Method and Apparatus for Detecting State of Sweeping Robot, Sweeping Robot, and Storage Medium

Abstract

A method and apparatus for detecting a state of a sweeping robot, a sweeping robot, and a storage medium are provided. The method includes: judging a state of a fan of the sweeping robot; acquiring body posture information of the sweeping robot based on a posture detection structure if the fan is in an on state; acquiring a magnetic value based on a magnetic detection structure, and determining a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value; and determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle.

1 . A method for detecting a state of a sweeping robot, comprising:
 judging a state of a fan of the sweeping robot;   acquiring body posture information of the sweeping robot based on a posture detection structure when the fan is in an on state;   acquiring a magnetic value based on a magnetic detection structure, and determining a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value, wherein an outer side of the one-way valve is provided with a magnetic structure, an outer side of a working surface of the dust box is provided with the magnetic detection structure, and the magnetic detection structure is configured to detect the magnetic value of the magnetic structure; and   determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle.   
     
     
         2 . The method as claimed in  claim 1 , wherein the acquiring body posture information of the sweeping robot based on a posture detection structure comprises:
 acquiring a body included angle between a body of the sweeping robot and a horizontal plane; and   determining a posture of the sweeping robot according to the body included angle, wherein the posture comprises a first posture, a second posture, a third posture, and a fourth posture,   when the body included angle is equal to zero, the sweeping robot is in the first posture;   when the body included angle is in an oscillating change state, the sweeping robot is in the second posture, and in the oscillating change process, the body included angle oscillates above and below zero or at zero;   when the body included angle is greater than zero, the sweeping robot is in the third posture; and   when the body included angle is less than zero, the sweeping robot is in the fourth posture.   
     
     
         3 . The method as claimed in  claim 1 , wherein the acquiring a magnetic value based on a magnetic detection structure, and determining a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value comprises:
 when a free end of the one-way valve is attached to an outer side of the working surface, the magnetic detection structure and the magnetic structure being in an opposite state, and the dust suction included angle being equal to zero; or   when the free end of the one-way valve is not attached to the outer side of the working surface, a dust suction area being formed between the free end of the one-way valve and the dust suction port, the dust suction included angle being greater than zero, and a trash entering the dust box through the dust suction area from the dust suction port.   
     
     
         4 . The method as claimed in  claim 2 , wherein the determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle comprises:
 comparing the dust suction included angle with a first threshold when the sweeping robot is in the first posture, wherein the first threshold is determined based on a real-time suction value of the fan,   when the dust suction included angle is greater than or equal to the first threshold, the dust collection state of the dust box is full;   or when the dust suction included angle is less than the first threshold, the dust collection state of the dust box is not full.   
     
     
         5 . The method as claimed in  claim 4 , wherein the determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle further comprises:
 acquiring a first difference between the dust suction included angle and the first threshold when the sweeping robot is in the second posture, wherein   when the first difference is in an oscillating change state, and in the oscillating change process, the first difference oscillates above and below zero or at zero, the dust collection state of the dust box is not full;   or when the first difference is not in the oscillating change state, and the first difference is greater than or equal to zero, the dust collection state of the dust box is full.   
     
     
         6 . The method as claimed in  claim 4 , wherein the determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle further comprises:
 when the sweeping robot is in the third posture, the magnetic detection structure stopping detecting magnetic force until the sweeping robot is not in the third posture.   
     
     
         7 . The method as claimed in  claim 4 , wherein the determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle further comprises:
 acquiring a first difference between the dust suction included angle and the first threshold when the sweeping robot is in the fourth posture, wherein   when the first difference is less than zero, the dust collection state of the dust box is not full;   or when the first difference is greater than or equal to zero, the dust collection state of the dust box is full.   
     
     
         8 . The method as claimed in  claim 4 , wherein after the judging the state of a fan of the sweeping robot, the method further comprises:
 acquiring the body posture information of the sweeping robot based on the posture detection structure when the fan is in an off state;   acquiring a magnetic value detected by the magnetic detection structure when the sweeping robot is in the first posture, and determining the dust suction included angle according to the magnetic value; and   comparing a dust suction included angle with zero, wherein   when the dust suction included angle is greater than zero, the dust collection state of the dust box is full; and   when the dust suction included angle is equal to zero, the dust collection state of the dust box is not full.   
     
     
         9 . (canceled) 
     
     
         10 . A sweeping robot, comprising: a dust box, a dust suction port being provided on a working surface of the dust box; and a one-way valve, a fixed end of the one-way valve being rotationally connected with an outer side of the working surface and the one-way valve covering an outer portion of the dust suction port, wherein the sweeping robot further comprises:
 a posture detection structure, wherein the posture detection structure is arranged on an outer side of the sweeping robot, and the posture detection structure is configured to detect body posture information of the sweeping robot and send the body posture information to a controller;   a magnetic structure, arranged on an outer side of the one-way valve; and   a magnetic detection structure, arranged on the outer side of the working surface, wherein when a free end of the one-way valve is attached to the outer side of the working surface, the magnetic detection structure and the magnetic structure are in an opposite state; when the free end of the one-way valve is not attached to the outer side of the working surface, a dust suction area is formed between the free end of the one-way valve and the dust suction port, and a trash enters the dust box through the dust suction area from the dust suction port; and the magnetic detection structure is configured to detect received magnetic force, and send a detected magnetic value to the controller of the sweeping robot, and   the controller is configured to determine a dust collection state of the dust box according to the body posture information and the magnetic value.   
     
     
         11 . A non-transitory computer-readable storage medium, comprising a stored computer program, wherein the computer program, when running, controls a device where the computer-readable storage medium is located to perform following actions:
 judging a state of a fan of the sweeping robot;   acquiring body posture information of the sweeping robot based on a posture detection structure when the fan is in an on state;   acquiring a magnetic value based on a magnetic detection structure, and determining a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value, wherein an outer side of the one-way valve is provided with a magnetic structure, an outer side of a working surface of the dust box is provided with the magnetic detection structure, and the magnetic detection structure is configured to detect the magnetic value of the magnetic structure; and   determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle.   
     
     
         12 . The sweeping robot as claimed in  claim 10 , wherein the posture detection structure is configured to:
 acquire a body included angle between a body of the sweeping robot and a horizontal plane; and   determine a posture of the sweeping robot according to the body included angle, wherein the posture comprises a first posture, a second posture, a third posture, and a fourth posture,   when the body included angle is equal to zero, the sweeping robot is in the first posture;   when the body included angle is in an oscillating change state, the sweeping robot is in the second posture, and in the oscillating change process, the body included angle oscillates above and below zero or at zero;   when the body included angle is greater than zero, the sweeping robot is in the third posture; and   when the body included angle is less than zero, the sweeping robot is in the fourth posture.   
     
     
         13 . The sweeping robot as claimed in  claim 10 , wherein the magnetic detection structure is configured to acquire a magnetic value based on a magnetic detection structure, and determine a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value comprises as follows:
 when a free end of the one-way valve is attached to an outer side of the working surface, the magnetic detection structure and the magnetic structure being in an opposite state, and the dust suction included angle being equal to zero; or   when the free end of the one-way valve is not attached to the outer side of the working surface, a dust suction area being formed between the free end of the one-way valve and the dust suction port, the dust suction included angle being greater than zero, and a trash entering the dust box through the dust suction area from the dust suction port.   
     
     
         14 . The sweeping robot as claimed in  claim 12 , wherein the controller is further configured to:
 compare the dust suction included angle with a first threshold when the sweeping robot is in the first posture, wherein the first threshold is determined based on a real-time suction value of the fan,   when the dust suction included angle is greater than or equal to the first threshold, the dust collection state of the dust box is full;   or when the dust suction included angle is less than the first threshold, the dust collection state of the dust box is not full.   
     
     
         15 . The sweeping robot as claimed in  claim 14 , wherein the controller is further configured to:
 acquire a first difference between the dust suction included angle and the first threshold when the sweeping robot is in the second posture, wherein   when the first difference is in an oscillating change state, and in the oscillating change process, the first difference oscillates above and below zero or at zero, the dust collection state of the dust box is not full;   or when the first difference is not in the oscillating change state, and the first difference is greater than or equal to zero, the dust collection state of the dust box is full.   
     
     
         16 . The sweeping robot as claimed in  claim 14 , wherein the controller is further configured to: when the sweeping robot is in the third posture, control the magnetic detection structure stopping detecting magnetic force until the sweeping robot is not in the third posture. 
     
     
         17 . The method as claimed in  claim 14 , wherein the controller is further configured to:
 acquire a first difference between the dust suction included angle and the first threshold when the sweeping robot is in the fourth posture, wherein   when the first difference is less than zero, the dust collection state of the dust box is not full;   or when the first difference is greater than or equal to zero, the dust collection state of the dust box is full.   
     
     
         18 . The method as claimed in  claim 14 , wherein
 the posture detection structure is further configured to acquire the body posture information of the sweeping robot based on the posture detection structure when the fan is in an off state;   the magnetic structure is further to acquire a magnetic value detected by the magnetic detection structure when the sweeping robot is in the first posture, and determining the dust suction included angle according to the magnetic value; and   the controller is further configured to compare a dust suction included angle with zero, wherein   when the dust suction included angle is greater than zero, the dust collection state of the dust box is full; and   when the dust suction included angle is equal to zero, the dust collection state of the dust box is not full.   
     
     
         19 . The non-transitory computer-readable storage medium as claimed in  claim 11 , wherein the acquiring body posture information of the sweeping robot based on a posture detection structure comprises:
 acquiring a body included angle between a body of the sweeping robot and a horizontal plane; and   determining a posture of the sweeping robot according to the body included angle, wherein the posture comprises a first posture, a second posture, a third posture, and a fourth posture,   when the body included angle is equal to zero, the sweeping robot is in the first posture;   when the body included angle is in an oscillating change state, the sweeping robot is in the second posture, and in the oscillating change process, the body included angle oscillates above and below zero or at zero;   when the body included angle is greater than zero, the sweeping robot is in the third posture; and   when the body included angle is less than zero, the sweeping robot is in the fourth posture.   
     
     
         20 . The non-transitory computer-readable storage medium as claimed in  claim 11 , wherein the acquiring a magnetic value based on a magnetic detection structure, and determining a dust suction included angle between a surface of a dust suction port of a dust box of the sweeping robot and a fixed end of a one-way valve according to the magnetic value comprises:
 when a free end of the one-way valve is attached to an outer side of the working surface, the magnetic detection structure and the magnetic structure being in an opposite state, and the dust suction included angle being equal to zero; or   when the free end of the one-way valve is not attached to the outer side of the working surface, a dust suction area being formed between the free end of the one-way valve and the dust suction port, the dust suction included angle being greater than zero, and a trash entering the dust box through the dust suction area from the dust suction port.   
     
     
         21 . The non-transitory computer-readable storage medium as claimed in  claim 20 , wherein the determining a dust collection state of the dust box according to the body posture information of the sweeping robot and the dust suction included angle comprises:
 comparing the dust suction included angle with a first threshold when the sweeping robot is in the first posture, wherein the first threshold is determined based on a real-time suction value of the fan,   when the dust suction included angle is greater than or equal to the first threshold, the dust collection state of the dust box is full;   or when the dust suction included angle is less than the first threshold, the dust collection state of the dust box is not full.