US-12616349-B2 - Method and apparatus for identifying ground feature by automatic cleaning device

US12616349B2US 12616349 B2US12616349 B2US 12616349B2US-12616349-B2

Abstract

A method and apparatus for identifying a ground feature by an automatic cleaning device. The method includes collecting a rolling-brush current and a side-brush current; performing weighted calculation according to the rolling-brush current and the side-brush current, so as to obtain a ground identification coefficient; and according to the ground identification coefficient, identifying a feature of whether the ground on which the automatic cleaning device is located is carpet or a non-carpet dielectric surface. Software optimization is carried out on the basis of current detection technology, thus reducing the false identification rate without additional cost.

Inventors

YINBO XU
Jun Wu
Jiajia Sun

Assignees

Dreame Innovation Technology (Suzhou) Co., Ltd.

Dates

Publication Date: 20260505
Application Date: 20210527
Priority Date: 20200831

Claims (5)

1 . A method for identifying a ground feature by an automatic cleaning device, comprising: i) obtaining a rolling brush reference current and a side brush reference current via a calibration process; ii) collecting a rolling brush current and a side brush current of the automatic cleaning device; iii) obtaining a ground identification coefficient by: obtaining a first difference value between the rolling brush current and the rolling brush reference current, wherein the first difference value is a positive number; obtaining a second difference value between the side brush current; and the side brush reference current, wherein the second difference value is a positive number; and calculating the ground identification coefficient as a sum of the first difference value multiplied by a first weighting coefficient and the second difference value multiplied by a second weighting coefficient; and iv) identifying the ground feature where the automatic cleaning device is located by comparing the ground identification coefficient to a first threshold, and outputting that an identification result is a carpet if the ground identification coefficient is greater than the first threshold within a first preset time range; further comprising: updating the rolling brush reference current and the side brush reference current by steps comprising: (a) collecting a plurality of rolling brush currents and a plurality of side brush currents over a period of time; (b) obtaining an average value of the plurality of rolling brush currents and an average value of the plurality of side brush currents; (c) obtaining a dispersion degree of the plurality of rolling brush currents and a dispersion degree of the plurality of side brush currents; and (d) when a difference value between the average value of the plurality of rolling brush currents and athe rolling brush reference current is less than a preset value (P1), a difference value between the average value of the plurality of side brush currents and athe side brush reference current is less than a preset value (P2), and the dispersion degree of the plurality of rolling brush currents is less than a second preset threshold (T2) and the dispersion degree of the plurality of side brush currents is less than the second preset threshold (T2) remain stable, updating the rolling brush reference current and the side brush reference current are updated with the respective obtained average values.
2 . The method according to claim 1 , wherein the calibration process comprises: placing the automatic cleaning device on a non-carpet smooth media surface; and collecting an average value of the plurality of rolling brush currents an average value of the plurality of side brush currents in a second preset time as the rolling brush reference current and the side brush reference current, respectively.
3 . The method according to claim 1 , wherein the calibration process comprises: collecting wheel speed data and inertial measurement unit data; when the wheel speed data, the inertial measurement unit data, and the side brush current or the rolling brush current all meet conditions, collecting an average value of the plurality of rolling brush currents and an average value of the plurality of side brush currents in a third preset time as the rolling brush reference current and the side brush reference current, respectively.
4 . The method according to claim 1 , further comprising determining whether a battery voltage of the automatic cleaning device is within a preset range, wherein the updating is performed only when the battery voltage is within the preset range.
5 . The method according to claim 1 , wherein the first threshold is higher than a second threshold, the method further comprising: after outputting that the identification result is the carpet, entering a hysteresis interval if the ground identification coefficient drops below the first threshold and remains above the second threshold; and in the hysteresis interval, switching the identification result to be a non-carpet, if the ground identification coefficient falls below the second threshold and lasts longer than a second preset time.

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present invention is a 35 U.S.C. § 371 National Phase conversion of International (PCT) Patent Application No. PCT/CN2021/096346, filed on May 27, 2021, which claims benefit of Chinese Application No. 202010892851.7, filed on Aug. 31, 2020, the disclosure of which is incorporated by reference herein. The PCT International Patent Application was filed and published in Chinese. TECHNICAL FIELD Embodiments of the present disclosure relate to the technical field of sweeping robots, and in particular, to a method, a device, an automatic cleaning device, and a control method for the automatic cleaning device which are configured to identify a ground feature by the automatic cleaning device. BACKGROUND With the gradual improvement of people's purchasing power, the consumption concept of residents is also undergoing subtle changes, which is manifested in the obvious increase in the demand for intelligent products such as service robots. At the same time, the fast-paced life brought about by the process of urbanization has led to the reduction of people's time for housework, and the rigid demand for housework robots has also emerged. Technological progress has made service robots more intelligent, which can better meet the needs and pain points of consumers' home intelligence. At present, there are three main detection methods for identifying carpet materials, i.e., an identification method based on optical flow sensor; an identification method based on ultrasonic sensor; and an identification method based on current. However, the use of optical flow and ultrasonic detection techniques requires dedicated sensors, which are costly. Moreover, the detection method based on current identification in the prior art has a relatively high false identification rate. Therefore, how to reduce the false identification rate of carpet material detection under the premise of controlling costs has become an urgent problem to be solved. SUMMARY In view of the deficiencies in the above-mentioned technologies, the embodiments of the present disclosure provide a method, a device, an automatic cleaning device, and a control method for the automatic cleaning device which are configured to identify a ground feature by the automatic cleaning device. In order to solve the above-mentioned technical problems, a technical solution adopted in the embodiment of the present disclosure is: a method for identifying a ground feature by an automatic cleaning device, including:collecting a rolling brush current and a side brush current of the automatic cleaning device;obtaining a ground identification coefficient according to a weighted calculation of the rolling brush current and the side brush current; andidentifying the ground feature where the automatic cleaning device is located according to the ground identification coefficient. Optionally, obtaining the ground identification coefficient according to the weighted calculation of the rolling brush current and the side brush current, includes: obtaining a first difference value between the rolling brush current and a rolling brush reference current;obtaining a second difference value between the side brush current and a side brush reference current; andobtaining the ground identification coefficient according to the first difference value and the second difference value;wherein the first difference value and the second difference value are both positive numbers; the ground identification coefficient is a sum of the first difference value multiplied by a first weighting coefficient and the second difference value multiplied by a second weighting coefficient. Optionally, identifying the ground feature where the automatic cleaning device is located according to the ground identification coefficient, includes: outputting that an identification result is a carpet, if the ground identification coefficient is greater than a first threshold within a first preset time range;outputting that the identification result is a non-carpet, if the ground identification coefficient is less than a second threshold within a second preset time range;wherein the first threshold is higher than the second threshold. Optionally, before collecting the rolling brush current and the side brush current of the automatic cleaning device, the method further includes: placing the automatic cleaning device on a non-carpet smooth media surface; andcollecting an average value of the rolling brush currents and an average value of the side brush currents in a second preset time as a rolling brush reference current and a side brush reference current, respectively. Optionally, before collecting the rolling brush current and the side brush current, the method further includes: collecting wheel speed data and inertial measurement unit data;when the wheel speed data, the inertial measurement unit data, and the side brush current or the rolling brush current all meet conditions, collecting an averag