CN-116138687-B - Control method and device of sweeper and computer equipment

CN116138687BCN 116138687 BCN116138687 BCN 116138687BCN-116138687-B

Abstract

The application relates to a control method, a control device, a computer device, a storage medium and a computer program product of a sweeper. The method comprises the steps of obtaining flight time information of an ultrasonic signal to the ground through the first ultrasonic sensor when the pressure touch sensor recognizes a collision feedback signal, obtaining gyroscope information corresponding to the gyroscope signal through the gyroscope, determining whether the sweeper body is in an unstable state according to the flight time information and the gyroscope information, and determining that false alarm does not exist in the pressure touch sensor if the sweeper body is in the unstable state. By adopting the method, the data processing accuracy of the main control unit of the sweeper on the pressure touch sensor signals can be improved.

Inventors

LIANG WEIPEI
WANG SENYU
Zhai Jinghao
LI JUNJIE

Assignees

广东奥迪威传感科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230221

Claims (9)

1. A control method of a sweeper, characterized in that the sweeper is provided with a first ultrasonic sensor for detecting the ground, a gyroscope and a pressure touch sensor, the pressure touch sensor is attached to the inner side of a baffle of the sweeper, the sweeper is provided with a second ultrasonic sensor for detecting surrounding obstacles, and the method comprises: When the pressure contact sensor recognizes the collision feedback signal, the first ultrasonic sensor acquires the flight time information of the ultrasonic signal to the ground, and Acquiring gyroscope information corresponding to a gyroscope signal through the gyroscope; Determining whether the sweeper body is in an unstable state according to the flight time information and the gyroscope information; if the sweeper body is in an unstable state, determining that the press touch sensor does not have false alarm; when there is a target obstacle around the sweeper, acquiring a first distance between the sweeper and the target obstacle through the second ultrasonic sensor, and Acquiring movement direction information of the sweeper through the gyroscope; When the movement direction information indicates that the sweeper is in a forward state and the first distance is increased, determining that the target obstacle is positioned in the opposite direction of the movement direction of the sweeper; and when the movement direction information represents that the sweeper is in a forward state and the first distance is reduced, determining that the target obstacle is positioned in the same direction of the movement direction of the sweeper.
2. The control method of a sweeper according to claim 1, characterized in that the method further comprises: determining a candidate position of the target obstacle according to the ultrasonic detection signal returned by the second ultrasonic sensor, and Determining the motion direction, the motion speed and the motion distance of the sweeper according to the gyroscope information, wherein the candidate position is located at a random position point in the edge of a sector area taking the second ultrasonic sensor as a circle center, the first distance as a radius and the central angle as a preset angle; determining positional relationship information of the sweeper relative to the target obstacle according to the candidate position, the movement direction, the movement speed and the movement distance; And determining the motion trail of the sweeper under the condition that the target obstacle is taken as the origin of a coordinate system according to the position relation information.
3. The control method of a sweeper according to claim 1, characterized in that after the step of acquiring a first distance between the sweeper and the target obstacle by the second ultrasonic sensor, the method further comprises: Determining a second distance between the sweeper and the ground according to the flight time information of the ultrasonic signal to the ground, which is acquired by the first ultrasonic sensor; Determining that the sweeper currently encounters a special obstacle under the condition that the first distance is larger than a preset first threshold value, the inclination angle of the gyroscope is larger than a preset angle, and the change degree of the second distance in preset time is larger than a preset second threshold value; the area where the special obstacle is located is marked as a special scene area on the map, and the mark of the special scene area is used for prompting the sweeper to avoid the special scene area when the sweeper executes a sweeping task.
4. A control method of a sweeper according to claim 3, characterized in that the method further comprises: Determining whether the second distance is greater than a preset third threshold when the gyroscope and the pressure touch sensor are in a stable state and trigger signals of the gyroscope and the pressure touch sensor are not received; determining the current target position of the sweeper under the condition that the second distance is larger than a preset third threshold value; And controlling the sweeper to execute obstacle avoidance operation so as to enable the sweeper to be far away from the current target position.
5. The control method of a sweeper according to claim 1, characterized in that the method further comprises: Acquiring the type of the ground material of the current position of the sweeper; correcting the flight time information according to the gyroscope information under the condition that the ground material type is not a flat material and the first ultrasonic sensor has a blind area; and correcting the gyroscope information according to the flight time information under the condition that the ground material type is not a flat material and the gyroscope has a dead zone.
6. The utility model provides a controlling means of machine of sweeping floor, its characterized in that is applied to the machine of sweeping floor, the machine of sweeping floor is provided with first ultrasonic sensor, gyroscope and the pressure touch sensor that is used for surveying ground, just pressure touch sensor laminate in the inboard of the machine of sweeping floor baffle, the machine of sweeping floor is provided with the second ultrasonic sensor that is used for surveying the barrier around, the device includes: the acquisition module is used for acquiring the flight time information of the ultrasonic signal to the ground through the first ultrasonic sensor when the pressure contact sensor recognizes the collision feedback signal, and Acquiring gyroscope information corresponding to a gyroscope signal through the gyroscope; The determining module is used for determining whether the sweeper body is in an unstable state according to the flight time information and the gyroscope information; the control module is used for determining that the press touch sensor does not have false alarm if the sweeper body is in an unstable state; The device comprises a judging module, a gyroscope, a first ultrasonic sensor, a second ultrasonic sensor, a gyroscope and a target obstacle, wherein the judging module is used for acquiring a first distance between the sweeper and the target obstacle through the second ultrasonic sensor when the target obstacle exists around the sweeper, acquiring movement direction information of the sweeper through the gyroscope, determining that the target obstacle is located in the opposite direction of the movement direction of the sweeper when the movement direction information represents that the sweeper is in a forward state and the first distance is increased, and determining that the target obstacle is located in the same direction of the movement direction of the sweeper when the movement direction information represents that the sweeper is in a forward state and the first distance is reduced.
7. A sweeper comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the control method of the sweeper according to any one of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the control method of a sweeper according to any one of claims 1 to 5.
9. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, realizes the steps of the control method of a sweeper according to any one of claims 1 to 5.

Description

Control method and device of sweeper and computer equipment Technical Field The application relates to the technical field of intelligent household appliances, in particular to a control method and device of a sweeper, computer equipment, a storage medium and a computer program product. Background With the development of the field of home appliances, various home appliances are layered endlessly. The floor sweeping machine is used as a movable device of an automation technology, and can automatically finish floor cleaning work in a room. At present, the floor sweeping machine generally adopts a brushing and vacuum mode, and ground sundries are firstly absorbed into a self garbage storage box, so that the function of cleaning the ground is completed. However, because the house environment is complicated various, the machine of sweeping floor triggers the pressure easily and touches the sensor signal and thereby appears the warning prompt message in the course of working, but sometimes the machine of sweeping floor does not pass the region that has the barrier, promptly the alarm system of machine of sweeping floor appears the mistake and report the condition, has influenced the normal work of machine of sweeping floor. Therefore, the problem of low data processing accuracy of the sweeper to the pressure touch sensor signal exists in the traditional technology. Disclosure of Invention In view of the foregoing, it is desirable to provide a control method, apparatus, computer device, computer readable storage medium, and computer program product for a sweeper capable of accurately processing a pressure touch sensor signal. The control method of the sweeper is characterized in that the sweeper is provided with a first ultrasonic sensor, a gyroscope and a pressure touch sensor for detecting the ground, and the pressure touch sensor is attached to the inner side of a baffle of the sweeper, and the method comprises the following steps: when the collision feedback signal is identified by the pressure contact sensor, the flight time information of the ultrasonic signal to the ground is acquired by the first ultrasonic sensor, and Acquiring gyroscope information corresponding to a gyroscope signal through a gyroscope; determining whether the sweeper body is in an unstable state according to the flight time information and the gyroscope information; If the sweeper body is in an unstable state, determining that the press touch sensor does not have false alarm. In one embodiment, the sweeper is provided with a second ultrasonic sensor for detecting surrounding obstacles, the method further comprising: when there is a target obstacle around the sweeper, acquiring a first distance between the sweeper and the target obstacle through a second ultrasonic sensor, and Acquiring the movement direction information of the sweeper through a gyroscope; When the movement direction information indicates that the sweeper is in a forward state and the first distance is increased, determining that the target obstacle is positioned in the opposite direction of the movement direction of the sweeper; When the movement direction information characterizes that the sweeper is in a forward state and the first distance is reduced, the target obstacle is determined to be positioned in the same direction of the movement direction of the sweeper. In one embodiment, the method further comprises: determining candidate positions of the target obstacle based on the ultrasonic detection signals returned from the second ultrasonic sensor, and Determining the motion direction, the motion speed and the motion distance of the sweeper according to the gyroscope information, wherein the candidate position is located at a random position point in the edge of a sector area taking the second ultrasonic sensor as the center of a circle, taking the first distance as the radius and taking the central angle as a preset angle; determining position relation information of the sweeper relative to the target obstacle according to the candidate position, the movement direction, the movement speed and the movement distance; and determining the motion track of the sweeper under the condition of taking the target obstacle as the origin of the coordinate system according to the position relation information. In one embodiment, after the step of acquiring the first distance between the sweeper and the target obstacle by the second ultrasonic sensor, the method further comprises: determining a second distance between the sweeper and the ground according to flight time information of the ultrasonic signal to the ground, which is acquired by the first ultrasonic sensor; Determining that the sweeper currently encounters a special obstacle under the condition that the first distance is larger than a preset first threshold value, the inclination angle of the gyroscope is larger than a preset angle, and the change degree of the second distance in preset time is larger than a preset