Robot process switching method and device

Abstract

The invention discloses a robot working procedure switching method and device, and belongs to the technical field of robots. According to the method, two kinds of infrared light with different wavelengths are synchronously emitted through an infrared sensor, and a first material type is determined according to the reflection intensity ratio; meanwhile, the second material type is determined through the capacitance value measured by the capacitance sensor. When the two types are the same, directly executing a corresponding process as an actual material type; and if not, determining a vibration spectrum energy value by means of a vibration sensor to determine an actual material type, and then executing a corresponding process. According to the multi-dimensional mechanism of infrared and capacitance dual recognition and vibration sensor rechecking, the problem that recognition and cleaning are not accurate when a robot cleans carpet and floor space is effectively solved, the ground material recognition accuracy and the process switching accuracy are remarkably improved, and the cleaning effect of grounds of different materials is guaranteed.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method and apparatus for switching robotic processes. Background Technology

[0002] In robotic applications, especially cleaning robots, accurately identifying floor materials and automatically switching to the appropriate cleaning procedures is crucial. Traditional floor material identification methods rely on a single sensor, which is prone to misjudgments. For example, a single-wavelength infrared sensor might misidentify a dark floor as a carpet, leading to improper cleaning procedure switching and affecting cleaning results. Therefore, a more accurate and reliable multi-sensor fusion identification and procedure switching technology is needed. Summary of the Invention

[0003] This application provides a robot process switching method and apparatus, which aims to effectively solve the problem that traditional floor material identification methods rely on only a single sensor and are prone to misjudgment. For example, when a single-wavelength infrared sensor detects a dark floor, it may misjudge it as a carpet, resulting in improper switching of cleaning processes and affecting the cleaning effect.

[0004] In a first aspect, this application provides a robot process switching method, the method being used for a robot, the method comprising: A first type of infrared light and a second type of infrared light are simultaneously emitted to the ground using an infrared sensor. The first material type corresponding to the ground is determined based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light. The first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. Using a capacitive sensor, the capacitance value of the ground is determined, and based on the capacitance value of the ground, the second material type corresponding to the ground is determined; If the first material type corresponding to the ground and the second material type corresponding to the ground are the same, then the first material type or the second material type is taken as the actual material type of the ground, and the processing procedure corresponding to the actual material type is executed. If the first material type and the second material type of the ground are different, the vibration sensor is used to determine the vibration spectrum energy value of the ground, the actual material type of the ground is determined based on the vibration spectrum energy value, and the processing procedure corresponding to the actual material type is executed.

[0005] Secondly, this application provides a robot process switching device, the device being used for a robot, the device comprising: The first unit is used to simultaneously emit a first type of infrared light and a second type of infrared light to the ground using an infrared sensor, and to determine the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light; wherein the first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. The second unit is used to determine the capacitance value of the ground using a capacitance sensor, and to determine the second material type corresponding to the ground based on the capacitance value of the ground. The third unit is used to take the first material type or the second material type as the actual material type of the ground if the first material type corresponding to the ground and the second material type corresponding to the ground are the same, and to execute the processing steps corresponding to the actual material type. The fourth unit is used to determine the vibration spectrum energy value of the ground using a vibration sensor if the first material type and the second material type of the ground are not the same, determine the actual material type of the ground based on the vibration spectrum energy value of the ground, and perform the processing steps corresponding to the actual material type.

[0006] Thirdly, this application provides a readable medium including executable instructions, which, when executed by a processor of an electronic device, cause the electronic device to perform any of the methods described in the first aspect.

[0007] Fourthly, this application provides an electronic device including a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method as described in any of the first aspects.

[0008] As can be seen from the above technical solution, the robot process switching method provided in this application utilizes an infrared sensor to simultaneously emit two types of infrared light of different wavelengths—a first type and a second type—to the ground. The first material type of the ground is determined based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type. Simultaneously, a capacitance sensor is used to determine the capacitance value of the ground and, based on this, the second material type. When the first and second material types are the same, this is directly used as the actual material type of the ground, and the corresponding processing steps are executed. When the first and second material types are different, a vibration sensor is used to determine the vibration spectrum energy value of the ground and, based on this, the actual material type of the ground, and then the corresponding processing steps are executed. This forms a multi-dimensional material confirmation mechanism with dual "infrared + capacitance" identification and vibration sensor verification. This effectively solves the problem that the process switching system cannot accurately identify and clean in spaces with carpets and floors during robot cleaning, significantly improving the accuracy of ground material identification and the precision of process switching, ensuring the robot's cleaning effect on different ground materials.

[0009] The further effects of the aforementioned non-conventional preferred method will be explained below in conjunction with specific embodiments. Attached Figure Description

[0010] To more clearly illustrate the embodiments of this application or the existing technical solutions, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating a robot process switching method provided in this application; Figure 2 This application provides a schematic diagram of the structure of a robot process switching device; Figure 3 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] The various non-limiting embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0014] The robot process switching system of the present invention is mainly applied to robots (such as cleaning robots). The robot is equipped with infrared sensors, capacitive sensors and vibration sensors on its bottom. These sensors work together to provide the robot with information on the ground material so that the robot can automatically switch to the appropriate cleaning process.

[0015] Infrared sensor: A device capable of detecting infrared light signals. In this system, it simultaneously emits two specific wavelengths of infrared light: 850nm (Type I infrared light) and 950nm (Type II infrared light). The 850nm wavelength infrared light is sensitive to dark colors because dark materials absorb this wavelength more significantly, greatly affecting the intensity of reflected light. The 950nm wavelength infrared light, on the other hand, is sensitive to material texture. Different material textures reflect and scatter this wavelength of light differently, allowing the intensity of reflected light to indicate the material's texture characteristics. For example, when using different colored papers to block a flashlight, darker paper absorbs more light and reflects less. Similarly, the reflection intensity of 850nm infrared light changes significantly when it encounters a dark surface. Furthermore, for materials with different textures, such as a smooth floor and a textured carpet, the reflection of 950nm infrared light differs greatly. The sensor identifies the material texture by capturing these differences.

[0016] Capacitive sensors are sensors that operate based on the principle of capacitance change. The capacitive sensor in this system employs a diamond-shaped cross-electrode array design, with an electrode linewidth of 0.5mm and an electrode spacing of 1.2mm. This special design enhances the penetration depth of the edge electric field, reaching up to 8mm. When the capacitive sensor is close to the ground, a capacitance is formed between the ground and the electrodes. Different materials, due to their different dielectric constants, will cause changes in the capacitance value. By detecting the capacitance value, the material can be identified. For example, flooring materials are usually denser, with tightly packed molecules, resulting in a relatively stable and lower dielectric constant; while carpets, especially high-pile carpets, have a loose pile structure containing more air. The dielectric constant of air differs from that of solid materials, resulting in a relatively higher overall dielectric constant.

[0017] Hydrophobic nanocoating: This is a special coating applied to the surface of capacitive sensor electrodes. "Hydrophobic" means it repels water, and "nanocoating" indicates its thickness is on the nanometer scale, possessing a unique microstructure. This coating has a contact angle greater than 150°. The contact angle is an indicator of how well a liquid wets a solid surface; the larger the contact angle, the less likely the liquid is to spread on the solid surface and adhere. Therefore, when water comes into contact with the electrode coated with the hydrophobic nanocoating, the water droplets will form beads and roll off, without affecting the capacitance reading, thus avoiding misjudgments caused by water. For example, the surface of a lotus leaf has similar hydrophobic properties; water droplets on a lotus leaf will form beads and roll off without wetting the leaf.

[0018] Copper mesh shielding layer: A copper mesh shielding layer embedded in the electrode layer, with a mesh density of 200 mesh. "Mesh" is a unit of measurement for the size of the mesh openings, indicating the number of openings per square inch. 200 mesh means there are 200 openings per square inch. Electromagnetic interference generated during the operation of equipment such as motors can affect the accuracy of capacitive sensors. The copper mesh shielding layer acts like a protective cover, utilizing copper's excellent conductivity and electromagnetic shielding properties to shield electromagnetic interference from the sensor, ensuring the accuracy of capacitive detection. For example, in some electronic devices, metal shielding covers are used to prevent external electromagnetic interference from affecting the normal operation of the equipment; the copper mesh shielding layer here serves a similar purpose.

[0019] Vibration Sensor: A vibration sensor is a device that can sense the vibration of an object and convert it into an electrical signal. In this system, when the robot moves on different ground materials, the different materials will cause the robot to vibrate with different characteristics. The vibration sensor has a built-in sensitive element that can capture these vibrations and convert them into electrical signals. The ground material is then determined by processing and analyzing these electrical signals. For example, walking on a wooden floor and a carpet produces different vibration sensations. The vibration on a wooden floor is relatively clear and strong, while the vibration on a carpet is relatively soft and weak. The vibration sensor acts like a "little ear" that can "sense" this difference in vibration, converting different vibrations into different electrical signals.

[0020] See Figure 1 This paper illustrates a robot process switching method according to an embodiment of the present application. The method is used for a robot. In this embodiment, the method includes the following steps: S101: Simultaneously emit a first type of infrared light and a second type of infrared light to the ground using an infrared sensor, and determine the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light. Wherein, the first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. In one implementation, the wavelength of the first type of infrared light is 850nm; the wavelength of the second type of infrared light is 950nm. Specifically, if the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is a first interval, the first material type corresponding to the ground is determined to be a hard floor; if the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is a second interval, the first material type corresponding to the ground is determined to be a short-pile carpet; if the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is a third interval, the first material type corresponding to the ground is determined to be a long-pile carpet. The minimum value of the first interval is greater than the maximum value of the second interval, and the minimum value of the second interval is less than the maximum value of the third interval.

[0021] Understandably, the infrared sensors on the robot activate and simultaneously emit two types of infrared light with different wavelengths towards the ground: a first type of infrared light and a second type of infrared light. The first type of infrared light has a wavelength of 850nm, which is highly sensitive to dark surfaces. The second type of infrared light has a wavelength of 950nm, which is highly discernible in terms of the texture features of the ground material. This dual-wavelength collaborative detection method effectively solves the technical defect of single-wavelength infrared light easily misidentifying dark floors as carpet. The receiving end of the infrared sensor captures the first and second types of infrared light reflected from the ground, collects the reflection intensity parameters of the two types of infrared light, calculates the ratio of the reflection intensity of the first type of infrared light to that of the second type of infrared light, and determines the first material type corresponding to the ground based on the numerical range of this ratio. The specific determination rules are as follows: If the ratio is in the first interval (0.9-1.1), the numerical characteristic of this interval is that the ratio is close to 1. At this time, both infrared lights show a high reflectivity state, and the first material type corresponding to the ground is determined to be hard floor. If the ratio is in the second range (0.6-0.8), the numerical characteristic of this range is that the ratio is ≈0.7. At this time, the first type of infrared light of 850nm is absorbed more by the ground, and the first material type corresponding to the ground is determined to be short-pile carpet. If the ratio is in the third interval (0-0.5), the numerical characteristic of this interval is that the ratio is <0.5. At this time, both wavelengths of infrared light are strongly absorbed by the ground, and the first material type corresponding to the ground is determined to be a long-pile carpet. It should be noted that the minimum value of the first interval is greater than the maximum value of the second interval, the minimum value of the second interval is greater than the maximum value of the third interval, and the three intervals have no overlapping range, ensuring that the determination result of the first material type is unambiguous.

[0022] In other words, the infrared sensor simultaneously emits 850nm and 950nm infrared light towards the ground. For example, when a robot moves on a tiled floor in a living room, because the surface of the tile is smooth and its color is light, it reflects both 850nm and 950nm infrared light highly, making the ratio of the two infrared light reflection intensities close to 1. Assuming the first interval is set to 0.9 - 1.1, the processing unit determines that the first material type corresponding to the ground is hard flooring, just like hard flooring materials such as tiles. The reflectivity of the two wavelengths of infrared light is similar, so the ratio is close to 1.

[0023] When the robot moves onto the short-pile carpet in the bedroom, the carpet's fiber structure and color characteristics result in relatively high absorption of 850nm infrared light, causing the ratio of 850nm to 950nm infrared light reflection intensity to be approximately 0.7. Assuming the second range is 0.6-0.8, the processing unit determines that the primary material type of the floor is a short-pile carpet. This is analogous to the short-pile carpet fibers having a stronger "attraction" to 850nm infrared light, absorbing more light of that wavelength, leading to a decrease in reflection intensity and forming a specific ratio with the 950nm infrared light reflection intensity.

[0024] When the robot approaches the long-pile carpet area, the carpet's fluffy pile and dark color strongly absorb both wavelengths of infrared light, resulting in a reflectance ratio of less than 0.5. Assuming the third interval is 0-0.49, the processing unit determines the primary material type to be a long-pile carpet. The long-pile carpet acts like an "infrared light absorber," absorbing large amounts of both wavelengths of infrared light, thus minimizing the reflectance ratio.

[0025] S102: Using a capacitive sensor, determine the capacitance value of the ground, and determine the second material type corresponding to the ground based on the capacitance value of the ground.

[0026] In this embodiment, the capacitive sensor employs a diamond-shaped cross electrode array, with an electrode linewidth of 0.5 mm and an electrode spacing of 1.2 mm. Specifically, if the capacitance value of the ground is in the fourth interval, the second material type corresponding to the ground is determined to be hard flooring. If the capacitance value of the ground is in the fifth interval, the second material type corresponding to the ground is determined to be a short-pile carpet; if the capacitance value of the ground is in the sixth interval, the second material type corresponding to the ground is determined to be a long-pile carpet; wherein, the maximum value of the fourth interval is less than the minimum value of the fifth interval, and the maximum value of the fifth interval is less than the minimum value of the sixth interval.

[0027] In this embodiment, the electrode surface of the capacitance sensor is covered with a hydrophobic nano-coating with a contact angle greater than 150° to prevent water stains from affecting the determination of the ground capacitance value; the electrode layer of the capacitance sensor is embedded with a copper mesh shielding layer with a grid density of 200 meshes to suppress electromagnetic interference, that is, to suppress electromagnetic interference generated by equipment such as motors, so as to ensure accurate determination of the ground capacitance value.

[0028] It is understandable that the capacitive sensor equipped on the robot uses a diamond-shaped cross electrode array. The electrode linewidth of this array is 0.5mm, and the electrode spacing is 1.2mm. These structural parameters enhance the edge electric field penetration depth of the capacitive sensor, reaching up to 8mm, enabling accurate detection of high-pile carpets and avoiding missed detections due to insufficient electrode penetration. To further improve the detection stability and anti-interference capability of the capacitive sensor, this embodiment incorporates two optimization designs for the electrode structure: First, a hydrophobic nano-coating is applied to the electrode surface of the capacitive sensor. This hydrophobic nano-coating has a contact angle greater than 150°, effectively preventing water stains generated during cleaning from adhering to the electrode surface and avoiding false capacitance readings due to water stains. Second, a copper mesh shielding layer is embedded in the electrode layer of the capacitive sensor. This copper mesh shielding layer has a mesh density of 200 meshes, effectively suppressing electromagnetic interference generated by the cleaning robot's own motor during operation, ensuring the accuracy of the capacitance value detection data. The capacitive sensor collects the capacitance value parameters of the ground through the diamond-shaped cross electrode array. Based on the numerical range of the capacitance value, the second material type corresponding to the ground is determined. The specific determination rules are as follows: If the capacitance value of the ground is in the fourth range (10-20pF), the second material type corresponding to the ground is determined to be hard floor; If the capacitance value of the ground is in the fifth range (25-35pF), the second material type corresponding to the ground is determined to be a short-pile carpet; If the capacitance value of the ground is in the sixth range (40-50pF), the second material type corresponding to the ground is determined to be a long-pile carpet. It should be noted that the maximum value of the fourth interval is less than the minimum value of the fifth interval, and the maximum value of the fifth interval is less than the minimum value of the sixth interval. The three intervals are independent of each other, ensuring that the determination result of the second material type is accurate.

[0029] It should be noted that when the capacitive sensor is close to the ground, a capacitance is formed between the ground and the diamond-shaped cross electrode array of the capacitive sensor. Due to the different dielectric constants of different materials, flooring materials are usually more dense, resulting in a relatively stable and lower dielectric constant; while carpets, especially high-pile carpets, have a loose pile structure containing more air, resulting in a relatively higher overall dielectric constant.

[0030] For example, when the capacitance sensor detects a ground capacitance value in the fourth range (assuming 0-50 pF), the processing unit determines the second material type corresponding to the ground as a hard floor, such as a common marble floor. Its dense structure results in a relatively low capacitance value with the capacitance sensor, falling within this range. If the capacitance value is in the fifth range (assuming 51-100 pF), it is determined to be a short-pile carpet. Although short-pile carpets have a higher dielectric constant than hard floors, their relatively short fibers and lower air content result in a capacitance value in the middle range. If the capacitance value is in the sixth range (assuming 101-200 pF), it is determined to be a long-pile carpet. The abundant fibers and large amount of air in long-pile carpets result in a higher dielectric constant, leading to a higher capacitance value with the capacitance sensor, falling within this higher range.

[0031] S103: If the first material type corresponding to the ground and the second material type corresponding to the ground are the same, then the first material type or the second material type is taken as the actual material type of the ground, and the processing procedure corresponding to the actual material type is executed.

[0032] The robot's control module receives a first material type output from an infrared sensor and a second material type output from a capacitive sensor, and compares the consistency of the two material type determination results. If the first material type and the second material type are the same, then that material type is directly taken as the actual material type of the floor. At the same time, the control module sends a process switching command to the robot's actuator to execute the cleaning process corresponding to the actual material type. The cleaning process includes switching between sweeping, vacuuming, and mopping operations. Specifically: when the actual material type is a hard floor, a "sweeping + mopping" cleaning process is executed; when the actual material type is a short-pile carpet, a "sweeping + vacuuming" cleaning process is executed; and when the actual material type is a long-pile carpet, a "deep vacuuming" cleaning process is executed.

[0033] Understandably, when the first material type determined by the infrared sensor and the second material type determined by the capacitive sensor are the same, the processing unit will use that material type as the actual material type of the floor. For example, if both determine it to be a hard floor, the robot will perform cleaning procedures for hard floors, such as mopping and light vacuuming, to effectively remove stains and dust. The mopping operation uses a rotating mop to remove stains through friction with the floor; the light vacuuming uses a low-power vacuuming device to remove surface dust.

[0034] S104: If the first material type and the second material type of the ground are different, use a vibration sensor to determine the vibration spectrum energy value of the ground, determine the actual material type of the ground based on the vibration spectrum energy value of the ground, and perform the processing steps corresponding to the actual material type.

[0035] In this embodiment, a vibration sensor can be used to determine the vibration spectrum energy value corresponding to the ground. As an example, the vibration signal of the ground vibration can first be sensed using the sensitive element in the vibration sensor. Then, the vibration signal can be converted into an electrical signal, and the electrical signal can be preprocessed to obtain a processed electrical signal; wherein, the preprocessing includes amplification and filtering. Next, a Fourier transform mathematical operation can be performed on the processed electrical signal to obtain the vibration spectrum. Following this, the vibration spectrum can be analyzed to obtain the energy distribution of the vibration spectrum, and based on the energy distribution of the vibration spectrum, the vibration spectrum energy value corresponding to the ground can be determined.

[0036] In this embodiment, the actual material type of the ground can be determined based on the vibration spectrum energy value corresponding to the ground. Specifically, if the vibration spectrum energy value corresponding to the ground is within a preset floor threshold range, the actual material type of the ground is determined to be flooring; if the vibration spectrum energy value corresponding to the ground is within a preset short carpet threshold range, the actual material type of the ground is determined to be short carpet; and if the vibration spectrum energy value corresponding to the ground is within a preset long carpet threshold range, the actual material type of the ground is determined to be long carpet.

[0037] Understandably, if the determination results of the first material type and the second material type are different, the control module will activate the confidence compensation mechanism and call the vibration sensor on the robot to perform a secondary verification of the ground material. The specific operation process is as follows: The first step is to use the sensitive element in the vibration sensor to sense the vibration signals generated by the cleaning robot during its operation in contact with the ground; The second step is to convert the vibration signal into a processable electrical signal through the signal conversion module of the vibration sensor; The third step is to preprocess the electrical signal, which includes amplification and filtering. Amplification is used to enhance the intensity of weak vibration signals, and filtering is used to filter out environmental noise and interference signals from the robot's own operation, so as to obtain an effectively processed electrical signal. The fourth step is to perform Fourier transform mathematical operations on the processed electrical signal to convert the time-domain signal into a frequency-domain signal, thereby obtaining the vibration spectrum of the ground. The fifth step is to perform energy analysis on the vibration spectrum to obtain the energy distribution characteristics of the vibration spectrum, and calculate the vibration spectrum energy value corresponding to the ground based on the energy distribution characteristics. Step 6: Determine the actual material type of the floor based on the preset threshold range where the vibration spectrum energy value falls. The specific determination rules are as follows: if the vibration spectrum energy value is within the floor threshold range (80-100dB), the actual material type is determined to be hard floor; if the vibration spectrum energy value is within the short carpet threshold range (50-60dB), the actual material type is determined to be short-pile carpet; if the vibration spectrum energy value is within the long carpet threshold range (30-40dB), the actual material type is determined to be long-pile carpet. It should be noted that, experimental verification shows that the vibration spectrum energy of carpet is 40% lower than that of flooring; this numerical characteristic serves as the core basis for threshold range division.

[0038] After determining the actual material type, the control module sends instructions to the actuator to perform the corresponding material cleaning process.

[0039] In other words, if the two sensors determine different material types, for example, the infrared sensor determines it to be a short-pile carpet while the capacitive sensor determines it to be a hard floor, then the vibration sensor is triggered to perform a secondary verification.

[0040] A vibration sensor's sensitive element detects ground vibrations and converts the vibration signal into an electrical signal. For example, when a robot moves on the ground, the ground vibration causes the sensitive element to generate an electrical signal, just as a microphone converts sound vibrations into electrical signals. This electrical signal is amplified by an amplifier circuit to increase its strength for subsequent processing; then, it passes through a filter circuit to remove noise interference, resulting in a relatively pure electrical signal. This is analogous to adding a loudspeaker to a weak sound while filtering out surrounding noise to make the sound clearer.

[0041] The processing unit performs a Fourier transform on the preprocessed electrical signal, converting the time-domain signal into a frequency-domain signal to obtain the vibration spectrum. The Fourier transform converts a time-varying electrical signal into a combination of signals with different frequency components, showing the energy distribution of the signal at different frequencies. The vibration spectrum data is then analyzed to determine the spectral energy distribution. Based on this energy distribution, the vibration spectrum energy value is calculated.

[0042] If the energy value falls within the preset floor threshold range (assuming 80-100 energy units), the processing unit determines the actual floor material type as flooring; if it falls within the preset short carpet threshold range (assuming 40-79 energy units), it determines it as a short carpet; if it falls within the preset long carpet threshold range (assuming 0-39 energy units), it determines it as a long carpet. After determining the actual material type, the robot performs the corresponding cleaning process. For example, for short carpets, it can increase the suction power and extend the suction time to effectively clean the dust between the carpet fibers.

[0043] It should be noted that, in one implementation, the robot can be a cleaning robot, and the processing steps include cleaning steps for floors, cleaning steps for short carpets, and cleaning steps for long carpets. The cleaning steps include switching between sweeping, vacuuming, and mopping operation modes.

[0044] Through the multi-dimensional identification process of "infrared dual-wavelength detection + capacitor array detection + vibration spectrum verification", this robot process switching method can accurately identify floors, short-pile carpets and long-pile carpets, ensuring that the cleaning robot automatically switches to the corresponding process in mixed material spaces, effectively solving the problems of inaccurate identification and poor cleaning effect of existing systems.

[0045] As can be seen from the above technical solution, the robot process switching method provided in this application utilizes an infrared sensor to simultaneously emit two types of infrared light of different wavelengths—a first type and a second type—to the ground. The first material type of the ground is determined based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type. Simultaneously, a capacitance sensor is used to determine the capacitance value of the ground and, based on this, the second material type. When the first and second material types are the same, this is directly used as the actual material type of the ground, and the corresponding processing steps are executed. When the first and second material types are different, a vibration sensor is used to determine the vibration spectrum energy value of the ground and, based on this, the actual material type of the ground, and then the corresponding processing steps are executed. This forms a multi-dimensional material confirmation mechanism with dual "infrared + capacitance" identification and vibration sensor verification. This effectively solves the problem that the process switching system cannot accurately identify and clean in spaces with carpets and floors during robot cleaning, significantly improving the accuracy of ground material identification and the precision of process switching, ensuring the robot's cleaning effect on different ground materials.

[0046] like Figure 2The image shows a specific embodiment of a robot process switching device provided in this application. The device described in this embodiment is a physical device used to perform the method described in the above embodiments. Its technical solution is essentially the same as that of the above embodiments, and the corresponding descriptions in the above embodiments are also applicable to this embodiment. The device described in this embodiment is used for a robot, and the device includes: The first unit 201 is used to synchronously emit a first type of infrared light and a second type of infrared light to the ground using an infrared sensor, and to determine the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light; wherein the first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. The second unit 202 is used to determine the capacitance value of the ground using a capacitance sensor, and to determine the second material type corresponding to the ground based on the capacitance value of the ground. The third unit 203 is used to take the first material type or the second material type as the actual material type of the ground if the first material type corresponding to the ground and the second material type corresponding to the ground are the same, and to execute the processing steps corresponding to the actual material type. The fourth unit 204 is used to determine the vibration spectrum energy value of the ground using a vibration sensor if the first material type and the second material type of the ground are not the same, determine the actual material type of the ground based on the vibration spectrum energy value of the ground, and perform the processing steps corresponding to the actual material type.

[0047] Optionally, the wavelength of the first type of infrared light is 850 nm; the wavelength of the second type of infrared light is 950 nm; the step of determining the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light includes: If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the first range, the first material type corresponding to the ground is determined to be hard floor. If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the second range, the first material type corresponding to the ground is determined to be a short-pile carpet. If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the third range, the first material type corresponding to the ground is determined to be a long-pile carpet. The minimum value of the first interval is greater than the maximum value of the second interval, and the minimum value of the second interval is less than the maximum value of the third interval.

[0048] Optionally, the capacitive sensor employs a diamond-shaped cross electrode array, the electrode linewidth in the capacitive sensor is 0.5 mm, and the electrode spacing in the capacitive sensor is 1.2 mm; determining the second material type corresponding to the ground based on the capacitance value of the ground includes: If the capacitance value of the ground is in the fourth range, the second material type corresponding to the ground is determined to be hard floor; If the capacitance value of the ground is in the fifth interval, the second material type corresponding to the ground is determined to be a short-pile carpet; If the capacitance value of the ground is in the sixth interval, the second material type corresponding to the ground is determined to be a long-pile carpet; The maximum value of the fourth interval is less than the minimum value of the fifth interval, and the maximum value of the fifth interval is less than the minimum value of the sixth interval.

[0049] Optionally, the electrode surface of the capacitive sensor is covered with a hydrophobic nano-coating with a contact angle greater than 150°; the electrode layer of the capacitive sensor is embedded with a copper mesh shielding layer with a grid density of 200 meshes to suppress electromagnetic interference.

[0050] Optionally, determining the vibration spectrum energy value corresponding to the ground using a vibration sensor includes: The vibration signal of the ground vibration is sensed using the sensitive element in the vibration sensor; The vibration signal is converted into an electrical signal; The electrical signal is preprocessed to obtain a processed electrical signal; wherein the preprocessing includes amplification and filtering. The vibration spectrum is obtained by performing a Fourier transform mathematical operation on the processed electrical signal. The energy distribution of the vibration spectrum is obtained by analyzing the vibration spectrum. Based on the energy distribution of the vibration spectrum, the vibration spectrum energy value corresponding to the ground is determined.

[0051] Optionally, determining the actual material type of the ground based on the vibration spectrum energy value corresponding to the ground includes: If the vibration spectrum energy value corresponding to the ground is a preset floor threshold range, the actual material type of the ground is determined to be flooring; If the vibration spectrum energy value corresponding to the ground is within the preset short carpet threshold range, the actual material type of the ground is determined to be a short carpet. If the vibration spectrum energy value corresponding to the ground is within the preset long carpet threshold range, the actual material type of the ground is determined to be a long carpet.

[0052] Optionally, the robot is a cleaning robot, and the processing steps include cleaning steps for floors, cleaning steps for short carpets, and cleaning steps for long carpets. The cleaning steps include switching between sweeping, vacuuming, and mopping operation modes.

[0053] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include RAM, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for other services.

[0054] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0055] Memory is used to store instructions for execution. Specifically, instructions for execution are computer programs that can be executed. Memory can include main memory and non-volatile memory, and it provides the processor with execution instructions and data.

[0056] In one possible implementation, the processor reads the corresponding execution instructions from non-volatile memory into main memory and then executes them. Alternatively, it may obtain the corresponding execution instructions from other devices to form a robot process switching device at the logical level. The processor executes the execution instructions stored in the memory to implement the robot process switching method provided in any embodiment of this application through the executed instructions.

[0057] The above is as stated in this application. Figure 1The method executed by the robot process switching device provided in the illustrated embodiment can be applied to a processor, or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0058] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0059] This application also proposes a readable medium that stores execution instructions. When the stored execution instructions are executed by the processor of an electronic device, the electronic device can execute the robot process switching method provided in any embodiment of this application, and specifically be used to perform the above-mentioned evaluation method.

[0060] The electronic devices described in the foregoing embodiments may be computers.

[0061] Those skilled in the art will understand that the embodiments of this application can be provided as methods or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or a combination of software and hardware.

[0062] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0063] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0064] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A robot process switching method, characterized in that, The method is used for a robot, and the method includes: A first type of infrared light and a second type of infrared light are simultaneously emitted to the ground using an infrared sensor. The first material type corresponding to the ground is determined based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light. The first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. Using a capacitive sensor, the capacitance value of the ground is determined, and based on the capacitance value of the ground, the second material type corresponding to the ground is determined; If the first material type corresponding to the ground and the second material type corresponding to the ground are the same, then the first material type or the second material type is taken as the actual material type of the ground, and the processing procedure corresponding to the actual material type is executed. If the first material type and the second material type of the ground are different, the vibration sensor is used to determine the vibration spectrum energy value of the ground, the actual material type of the ground is determined based on the vibration spectrum energy value, and the processing procedure corresponding to the actual material type is executed.

2. The robot process switching method according to claim 1, characterized in that, Determining the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light includes: If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the first range, the first material type corresponding to the ground is determined to be hard floor. If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the second range, the first material type corresponding to the ground is determined to be a short-pile carpet. If the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light is in the third range, the first material type corresponding to the ground is determined to be a long-pile carpet. The minimum value of the first interval is greater than the maximum value of the second interval, and the minimum value of the second interval is less than the maximum value of the third interval.

3. The robot process switching method according to claim 1, characterized in that, The capacitive sensor employs a diamond-shaped cross electrode array; determining the second material type corresponding to the ground based on the capacitance value of the ground includes: If the capacitance value of the ground is in the fourth range, the second material type corresponding to the ground is determined to be hard floor; If the capacitance value of the ground is in the fifth interval, the second material type corresponding to the ground is determined to be a short-pile carpet; If the capacitance value of the ground is in the sixth interval, the second material type corresponding to the ground is determined to be a long-pile carpet; The maximum value of the fourth interval is less than the minimum value of the fifth interval, and the maximum value of the fifth interval is less than the minimum value of the sixth interval.

4. The robot process switching method according to claim 3, characterized in that, The electrode surface of the capacitive sensor is covered with a hydrophobic nano-coating with a contact angle greater than 150°; the electrode layer of the capacitive sensor is embedded with a copper mesh shielding layer with a grid density of 200 meshes to suppress electromagnetic interference.

5. The robot process switching method according to claim 1, characterized in that, The process of using vibration sensors to determine the vibration spectrum energy value corresponding to the ground includes: The vibration signal of the ground vibration is sensed using the sensitive element in the vibration sensor; The vibration signal is converted into an electrical signal; The electrical signal is preprocessed to obtain a processed electrical signal; wherein the preprocessing includes amplification and filtering. The vibration spectrum is obtained by performing a Fourier transform mathematical operation on the processed electrical signal. The energy distribution of the vibration spectrum is obtained by analyzing the vibration spectrum. Based on the energy distribution of the vibration spectrum, the vibration spectrum energy value corresponding to the ground is determined.

6. The robot process switching method according to claim 1, characterized in that, The step of determining the actual material type of the ground based on the vibration spectrum energy value corresponding to the ground includes: If the vibration spectrum energy value corresponding to the ground is a preset floor threshold range, the actual material type of the ground is determined to be flooring; If the vibration spectrum energy value corresponding to the ground is within the preset short carpet threshold range, the actual material type of the ground is determined to be a short carpet. If the vibration spectrum energy value corresponding to the ground is within the preset long carpet threshold range, the actual material type of the ground is determined to be a long carpet.

7. The robot process switching method according to any one of claims 1-6, characterized in that, The robot is a cleaning robot, and the processing steps include cleaning steps for floors, cleaning steps for short carpets, and cleaning steps for long carpets. The cleaning steps include switching between sweeping, vacuuming, and mopping operation modes.

8. A robot process switching device, characterized in that, The device is used for a robot, and the device includes: The first unit is used to simultaneously emit a first type of infrared light and a second type of infrared light to the ground using an infrared sensor, and to determine the first material type corresponding to the ground based on the ratio of the reflection intensity of the first type of infrared light to the reflection intensity of the second type of infrared light; wherein the first type of infrared light and the second type of infrared light are infrared lights with different wavelengths. The second unit is used to determine the capacitance value of the ground using a capacitance sensor, and to determine the second material type corresponding to the ground based on the capacitance value of the ground. The third unit is used to take the first material type or the second material type as the actual material type of the ground if the first material type corresponding to the ground and the second material type corresponding to the ground are the same, and to execute the processing steps corresponding to the actual material type. The fourth unit is used to determine the vibration spectrum energy value of the ground using a vibration sensor if the first material type and the second material type of the ground are not the same, determine the actual material type of the ground based on the vibration spectrum energy value of the ground, and perform the processing steps corresponding to the actual material type.

9. A readable medium, characterized in that, The method includes execution instructions, which, when executed by the processor of the electronic device, cause the electronic device to perform the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor performs the method as described in any one of claims 1-7.

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