find the first N / 2 acceleration data cached according to the acquisition time sequence, and then clear the first N / 2 acceleration data cached. Among them, especially when N is an odd number, the value of N / 2 can be rounded. For example: if N is 11, then N / 2=5.5, then N / 2 is rounded off, that is, N / 2 can be equal to 6. If N is 13, then N / 2=6.5, then N / 2 is rounded off, that is, N / 2 can be equal to 7.

[0080] Through this embodiment, when performing the next round of wall collision detection, the first N / 2 acceleration data collected can be cleared first, and then the acceleration data can be re-collected to supplement, so that the acceleration data used for detection each time is real-time, and the consistency of wall collision detection can be ensured by retaining half of the old acceleration data.

[0081] In some embodiments, after performing all steps, the method further includes:

[0082] Step S190, continue collecting 1 acceleration data to obtain N+1 acceleration data;

[0083] Step S191 is a step of updating N acceleration data according to N+1 acceleration data, and performing an absolute difference operation on the N acceleration data to obtain a target difference.

[0084] In this embodiment, referring to Figure 5 After executing step S140 or step S150, the control module can directly collect acceleration data to enter the next round of detection. The control module can continue to collect one more acceleration data, and add the N acceleration data collected originally; the control module can obtain N+1 acceleration data.

[0085] After the control module obtains N+1 acceleration data, it can update N acceleration data based on the N+1 acceleration data. That is, N+1 acceleration data are assigned to N acceleration data, N=N+1 (the value of N+1 is assigned to N). For example: if the original N is 10, then the original N+1 is 11; then after updating the N acceleration data based on the N+1 acceleration data, a new N can be obtained, and the new N is 11. That is, there are N acceleration data originally, and then 1 acceleration data is collected, and this 1 acceleration data is added to the N acceleration data. The total acceleration data is still regarded as N acceleration data. After the control module updates the N acceleration data based on the N+1 acceleration data, it can continue to perform the absolute difference operation on the N acceleration data to obtain the target difference, so as to enter the next round of wall detection.

[0086] In some embodiments, before collecting acceleration data of N cleaning robots, the process further includes:

[0087] Step S200, determining whether the cleaning robot is in motion;

[0088] Step S201: If the cleaning robot is in motion, the step of collecting acceleration data of N cleaning robots moving in the current motion direction is executed;

[0089] Step S202: If the cleaning robot is not in motion, control the cleaning robot to enter a standby state.

[0090] In this embodiment, referring to Figure 6 Before executing step S110, the control module also needs to determine whether the cleaning robot is in motion. The control module monitors the power device of the cleaning robot to determine whether the cleaning robot is in motion. For example, the power device may include a drive motor, and the control module may determine whether the cleaning robot is in motion by monitoring whether the drive motor is in working state. When the drive motor is in working state, it can be determined that the drive motor is providing power to the cleaning robot, and at this time, it can be determined that the cleaning robot is in motion. When the drive motor is not in working state, it can be determined that the drive motor is not providing power to the cleaning robot, and at this time, it can be determined that the cleaning robot is not in motion.

[0091] If it is determined that the cleaning robot is in motion, the control module may start to execute the step of collecting acceleration data of the N cleaning robots moving in the current activity direction.

[0092] If the cleaning robot is not in motion, the control module will control the cleaning robot to enter a standby state to reduce the energy consumption of the cleaning robot.

[0093] In some embodiments, performing the absolute difference operation on the N acceleration data to obtain the target difference includes:

[0094] Step S210: For N acceleration data, calculate the absolute difference between two adjacent acceleration data to obtain N-1 absolute differences;

[0095] Step S211, calculating the average of N-1 absolute differences to obtain a target difference.

[0096] In this embodiment, referring to Figure 7 When executing step S120, the control module first calculates the absolute difference and then the average to obtain the target difference. After the control module caches N acceleration data in the order of acquisition time, the control module can calculate the absolute difference between two adjacent acceleration data to obtain N-1 absolute differences.

[0097] For example: if N is 10, the 10 acceleration data can be numbered respectively, as follows: the first acceleration data, the second acceleration data, the third acceleration data, the fourth acceleration data, the fifth acceleration data, the sixth acceleration data, the seventh acceleration data, the eighth acceleration data, the ninth acceleration data, and the tenth acceleration data. Calculating the absolute difference between two adjacent acceleration data is: calculating the absolute difference between the first acceleration data and the second acceleration data, calculating the absolute difference between the second acceleration data and the third acceleration data, calculating the absolute difference between the third acceleration data and the fourth acceleration data, calculating the absolute difference between the fourth acceleration data and the fifth acceleration data, calculating the absolute difference between the fifth acceleration data and the sixth acceleration data, calculating the absolute difference between the sixth acceleration data and the seventh acceleration data, calculating the absolute difference between the seventh acceleration data and the eighth acceleration data, calculating the absolute difference between the eighth acceleration data and the ninth acceleration data, and calculating the absolute difference between the ninth acceleration data and the tenth acceleration data, thereby obtaining 9 absolute differences.

[0098] After the control module obtains N-1 absolute differences, it calculates the average of these N-1 absolute differences to obtain the target difference. That is, the control module first accumulates the N-1 absolute differences and then divides them by N-1 to obtain the target difference.

[0099] The present invention collects acceleration data of N cleaning robots, calculates the absolute difference of the N acceleration data to obtain a target difference, and judges whether the target difference is greater than a preset difference; when the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit a wall, and the cleaning robot is controlled to change direction; the target difference is obtained by calculating the absolute difference of the N acceleration data, and it is judged whether the cleaning robot has hit a wall according to the target difference and the preset difference; the N acceleration data are used to perform wall collision detection, thereby avoiding the use of a single acceleration mutation to perform wall collision detection and improving the accuracy of the wall collision detection result.

[0100] The present invention also proposes a wall-impact reversing system for a cleaning robot, the wall-impact reversing system for the cleaning robot comprising a cleaning robot and a control module, the control module being built into the cleaning robot and being capable of executing any one of the above-described wall-impact reversing methods for the cleaning robot.

[0101] In this embodiment, referring to Figure 8 The wall-impact reversing system for a cleaning robot includes a cleaning robot and a control module. The control module is built into the cleaning robot. The cleaning robot is an underwater cleaning robot capable of underwater operations and is suitable for cleaning the interior walls of various water storage structures or equipment. The control module is capable of executing any of the aforementioned wall-impact reversing methods for the cleaning robot, enabling the cleaning robot to complete the cleaning of the interior walls of various water storage structures or equipment.

[0102] The wall-impact reversing device of the cleaning robot according to the embodiment of the present invention may be a processor capable of running the wall-impact reversing method of the cleaning robot; there is at least one processor. Figure 9 As shown, the wall-impacting reversing device of the cleaning robot may include: a processor 1001 (such as a CPU), a network interface 1004, a user interface 1003, a memory 1005 and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit, such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0103] Those skilled in the art will understand that Figure 9The structure of the wall-impacting reversing device of the cleaning robot shown in the figure does not constitute a limitation on the wall-impacting reversing device of the cleaning robot, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0104] like Figure 9 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module and a computer program.

[0105] exist Figure 9 In the wall-impacting reversing device of the cleaning robot shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, the steps of the above-mentioned wall-impacting reversing method of the cleaning robot are implemented.

[0106] The present invention also proposes a cleaning robot, which includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it can execute any of the above-mentioned wall-impacting reversing methods for the cleaning robot.

[0107] In this embodiment, the cleaning robot may include a memory, a processor, and a computer program stored in the memory and running on the processor. In this embodiment, the execution body of the wall-impacting reversing method of the cleaning robot may be the processor.

[0108] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A method for reversing a cleaning robot when it hits a wall, characterized in that: The wall-impact reversing method of the cleaning robot comprises: Collect acceleration data of N cleaning robots, where N is a positive integer; Performing an absolute difference operation on the N acceleration data to obtain a target difference; Determining whether the target difference is greater than a preset difference; If the target difference is greater than the preset difference, it is determined that the cleaning robot has not hit the wall, and the cleaning robot is controlled to continue moving in the current direction; If the target difference is less than or equal to the preset difference, it is determined that the cleaning robot has hit a wall, and the cleaning robot is controlled to reverse.

2. The wall-impact reversing method of a cleaning robot according to claim 1, characterized in that: After all steps are performed, also include: Clear N / 2 acceleration data; Continue to collect N / 2 acceleration data, and perform an absolute difference operation on the N acceleration data to obtain a target difference.

3. The wall-impact reversing method of a cleaning robot according to claim 2, characterized in that: The collecting of acceleration data of N cleaning robots includes: Continuously collecting N acceleration data; The N acceleration data are cached in the order of acquisition time.

4. The wall-impact reversing method of a cleaning robot according to claim 3, characterized in that: The clearing N / 2 acceleration data includes: Determining the first N / 2 acceleration data collected according to the collection time sequence; Clear the first N / 2 acceleration data collected.

5. The wall-impact reversing method of a cleaning robot according to claim 1, characterized in that: After all steps are performed, also include: Continue to collect 1 piece of acceleration data to obtain N+1 pieces of acceleration data; The N acceleration data are updated according to the N+1 acceleration data, and an absolute difference operation is performed on the N acceleration data to obtain a target difference.

6. The wall-impact reversing method of a cleaning robot according to claim 1, characterized in that: Before collecting the acceleration data of the N cleaning robots, the method further includes: Determining whether the cleaning robot is in motion; If the cleaning robot is in motion, executing the step of collecting acceleration data of N cleaning robots moving in the current motion direction; If the cleaning robot is not in motion, the cleaning robot is controlled to enter a standby state.

7. The wall-impact reversing method of a cleaning robot according to claim 3, characterized in that: The performing an absolute difference operation on the N acceleration data to obtain a target difference includes: For the N acceleration data, calculating the absolute difference between two adjacent acceleration data to obtain N-1 absolute differences; The average of the N-1 absolute differences is calculated to obtain the target difference.

8. A wall-impact reversing system for a cleaning robot, characterized in that: The wall-impact reversing system of the cleaning robot includes a cleaning robot and a control module. The control module is built into the cleaning robot, and the control module is capable of executing the wall-impact reversing method of the cleaning robot according to any one of claims 1 to 7.

9. A wall-impact reversing device for a cleaning robot, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executed by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to execute the wall-impacting reversing method for the cleaning robot according to any one of claims 1 to 7.

10. A cleaning robot, characterized in that: The cleaning robot includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it can execute the wall-impacting reversing method of the cleaning robot according to any one of claims 1 to 7.

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