A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Obstacle touch detection method, swimming pool cleaning machine and storage medium
According to the obstacle touch detection method, the swimming pool cleaning machine and the storage medium, the total amplitude delta Wt of the angular velocity change is compared with the threshold value delta W0, and if delta Wtgt is greater than delta Wtgt; if delta Wt is smaller than or equal to delta W0, it is indicated that the swimming pool cleaning machine is walking, it is judged that the swimming pool cleaning machine does not touch an obstacle, and if delta Wt is smaller than or equal to delta W0, it is indicated that the swimming pool cleaning machine stops walking. The technical problem that null drift cannot be corrected underwater through radar and camera images in the prior art is solved, and null drift interference caused by a gyroscope and other data acquisition devices can be avoided from the low-cost perspective of improving software programs.
本发明的触碰障碍物的检测方法、泳池清洁机和存储介质，通过比较所述角速度变化总幅度ΔWt与所述阈值ΔW0，若ΔWt>ΔW0，则说明所述泳池清洁机正在行走，判断所述泳池清洁机没触碰到障碍物，若ΔWt≤ΔW0，则说明所述泳池清洁机停止行走，利用可以避免零漂带来判断错误的指标，即角速度差，解决了在现有技术中，矫正零漂必须用陀螺仪之外的传感器，如雷达、摄像头图像等手段，但是水下无法用雷达、摄像头图像来矫正零漂的技术问题，实现了从改进软件程序的这个低成本角度就能避免陀螺仪等数据采集装置带来的零漂干扰。
Obstacle touch detection method, swimming pool cleaning machine and storage medium
According to the obstacle touch detection method, the swimming pool cleaning machine and the storage medium, the total amplitude delta Wt of the angular velocity change is compared with the threshold value delta W0, and if delta Wtgt is greater than delta Wtgt; if delta Wt is smaller than or equal to delta W0, it is indicated that the swimming pool cleaning machine is walking, it is judged that the swimming pool cleaning machine does not touch an obstacle, and if delta Wt is smaller than or equal to delta W0, it is indicated that the swimming pool cleaning machine stops walking. The technical problem that null drift cannot be corrected underwater through radar and camera images in the prior art is solved, and null drift interference caused by a gyroscope and other data acquisition devices can be avoided from the low-cost perspective of improving software programs.
本发明的触碰障碍物的检测方法、泳池清洁机和存储介质，通过比较所述角速度变化总幅度ΔWt与所述阈值ΔW0，若ΔWt>ΔW0，则说明所述泳池清洁机正在行走，判断所述泳池清洁机没触碰到障碍物，若ΔWt≤ΔW0，则说明所述泳池清洁机停止行走，利用可以避免零漂带来判断错误的指标，即角速度差，解决了在现有技术中，矫正零漂必须用陀螺仪之外的传感器，如雷达、摄像头图像等手段，但是水下无法用雷达、摄像头图像来矫正零漂的技术问题，实现了从改进软件程序的这个低成本角度就能避免陀螺仪等数据采集装置带来的零漂干扰。
Obstacle touch detection method, swimming pool cleaning machine and storage medium
触碰障碍物的检测方法、泳池清洁机和存储介质
2024-06-04
Patent
Electronic Resource
Chinese
IPC:
G01P
MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK
,
Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes
/
E04H
Gebäude oder ähnliche Bauwerke für besondere Zwecke
,
BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES
/
G01V
Geophysik
,
GEOPHYSICS
Swimming pool cleaning machine with obstacle detection structure
| European Patent Office | 2024
OBSTACLE DETECTION DEVICE FOR SWIMMING POOL CLEANING MACHINE
| European Patent Office | 2022
SWIMMING POOL CLEANING DEVICE WITH OBSTACLE CLEARING SYSTEM
| European Patent Office | 2017
Swimming pool cleaning device with obstacle clearing system
| European Patent Office | 2019
SWIMMING POOL CLEANING DEVICE WITH OBSTACLE CLEARING SYSTEM
| European Patent Office | 2018