Cleaning equipment motion control method, storage medium and cleaning equipment

Abstract

The invention discloses a cleaning equipment motion control method which comprises the steps: detecting whether cleaning equipment is collided or not, if the equipment is collided and the cleaning equipment is driven to rotate, continuously irradiating and receiving a detection signal of an obstacle, and stopping spinning when the value of the detection signal is reduced; calculating to obtain anobstacle color parameter according to the received detection signal; adjusting and executing a preset edge movement strategy according to the obtained obstacle color parameters; and adjusting and executing a preset edge movement strategy according to the obtained obstacle color parameters. According to the cleaning equipment motion control method, the current obstacle color coefficient is obtainedby detecting the obstacle signal values at intervals, the obstacle color is judged according to the obstacle color coefficient, and the edge motion strategy corresponding to the obstacle color is executed; therefore, the situation that existing cleaning equipment cannot detect black obstacles and glass obstacles is avoided, the probability of collision is avoided, and the sweeping efficiency is improved.

Description

technical field [0001] The invention relates to the field of cleaning equipment, in particular to a method for controlling motion of cleaning equipment. Background technique [0002] At present, when the sweeping robot walks along the wall, infrared sensors are generally used to provide machine vision, and the infrared signal is used to detect the distance of obstacles by using the principle that the intensity of reflections at different distances from obstacles encountered by infrared signals is also different. The infrared ranging sensor has a pair of infrared signal emitting and receiving diodes. The emitting tube emits an infrared signal of a specific frequency, and the receiving tube receives the infrared signal of this frequency. When the infrared detection direction encounters obstacles, because the infrared rays are passing through other substances When the refractive index is very small, the infrared signal is reflected back and received by the receiving tube. Af...

AI Technical Summary

Problems solved by technology

[0003] However, due to the strong ability of black to absorb light, and glass is easy to transmit light, the infrared signal cannot be reflected back or the returned signal is very weak, so the general infrared detection of black objects or glass cannot be detected or the detection distance is very small, reaching Less than the threshold set by the software

Causes constant collisions, unable to follow the wall in a straight line, resulting in low cleaning coverage

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