Automatic cleaning device control method and apparatus, and medium and electronic device
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Solution Overview
Problem
Ground sweeping robots often get stuck on long-pile carpets, leading to operational failures due to increased resistance and potential damage, as existing technologies lack effective methods to detect and mitigate such situations in real-time.
Innovation Solution
The method involves acquiring data on the current state of the walking wheel and machine body of the automatic cleaning device during cleaning, determining if it's trapped by comparing theoretical and actual data, and activating an accelerated-escape mode to extricate itself, utilizing sensors like gyroscopes, motor power sensors, and cliff sensors to differentiate between slipping and static conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the ground sweeping robot continues cleaning on long-pile carpets without detection mechanism, then cleaning operation continues, but the robot gets stuck and ceases to function normally
Solution Approach 1:
The patent implements feedback mechanisms by continuously monitoring motor current, wheel rotation speed, and comparing actual position with expected position. When discrepancies exceed thresholds, the system triggers escape maneuvers. This closed-loop feedback enables reliable detection of trapped conditions without requiring complex external sensors.
Solution Approach 2:
The robot uses its own operational parameters (motor current, wheel rotation, position data) to detect trapped conditions. Rather than adding separate detection devices, the system leverages existing operational data to identify when it is stuck on long-pile carpets, enabling self-diagnosis and self-rescue.
2Reliability
If the robot activates accelerated-escape mode frequently to prevent getting stuck, then operational reliability improves, but device wear and energy consumption increase
Solution Approach 1:
The system applies escape maneuvers selectively rather than continuously. It monitors multiple parameters (motor current, wheel speed, position discrepancy) and only triggers accelerated-escape mode when trapped conditions are confirmed. This partial action approach prevents unnecessary energy expenditure while maintaining reliability.
Solution Approach 2:
The system performs preliminary detection and confirmation before activating escape mode. It compares actual position with expected position over time, and only triggers escape when discrepancies persist beyond thresholds. This preliminary verification prevents premature or unnecessary escape maneuvers, conserving energy.
3Device complexity
If the robot uses simple trapping detection based on single parameter, then device complexity is reduced, but measurement precision is insufficient leading to misjudgment
Solution Approach 1:
The detection system is segmented into multiple independent monitoring components: motor current monitoring, wheel rotation speed monitoring, position discrepancy calculation, and threshold comparison. Each segment handles a specific aspect of trapped condition detection, improving overall precision without requiring a single complex detection mechanism.
Solution Approach 2:
The system uses existing operational parameters for multiple purposes: motor current serves both power control and trapped condition detection; wheel rotation data serves both navigation and trapping detection; position data serves both path following and trapped condition identification. This multi-functionality improves detection precision without adding dedicated sensors.
Data Source
AI summary
An automatic cleaning device control method, an automatic cleaning device control apparatus, a computer-readable storage medium and an electronic device are provided. The method includes: acquiring first data based on current state data of a walking wheel of the automatic cleaning device and second data based on current state data of a machine body of the automatic cleaning device when the automatic cleaning device performs cleaning; determining, based on the first data and the second data, whether the automatic cleaning device is trapped or not and controlling the automatic cleaning device to enter an accelerated-escape mode in response to that the automatic cleaning device is trapped.