Slip state detection method, device and storage medium
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorYansheng NIU
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Abstract
A method for detecting a slipping state, an automatic cleaning apparatus, and a automatic cleaning apparatus are provided. The method includes: obtaining a metered distance value through an odometer, and obtaining multiple frame point clouds through a laser radar within a preset detection time period during walking of an automatic cleaning apparatus, wherein the metered distance value represents a rotation distance value of a driving wheel assembly; and determining that the automatic cleaning apparatus is in the slipping state based on the metered distance value and the multiple frame point clouds.
Claims20
A method for detecting a slipping state, comprising:
- obtaining a metered distance value through an odometer, and obtaining multiple frame point clouds through a laser radar within a preset detection time period during walking of an automatic cleaning apparatus, wherein the metered distance value represents a rotation distance value of a driving wheel assembly;
- and
- determining that the automatic cleaning apparatus is in the slipping state based on the metered distance value and the multiple frame point clouds.
The method according to claim wherein:
- each frame point cloud includes multiple point data;
- said determining whether the position of the automatic cleaning apparatus has changed based on the multiple frame point clouds comprises:
- allocating the multiple frame point clouds to a first point cloud set or a second point cloud set respectively, wherein the first point cloud set includes multiple first frame point clouds, and the second point cloud set includes multiple second frame point clouds;
- performing similarity matching based on the multiple first frame point clouds and the multiple second frame point clouds to obtain a similarity matching result;
- and
- determining whether the position of the automatic cleaning apparatus has changed based on the similarity matching result.
An automatic cleaning apparatus, comprising:
- an odometer configured to obtain a metered distance value, wherein the metered distance value represents a rotation distance value of a driving wheel assembly;
- a laser radar configured to obtain a frame point cloud during the walking of the automatic cleaning apparatus;
- a processor connected respectively to the odometer and the laser radar for communication, and the processor configured to:
- obtain the metered distance value through the odometer, and obtain multiple frame point clouds through the laser radar within a preset detection time period during the walking of the automatic cleaning apparatus, wherein the metered distance value represents the rotation distance value of the driving wheel assembly;
- and
- determine that the automatic cleaning apparatus is in the slipping state based on the metered distance value and the multiple frame point clouds.
An automatic cleaning apparatus, comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, the processor is configured to:
- obtain a metered distance value through an odometer, and obtain multiple frame point clouds through a laser radar within a preset detection time period during walking of an automatic cleaning apparatus, wherein the metered distance value represents a rotation distance value of a driving wheel assembly;
- and
- determine that the automatic cleaning apparatus is in a slipping state based on the metered distance value and the multiple frame point clouds.
Dependencies are inferred from the claim text.