CN-122017275-A - Window cleaning robot speed detection method and related device

CN122017275ACN 122017275 ACN122017275 ACN 122017275ACN-122017275-A

Abstract

The embodiment of the application provides a method and a related device for detecting the speed of a window cleaning robot, and relates to the technical field of cleaning. The method comprises the steps of obtaining pulse signals of a detection sensor, wherein the detection sensor comprises a single-phase Hall sensor and/or a single-phase photoelectric sensor, determining pulse quantity increment in unit time according to the pulse signals, and determining the speed of the window cleaning robot according to the pulse quantity increment and a preset reduction ratio of a motor of the window cleaning robot. The scheme utilizes the pulse signals output by the single-phase Hall sensor and/or the single-phase photoelectric sensor, and combines the pulse frequency calculation of a time window to realize the high-precision and high-reliability detection of the speed of the window cleaning robot. The complexity of the system effectively reduces the cost of the window cleaning robot.

Inventors

Shang biao
ZHANG MENGJIE
TIAN CHUNYONG
HU CHENG
Tian Songzhao
DING YUNWEN
LIU SIHONG
CAI QINLI

Assignees

窗前明净科技(苏州)有限公司

Dates

Publication Date: 20260512
Application Date: 20260317

Claims (12)

1. A method for detecting the speed of a window cleaning robot, comprising: The method comprises the steps of acquiring pulse signals of a detection sensor, wherein the detection sensor comprises a single-phase Hall sensor and/or a single-phase photoelectric sensor; Determining the pulse quantity increment in unit time according to the pulse signal; and determining the speed of the window cleaning robot according to the pulse quantity increment and the preset reduction ratio of the motor of the window cleaning robot.
2. The method of claim 1, wherein the detection sensor is a single-phase hall sensor, and wherein determining the speed of the window cleaning robot based on the pulse number increment and a preset reduction ratio of the window cleaning robot motor comprises: determining the sign of the pulse quantity increment according to the current direction state to obtain a target pulse increment, wherein the sign comprises positive or negative; and determining the speed of the window cleaning robot according to the target pulse increment, the preset reduction ratio of the motor and the wheel circumference of the window cleaning robot.
3. The method of claim 2, wherein the determining the speed of the window cleaning robot based on the target pulse increment, a preset reduction ratio of the motor, and a wheel circumference of the window cleaning robot comprises: determining a first product of the target pulse increment and the wheel circumference of the window cleaning robot, and a second product of the preset reduction ratio of the motor, the duration of the unit time and the pulse number per rotation of the single-phase Hall sensor; taking the ratio of the first product and the second product as the speed of the window cleaning robot.
4. The method of claim 2, wherein prior to said determining the pulse number increment per unit time, the method further comprises: Detecting overflow of the pulse signal and/or detecting loss of the pulse signal; and outputting alarm information and controlling the window cleaning robot to enter a safety mode under the condition that the pulse signal overflows and/or the pulse signal is lost is determined.
5. The method of claim 1, wherein the detection sensor is a single-phase photoelectric sensor, and wherein determining the speed of the window cleaning robot based on the pulse number increment and a preset reduction ratio of the window cleaning robot motor comprises: Determining the rotation number of the wheel of the window cleaning robot in unit time according to the pulse quantity increment and the preset reduction ratio of the motor; and determining the speed of the window cleaning robot according to the rotation number, the circumference of the wheel of the window cleaning robot and an environment compensation factor.
6. The method of claim 5, wherein the determining the speed of the window cleaning robot based on the number of rotations, the circumference of the wheel of the window cleaning robot, and an environmental compensation factor comprises: Determining the moving distance of the window cleaning robot according to the rotation number and the wheel circumference of the window cleaning robot; determining the initial speed of the window cleaning robot according to the moving distance and the time length of the unit time; And compensating the initial speed according to the environment compensation factor, and determining the speed of the window cleaning robot.
7. The method according to claim 5 or 6, wherein said determining the pulse number increment per unit time from said pulse signal comprises: removing pulse signals with time intervals not in a preset time interval range; Determining whether a deviation between the current pulse count and a median value of the historical pulse counts is greater than a preset deviation; if not, determining the pulse quantity increment according to the current pulse count and the pulse count at the last moment; If yes, determining the pulse quantity increment according to the historical pulse count median and the pulse count at the last moment.
8. The method of claim 5, wherein prior to the acquiring the pulse signal of the detection sensor, the method further comprises: acquiring the intensity of ambient light; And adjusting the brightness of the single-phase photoelectric sensor according to the ambient light intensity, and determining the environment compensation factor according to the ambient light intensity.
9. The method of claim 1, wherein the detection sensor comprises a single-phase photo sensor and a single-phase hall sensor, wherein the determining the speed of the window cleaning robot based on the pulse number increment and a preset reduction ratio of the window cleaning robot motor comprises: according to the pulse quantity increment and a preset reduction ratio of a motor of the window cleaning robot, respectively determining a first speed of the window cleaning robot detected by the single-phase photoelectric sensor and a second speed of the window cleaning robot detected by the single-phase Hall sensor; Time-aligning the first speed and the second speed; and fusing the first speed and the second speed which are aligned in time to obtain the speed of the window cleaning robot.
10. The electronic device is characterized by comprising a processor, a transceiver and a memory, wherein the processor is respectively in communication connection with the transceiver and the memory; The memory stores computer-executable instructions; the transceiver performs communication interaction with external equipment; the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-9.
11. A computer readable storage medium, having stored thereon a computer program, the computer program being executed by a processor to implement the method of any of claims 1-9.
12. A computer program product comprising a computer program which, when executed by a controller, implements the method of any of claims 1-9.

Description

Window cleaning robot speed detection method and related device Technical Field The application relates to the technical field of cleaning, in particular to a speed detection method and a related device for a window cleaning robot. Background Window cleaning robots are typically used as cleaning tools and are widely used in home, office building, market, etc. The control system of the window cleaning robot needs to monitor the speed in real time, ensures that the window cleaning robot keeps balance in a complex environment through accurate speed adjustment, avoids slipping, and realizes accurate path planning and cleaning coverage. At present, the monitoring speed of a control system depends on complex sensors and detection algorithms, so that the speed detection cost of the window cleaning robot is high and the efficiency is low. Disclosure of Invention The embodiment of the application provides a method and a related device for detecting the speed of a window cleaning robot, which are used for realizing the effects of reducing the higher cost of the speed detection of the window cleaning robot and improving the detection efficiency. In a first aspect, an embodiment of the present application provides a method for detecting a speed of a window cleaning robot, including: The method comprises the steps of acquiring pulse signals of a detection sensor, wherein the detection sensor comprises a single-phase Hall sensor and/or a single-phase photoelectric sensor; Determining the pulse quantity increment in unit time according to the pulse signal; And determining the speed of the window cleaning robot according to the pulse quantity increment and the preset reduction ratio of the motor of the window cleaning robot. In some embodiments, the detection sensor is a single-phase hall sensor, and determining the speed of the window cleaning robot according to the pulse number increment and the preset reduction ratio of the window cleaning robot motor includes: determining the sign of the pulse quantity increment according to the current direction state to obtain a target pulse increment, wherein the sign comprises positive or negative; and determining the speed of the window cleaning robot according to the target pulse increment, the preset reduction ratio of the motor and the wheel circumference of the window cleaning robot. In some embodiments, the determining the speed of the window cleaning robot based on the target pulse increment, a preset reduction ratio of the motor, and a wheel circumference of the window cleaning robot comprises: determining a first product of the target pulse increment and the wheel circumference of the window cleaning robot, and a second product of the preset reduction ratio of the motor, the duration of the unit time and the pulse number per rotation of the single-phase Hall sensor; taking the ratio of the first product and the second product as the speed of the window cleaning robot. In some embodiments, before the determining the pulse number increment per unit time, the method further comprises: Detecting overflow of the pulse signal and/or detecting loss of the pulse signal; and outputting alarm information and controlling the window cleaning robot to enter a safety mode under the condition that the pulse signal overflows and/or the pulse signal is lost is determined. In some embodiments, the detection sensor is a single-phase photoelectric sensor, and determining the speed of the window cleaning robot according to the pulse number increment and the preset reduction ratio of the window cleaning robot motor includes: Determining the rotation number of the wheel of the window cleaning robot in unit time according to the pulse quantity increment and the preset reduction ratio of the motor; and determining the speed of the window cleaning robot according to the rotation number, the circumference of the wheel of the window cleaning robot and an environment compensation factor. In some embodiments, the determining the speed of the window cleaning robot based on the number of rotations, the wheel circumference of the window cleaning robot, and an environmental compensation factor comprises: Determining the moving distance of the window cleaning robot according to the rotation number and the wheel circumference of the window cleaning robot; determining the initial speed of the window cleaning robot according to the moving distance and the time length of the unit time; And compensating the initial speed according to the environment compensation factor, and determining the speed of the window cleaning robot. In some embodiments, the determining the pulse number increment in unit time according to the pulse signal includes: removing pulse signals with time intervals not in a preset time interval range; Determining whether a deviation between the current pulse count and a median value of the historical pulse counts is greater than a preset deviation; if not, determining the pulse quantity incremen