CN115383748A - Loading state detection method and collection device - Google Patents

Abstract

The application provides a loading state detection method and a collection device. The collecting device comprises a working mechanism and a containing frame. The containing frame is detachably connected to the operation mechanism. The method comprises the following steps: when the accommodating frame is connected with the operation mechanism, a first feedback signal output by the first sensor is received; when the first feedback signal meets a first abnormal condition, acquiring a second feedback signal output by a second sensor, wherein the first sensor and the second sensor are different types of sensors; and determining the loading state of the containing frame according to the second feedback signal. The loading state detection method provided by the application can effectively improve the fault tolerance rate of detection aiming at the loading state.

Description

Loading state detection method and collection device

technical field

The present application relates to the technical field of intelligent robots, in particular to a loading state detection method and a collection device.

Background technique

At present, during the working process of collection devices such as leaf collection and grass clipping collection devices, it is often necessary to confirm whether the collection device is fully loaded. However, the current loading state detection method has a low fault tolerance rate. Once the working environment of the collection device is relatively bad, it is prone to device failure and cannot continue to detect. The collection device usually works outdoors, and its working environment cannot be guaranteed. Therefore, the failure rate of the existing detection methods is extremely high, and it is often impossible to carry out containment and detection normally.

Contents of the invention

In view of this, the present application provides a loading state detection method and a collection device to solve the above problems.

The first aspect of the present application provides a loading state detection method applied to a collection device. The collection device includes an operating mechanism and a storage frame. The receiving frame is connected to the operating mechanism. The method includes: when the receiving frame is connected with the working mechanism, receiving a first feedback signal output by the first sensor; when the first feedback signal meets the first abnormal condition, acquiring a second feedback signal output by the second sensor; The second sensor is a different type of sensor; the loading state of the storage frame is determined according to the second feedback signal.

By combining different types of the first sensor and the second sensor, the above design can determine the loading state of the storage frame according to the second feedback signal output by the second sensor when the first feedback signal output by the first sensor is abnormal.

In some embodiments, the storage frame and the working mechanism are connected at the opening of the storage frame. The first sensor is an ultrasonic sensor. The ultrasonic sensor is arranged on the working mechanism. The ultrasonic sensor is used for transmitting ultrasonic signals from the opening of the containing frame to the inside of the containing frame for distance measurement. The first feedback signal is used to indicate the distance detected by the ultrasonic sensor. When the first feedback signal is not received within the first preset time period, or the distance is less than a first preset distance threshold, it is determined that the first feedback signal satisfies the first abnormal condition. In the above design, the first sensor is arranged at the opening of the housing frame to emit ultrasonic signals into the housing frame for distance measurement, and when the first feedback signal output by the first sensor is not received within the first preset time period, or the second When the distance indicated by a feedback signal is less than the first preset distance threshold, it is confirmed that the first feedback signal satisfies the first abnormal condition.

In some embodiments, the second sensor includes an infrared receiver and an infrared emitter. The infrared receiver and the infrared emitter are arranged on the operating mechanism. When the accommodating frame is connected with the operating mechanism, the infrared receiver and the infrared emitter are located on both sides of the opening of the accommodating frame. Determining the loading state of the storage frame according to the second feedback signal includes: when the second feedback signal is a first level signal, confirming that the storage state of the storage frame is a fully loaded state; the first level signal is that the infrared receiver does not receive the infrared signal When the level signal is generated. In the above design, an infrared sensor and an infrared receiver are respectively arranged on both sides of the opening of the storage frame, and when the second feedback signal output by the infrared receiver is a signal of the first level, it is confirmed that the storage state of the storage frame is fully loaded.

In some embodiments, after receiving the first feedback signal output by the first sensor when the storage frame is connected to the working mechanism, the above loading state detection method further includes: when the distance is greater than or equal to the first preset distance threshold and less than the first preset distance threshold When the second preset distance threshold is reached, confirm that the loading state of the storage frame is fully loaded; and/or when the distance is greater than or equal to the second preset distance threshold and less than the third preset distance threshold, confirm that the loading state of the storage frame is unloaded fully loaded condition. Wherein, the third preset distance threshold is greater than the second preset distance threshold, and the second preset distance threshold is greater than the first preset distance threshold. The above design sets the first preset distance threshold, the second preset distance threshold and the third preset distance threshold to confirm the loading state corresponding to the storage frame when the distance indicated by the first feedback signal falls within the corresponding distance interval .

In some embodiments, after receiving the first feedback signal output by the first sensor when the storage frame is connected to the working mechanism, the above loading state detection method further includes: when the distance is greater than or equal to the third preset distance threshold, outputting the first Two prompt information, the second prompt information is used to indicate that the installation of the ultrasonic sensor is abnormal or the containment frame is abnormal. In the above design, when the distance indicated by the first feedback signal is greater than the third preset distance threshold, second prompt information is output to indicate that the installation of the first sensor or the containment frame is abnormal.

In some embodiments, the receiving frame is detachably connected to the working mechanism, and the collection device further includes a third sensor disposed on the working mechanism, and the third sensor outputs a preset signal when the receiving frame is connected to the working mechanism. When the receiving frame is connected to the operating mechanism, before receiving the first feedback signal output by the first sensor, the above loading state detection method further includes: receiving a third feedback signal output by the third sensor; when the third feedback signal is a preset signal , to confirm that the receiving frame is connected to the operating mechanism; when the third feedback signal is not a preset signal, confirm that the receiving frame is not connected to the operating mechanism. In the above design, the third sensor is provided to detect whether the receiving frame is connected to the working mechanism through the third sensor.

In some embodiments, the above loading state detection method further includes: when the third feedback signal is not received within the second preset time period, outputting third prompt information, where the third prompt information is used to indicate that the third sensor is abnormal. The above design indicates that the third sensor is abnormal by outputting the third prompt information.

In some embodiments, the collection device is detachably connected to the self-moving device, the operating mechanism also includes a working component, and the method further includes: when receiving a work instruction from the self-mobile device and the storage state of the storage frame is not fully loaded, controlling The working assembly operates for target collection. The above design controls the operation of the working components when it is determined that the storage state of the storage frame is not fully loaded by receiving the work instruction from the mobile device.

The second aspect of the present application also provides a collection device, including an operating mechanism, a housing frame, a first sensor, a second sensor and a controller, the housing frame is detachably connected to the operating mechanism, and the first sensor and the second sensor are electrically connected To the controller, the controller is used to execute any one of the loading state detection methods above. In the above design, the controller of the collection device executes the above-mentioned loading state detection method to improve the accuracy of the loading state of the storage frame.

In some embodiments, the collection device is detachably connected to the self-mobile device. When the collection device is connected to the self-mobile device, the collection device is powered by the self-mobile device, and the controller communicates with the self-mobile device to receive the work sent by the self-mobile device. instruction. The above design connects and communicates with the self-mobile equipment through the collection device, so as to realize the power supply of the collection device and receive and execute work instructions.

The loading state detection method and collection device provided in this application provide double assurance by setting the first sensor and the second sensor. When the output of the first feedback signal output by the first sensor is abnormal, combined with the second feedback signal output by the second sensor, The loading state of the collecting device can be confirmed, and the loading detection error tolerance rate of the collecting device can be greatly improved through extremely low cost, and the accuracy is high.

Description of drawings

Fig. 1 is a partially disassembled schematic diagram of a collection device provided by an embodiment of the application.

Fig. 2 is a schematic diagram of the collection device shown in Fig. 1 being connected to a mobile device.

Fig. 3 is a schematic flowchart of a loading state detection method provided by an embodiment of the present application.

Fig. 4 is a partial flowchart of a loading state detection method provided by another embodiment of the present application.

Fig. 5 is a schematic flowchart of a part of a loading state detection method provided by another embodiment of the present application.

Fig. 6 is a partial flowchart of a loading state detection method provided by another embodiment of the present application.

Description of main component symbols

Self-moving equipment—200 collection device—100 operating mechanism—10

The first buckle part—101 shell—11 control board—12

Roller brush motor—13 first sensor—141 second sensor—142

Infrared transmitter—1421 infrared receiver—1422 third sensor—15

Storage frame—20 second buckle part—21 magnetic piece—22

Detailed ways

The following will describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them.

It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be an intervening component at the same time. When a component is said to be "set on" another component, it can be set directly on the other component or there may be an intervening component at the same time. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "rear", and similar expressions are used herein for the purpose of description only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

Some embodiments will be described below with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

At present, during the working process of collection devices such as leaf collection and grass clipping collection devices, it is often necessary to confirm whether the collection device is fully loaded. However, the current loading state detection method has a low fault tolerance rate. Once the working environment of the collection device is relatively bad, it is prone to device failure and cannot continue to detect. The collection device usually works outdoors, and its working environment cannot be guaranteed. Therefore, the failure rate of the existing detection methods is extremely high, and it is often impossible to carry out containment and detection normally.

For this reason, it is necessary to provide a loading state detection method applied to the collecting device, so as to improve the accuracy of detecting the loading state of the collecting device.

Please refer to FIG. 1 . In this application, the application of the loading state detection method to the collection device 100 shown in FIG. 1 is taken as an example for illustration. It can be understood that FIG. 1 is only an exemplary illustration, and the loading detection method of the present application can also be applied to collection devices of other structures without affecting the implementation, and the application does not limit the specific structure of the collection device.

In some embodiments, the collecting device 100 includes an operating mechanism 10 and a receiving frame 20 . The operating mechanism 10 includes a housing 11, a control board 12, working components and several sensors. The working components and several sensors are electrically connected to the control board 12 . The receiving frame 20 is connected to the working mechanism 10 and is used for collecting objects such as fallen leaves and grass clippings. Please also refer to FIG. 2 , the collection device 100 is detachably connected to the mobile device 200 . When the collection device 100 is connected to the self-mobile device 200 , the collection device 100 is powered by the self-mobile device 200 . At the same time, the control board 12 can also communicate with the mobile device 200 to receive work instructions sent from the mobile device 200 . In this way, when the control board 12 receives the work instruction sent from the mobile device 200, it can control the working components to run or stop working according to the data detected by several sensors, so that the collecting device 100 can achieve the goal of facing the ground and the desktop waiting for cleaning. The cleaning and collection function of objects (such as grass/leaves/paper scraps, etc.). It can be understood that the autonomous mobile device 200 may be a lawnmower, a robot or any other mobile device.

It can be understood that the control board 12 is used to control the operation of the collecting device 100, and is electrically connected with various sensors and driving motors of the working components. The control board 12 includes, but is not limited to, driving circuits of driving motors, working components, sensors and power supply circuits of other functional modules of the collecting device 100 . In some embodiments, the collection device 100 may also have a built-in energy storage unit for powering the collection device 100 , and at this time, the energy storage unit is also connected to the control board 12 . In some embodiments, the control board 12 may be one integrated circuit board, or may be designed as multiple integrated circuit boards as required, which is not limited in this application.

It can be understood that a controller is also provided on the control board 12 to control the operation of other circuits and modules. The aforementioned sensors and working components are electrically connected to the controller on the control board 12 .

Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of a loading state detection method provided by an embodiment of the present application. It can be understood that the loading state detection method provided in the present application can be executed by a controller. The controller may be a controller provided on the collection device 100 or a controller provided on the self-moving device 200 . In the following embodiments, the method for detecting a loading state is applied to the collection device 100 as an example for description.

In some embodiments, the sensors include a first sensor 141 and a second sensor 142 (see FIG. 1 ). The loading state detection method may include the following steps S101 to S103. Each step is described below.

Step S101: Receive a first feedback signal output by the first sensor 141 when the receiving frame is connected to the working mechanism.

Please refer to FIG. 1 again, in some embodiments, the receiving frame 20 and the working mechanism 10 are connected at the opening of the receiving frame 20 . The first sensor 141 is disposed on the working mechanism 10 and is used for transmitting a first detection signal from the opening of the housing frame 20 into the housing frame 20 for distance measurement.

It can be understood that after the first sensor 141 transmits the first detection signal into the storage frame 20, due to the obstruction of the side wall in the storage frame 20, for example, the side wall opposite to the opening of the storage frame, or the target object in the storage frame 20 is blocked, the first detection signal may be reflected back to the first sensor 141 . In this way, the first sensor 141 can output a first feedback signal according to the reflected first detection signal. The first feedback signal is used to indicate the distance detected by the first sensor 141 . In some embodiments, the control board 12 may determine the distance detected by the first sensor 141 according to the time length of receiving the first feedback signal, and/or the intensity of the received first feedback signal and other factors.

Step S102: when the first feedback signal satisfies the first abnormal condition, acquire the second feedback signal output by the second sensor 142 .

It can be understood that the first feedback signal of the first sensor 141 may have different abnormal conditions, for example, the first feedback signal is not output, or it can be determined from the first feedback signal that the first sensor 141 itself has been damaged or the housing frame 20 has been damaged, or , when the first feedback signal satisfies different abnormal conditions, different processing will be performed. In this application, only when the first feedback signal satisfies the first abnormal condition, it is necessary to further obtain the second feedback signal of the second sensor 142 . Subsequently, the loading status of the storage frame 20 can be further determined through the second feedback signal.

When the first feedback signal does not meet the first abnormal condition, if it can be determined according to the first feedback signal that the loading state of the storage frame 20 cannot be determined at this time, even if the first feedback signal is abnormal, there is no need to obtain the second sensor output from the second sensor 142. Two feedback signals.

Exemplarily, in the embodiment of the present application, when the control board 12 does not receive the first feedback signal within the first preset time period, or the distance indicated by the first feedback signal is less than the first preset distance threshold, the control board 12. Determine that the first feedback signal satisfies the first abnormal condition, and output corresponding first prompt information. The first prompt information is used to prompt that the first sensor 141 may be abnormal or the storage frame 20 is full.

In the embodiment of the present application, the first preset distance threshold is smaller than the distance from the first sensor 141 to the opening of the receiving frame 20 . It can be understood that conditions such as the storage frame 20 being fully loaded, the first sensor 141 being blocked by foreign objects, and the light (such as sunlight) shining on the first sensor 141 being too strong may cause the distance indicated by the first feedback signal to be less than the first preset distance. threshold. In addition, if the first sensor 141 is faulty, such as a line fault leading to no connection to the controller, power failure, etc., the control board 12 may not receive the first feedback signal within the first preset time period.

At this time, the loading state of the storage frame 20 cannot be determined only by the above information, that is, when the first feedback signal satisfies the first abnormal condition, it cannot be directly determined only by the state of the first feedback signal output by the first sensor 141. The loading status of the container frame 20. Therefore, the loading state detection method provided in the present application may continue to obtain the second feedback signal output by the second sensor 142 to assist in determining the loading state of the storage frame 20 .

Step S103: Determine the loading state of the storage frame 20 according to the second feedback signal.

In the embodiment of the present application, the second sensor 142 is disposed on an end of the working mechanism 10 close to the receiving frame 20 . And when the receiving frame 20 is connected with the working mechanism 10 , the second sensor 142 is disposed corresponding to two sides of the opening of the receiving frame 20 . After the second sensor 142 emits the second detection signal, the control board 12 further determines the loading state of the storage frame 20 according to the second feedback signal output by the second sensor 142 .

In some embodiments, the first sensor 141 and the second sensor 142 are any one of an ultrasonic sensor, a laser sensor or an infrared sensor, and may also be other sensors that can be used to measure distance, which is not limited in this application. The types of the first sensor 141 and the second sensor 142 may be the same or different. In the embodiment of the present application, the type of the first sensor 141 is different from the type of the second sensor 142, for example, the first sensor 141 is an ultrasonic sensor, the second sensor 142 is an infrared sensor, the first detection signal is an ultrasonic signal, and the second sensor 142 is an ultrasonic sensor. The detection signal is an infrared signal. In this way, the probability of simultaneous damage in the same environment can be reduced, so that when one of them is damaged, another sensor can be used for auxiliary detection.

In some embodiments of the present application, the second sensor 142 may include an infrared emitter 1421 and an infrared receiver 1422 . The infrared emitter 1421 and the infrared receiver 1422 are respectively arranged on two ends of the working mechanism 10 protruding into the receiving frame 20 . When the receiving frame 20 is connected with the working mechanism 10 , the infrared emitter 1421 and the infrared receiver 1422 are located on both sides of the opening of the receiving frame 20 . In this way, the infrared emitter 1421 can output the second detection signal, and the second detection signal is an infrared signal. When there is no occluder at the opening of the storage frame 20 (i.e. the storage frame 20 is not fully loaded), the infrared receiver 1422 can receive the second detection signal; ), the infrared receiver 1422 does not receive the second detection signal, or the intensity of the received second detection signal is relatively weak. In this way, the infrared receiver 1422 can output a corresponding second feedback signal to the control board 12 according to whether the second detection signal is received or the strength of the received second detection signal is received. It can be understood that the first sensor 141 is arranged towards the inside of the storage frame 20 to detect the remaining capacity of the storage frame 20 . The second sensor 142 is arranged on both sides of the opening of the storage frame 20 to detect whether the storage frame 20 is full.

It can be understood that, in some other embodiments, the second sensor 142 may be integrated with an infrared emitter and an infrared receiver at the same time. In this way, when the receiving frame 20 is connected with the working mechanism 10 , the two second sensors 142 are respectively located on two sides of the opening of the receiving frame 20 .

It can be understood that in the embodiment of the present application, when the first sensor 141 is working normally, the first feedback signal output by the first sensor 141 can feed back the specific measurement distance. At this time, the actual loading state of the storage frame can be determined, for example, Whether it is full, whether it is not full, and when it is not full, what percentage of the loading capacity reaches the total capacity (for example, 50%, 80%). When the first sensor 141 is in the first abnormal condition, in order to prevent the storage frame 20 from being full and the collection device 100 still working, the second sensor 142 can be used to assist in detecting whether the storage frame is loaded. Under this condition, the second sensor 142 only needs to detect whether it is full. When it is full, a reminder is issued in time, for example, to remind the user that only the storage frame 20 needs to be replaced, or the collection device 100 returns to the preset location, only the storage frame 20 needs to be replaced automatically.

In the above embodiment, double assurance is provided by setting the first sensor and the second sensor. When the output of the first feedback signal output by the first sensor is abnormal, the loading state of the collection device can be confirmed in combination with the second feedback signal output by the second sensor. , with extremely low cost, the fault tolerance rate of the storage and detection of the collection device can be greatly improved, and the accuracy is high, which can ensure the normal operation of the collection device.

In some embodiments, step S103 also includes:

When the second feedback signal is the first level signal, it is confirmed that the storage state of the storage frame 20 is a full load state.

It can be understood that, in some embodiments, when the signal strength of the reflected second detection signal received by the infrared receiver 1422 is less than a preset strength threshold or does not receive the reflected second detection signal at all, the infrared receiver 1422 The output second feedback signal is the first level signal; when the signal strength of the reflected second detection signal received by the infrared receiver 1422 is greater than or equal to the preset intensity threshold, the second feedback signal output by the infrared receiver 1422 is the second level signal.

At this time, when the second feedback signal is a signal of the first level, it can be confirmed that the second sensor 142 is affected by an obstruction, that is, the transmitting and receiving path of the first sensor at the opening of the receiving frame 20 has been blocked. At this time, it can be confirmed that the objects collected in the storage frame 20 have covered the opening, and the storage state of the storage frame 20 is determined as a fully loaded state.

Conversely, if the second feedback signal at this time is a second level signal, that is, the transceiver channel of the second sensor 142 is still normal and has not been blocked, it means that only the first sensor 141 has failed at this time, or the first sensor 141 is disturbed due to too strong sunlight, or the first sensor 141 itself is blocked by foreign objects, rather than the receiving frame 20 being fully loaded.

It can be understood that, in the embodiment of the present application, the first level signal is a low level signal, and the second level signal is a high level signal. It can be understood that in other embodiments, the first level signal can also be a high level signal, and the second level signal can also be a low level signal, and the signal level depends on the type and selection of the second sensor. Applications are not limited to this.

In some embodiments, when the second feedback signal received by the control board 12 is a signal of the second level, the control board 12 also outputs corresponding prompt information to remind the first sensor 141 of an abnormality.

Please refer to FIG. 4, in some embodiments, after step S101, the loading state detection method further includes:

Step S104: When the distance indicated by the first feedback signal is greater than or equal to the first preset distance threshold and smaller than the second preset distance threshold, confirm that the loading state of the storage frame 20 is a full load state.

In some embodiments, the second preset distance threshold is a distance that can be detected by the first sensor 141 in a normal installation state when the storage frame 20 is fully loaded. The second preset distance threshold is greater than the first preset distance threshold. In this way, when the distance indicated by the first feedback signal received by the first sensor 141 is greater than the first preset distance threshold and smaller than the second preset distance threshold, it can be confirmed that the loading state of the storage frame 20 is a full state.

Step S105: When the distance indicated by the first feedback signal is greater than or equal to the second preset distance threshold and smaller than the third preset distance threshold, confirm that the loading state of the storage frame 20 is not fully loaded.

In some embodiments, the third preset distance threshold is the distance that can be detected by the first sensor 141 in a normal installation state when no target is placed in the storage frame 20, that is, the third preset distance threshold is the distance from the first sensor 141 to the storage frame 20. The distance from the bottom of the frame 20 (ie the side wall opposite the opening). It can be understood that the third preset distance threshold is greater than the second preset distance threshold. In this way, when the distance indicated by the first feedback signal is greater than or equal to the second preset distance threshold and smaller than the third preset distance threshold, it may indicate that the first sensor 141 is working normally and the current storage frame is not fully loaded.

It can be understood that, in some embodiments, according to the correspondence between different distance intervals and the loading state of the storage frame determined in the second preset distance threshold and the third preset distance threshold, the distance indicated by the first feedback signal can be further As well as the above corresponding relationship, the loading state of the storage frame is further determined, for example, 50% loaded, 30% loaded, etc.

In the above embodiment, when the first sensor works normally and the detected distance meets the preset condition, the loading state of the storage frame can be determined according to the actually detected distance without other assistance.

In some embodiments, after step S101 is performed, the loading state detection method further includes:

Step S106: When the first feedback signal satisfies that the indicated distance is greater than or equal to the third preset distance threshold, output second prompt information. The second prompt information is used to indicate that the installation of the first sensor 141 is abnormal or the receiving frame 20 is abnormal.

When the distance indicated by the first feedback signal received by the first sensor 141 is greater than the third preset distance threshold, it may be that the installation of the first sensor 141 is abnormal, or the housing frame 20 is abnormal, so that the first detection output of the first sensor 141 The signal is directed farther away, so that the distance indicated by the first feedback signal output by the first sensor 141 is greater than the third preset distance threshold.

In the above embodiment, when the first sensor is working normally, it can be determined according to the detected distance whether the first sensor is installed normally or whether the housing frame 20 is abnormal, and then prompts, for example, prompting the user to check whether the sensor or the housing frame 20 is abnormal. Fault.

In some embodiments, the loading state detection method further includes: when the control board 12 receives a work instruction from the mobile device 200, and the control board 12 determines that the storage state of the storage frame 20 is not fully loaded, controlling the operation of the working components to perform Target collection.

For example, in some embodiments, the working components may include a rolling brush (not shown in the figure), a rolling brush motor 13 and the like. The roller brush is arranged in the accommodation space formed by the casing 11 , and is used for sweeping debris on the plane to be cleaned into the accommodation frame 20 under the driving of the roller brush motor 13 . The brush motor 13 and several sensors are electrically connected with the control board 12 . When the control board 12 receives the work instruction from the mobile device 200, and the control board 12 determines that the storage state of the storage frame 20 is not fully loaded, the control board 12 controls the operation of the rolling brush motor 13 to drive the rolling brush 131 to work, so that the target object Involved in the containment frame 20.

In the above embodiments, the collection device is connected to the self-mobile device, and then the operation of the collection device can be controlled by the self-mobile device. When the storage frame is not fully loaded, the collection device will automatically collect tasks according to the work instructions from the mobile device, without user operation.

Please continue to refer to FIG. 5. In some embodiments, before performing step S101, the loading state detection method provided by the present application further includes:

Step S201: Receive a third feedback signal output by the third sensor 15 .

Please refer to FIG. 1 again, in some embodiments, the receiving frame 20 is detachably connected to the working mechanism 10 . In this way, before performing loading state detection, the control board 12 also needs to determine the connection state between the receiving frame 20 and the working mechanism 10 .

In some embodiments, the number of sensors also includes a third sensor 15 . The third sensor 15 is disposed on the working mechanism 10 . Exemplarily, the third sensor 15 may be a Hall sensor. One end of the working mechanism 10 connected to the receiving frame 20 is provided with a first locking portion 101 . The third sensor 15 is disposed on the first buckle portion 101 . A position close to the opening of the receiving frame 20 is correspondingly provided with a second locking portion 21 . A magnetic piece 22 is also disposed on the second buckle portion 21 . In this way, when the receiving frame 20 is connected to the working mechanism 10 , the third sensor 15 interacts with the magnetic member 22 , affects the magnetic flux of the third sensor 15 , and further affects the third feedback signal output by the third sensor 15 .

Step S202: When the third feedback signal is a preset signal, confirm that the receiving frame 20 is connected to the working mechanism 10 .

Step S203: When the third feedback signal is not the preset signal, confirm that the receiving frame 20 is not connected to the working mechanism 10 .

It can be understood that the preset signal may be a signal greater than or equal to the preset signal strength. When the signal strength of the third feedback signal is less than the preset signal strength, that is, when the third feedback signal is not the preset signal, it can be considered that the third sensor 15 does not sense the magnetic member 22, that is to say, the housing frame 20 is not in contact with the magnetic member 22. The working mechanism 10 is connected.

It can be understood that, in some embodiments, the preset signal may also be a level signal, for example, a high level signal or a low level signal, which is not limited in the present application. Taking the third sensor 15 as an example of a Hall sensor, when the housing frame 20 is connected to the working mechanism 10 , the Hall sensor is close to the magnetic element 22 and outputs a high level. When the housing frame 20 is not connected to the working mechanism 10, the Hall sensor is far away from the magnetic element 22, and outputs a low level.

In this embodiment, the receiving frame is detachably connected to the operating mechanism and the connection status is confirmed by the third sensor, which can further reflect the current state of the collection device to determine whether the collection device can perform tasks. When the containment frame is abnormal and needs to be replaced, it is also possible to confirm whether the replacement has been completed by detecting the change of the connection status.

In some embodiments, the loading state detection method provided by the present application also includes:

When the third feedback signal is not received within the second preset time period, third prompt information is output. The third prompt information is used to indicate that the third sensor 15 is abnormal.

It can be understood that if the feedback signal output by the third sensor is not received within a certain period of time, it means that the third sensor is already in a fault state. At this time, the third prompt message can be used to remind the user to replace or check.

It can be understood that, after confirming that the receiving frame 20 is connected to the working mechanism 10 in step S202, the control panel 12 continues to execute the above step S101.

It can be understood that, in some cases, when the target object loaded in the storage frame 20 is heavy, the storage frame 20 may break and be separated from the working mechanism 10, but the magnetic part 22 on the storage frame 20 is still fixed on the working mechanism 10 Case. In this case, the third sensor 15 still senses the magnetic element 22 and outputs a third feedback signal to the control board 12 . Obviously, it is not reliable to judge whether the receiving frame 20 is connected to the working mechanism 10 only by the third feedback signal output by the third sensor 15 at this time.

For this, please continue to refer to FIG. 6 , in some embodiments, before performing step S102 to obtain the second feedback signal, the loading state detection method provided by the present application further includes:

Step S301: Receive a third feedback signal output by the third sensor 15 .

Step S302: When the first feedback signal is received within the first preset time period, and the distance indicated by the first feedback signal is less than or equal to the third preset distance threshold, and the third feedback signal is received within the second preset time period feedback signal, and when the third feedback signal is a preset signal, it is confirmed that the receiving frame 20 is connected to the working mechanism 10 .

It can be understood that when the control board 12 does not receive the first feedback signal within the first preset time period, or the control board 12 receives the first feedback signal within the first preset time period, and the distance indicated by the first feedback signal When it is greater than or equal to the third preset distance threshold, or the control board 12 does not receive the third feedback signal within the second preset time period, the control board 12 outputs fourth abnormal information to remind the storage frame 20 and the operating mechanism 10 that there may be There is a connection exception.

It can be understood that the first preset time period and the second preset time period mentioned in this application do not have an obvious sequence, and the first preset time period and the second preset time period are only used to distinguish different judgment conditions . Moreover, the present application does not limit the length of the first preset time period and the second preset time period. Those skilled in the art can determine the first preset time period and the second preset time period according to the characteristics of the sensor actually used. to adjust the duration.

It can be understood that, after confirming that the receiving frame 20 is connected to the working mechanism 10 in step S302, the control panel 12 continues to execute the above step S102.

In summary, the loading state detection method provided in the embodiment of the present application has the following advantages:

In the first aspect, in combination with the first sensor 141 and the second sensor 142, when the first feedback signal output by the first sensor 141 is abnormal, the loading state of the storage frame 20 can be determined according to the second feedback signal output by the second sensor, and the improvement can be improved. Fault tolerance rate of loading status detection;

In the second aspect, combined with the first feedback signal output by the first sensor 141 and the second feedback signal output by the second sensor 142, the abnormal or faulty sensor can be further determined to output corresponding prompt information, which is convenient for user operation and subsequent maintenance ;

In the third aspect, when the storage frame 20 is detachably connected to the working mechanism 10, it is also confirmed through the third sensor 15 whether the storage frame 20 is connected to the working mechanism 10; The feedback signal output by the three sensors 15 is used to confirm whether the storage frame 20 is connected to the working mechanism 10, so as to reduce the false detection probability when detecting whether the storage frame 20 is connected to the working mechanism 10. In addition, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present application, rather than to limit the present application. Appropriate alterations and variations of these fall within the scope of the disclosure of this application.

Claims (10)

1. A loading state detection method is applied to a collection device, the collection device comprises an operation mechanism and a containing frame, the containing frame is connected to the operation mechanism, and the method is characterized by comprising the following steps:

when the accommodating frame is connected with the operating mechanism, a first feedback signal output by a first sensor is received;

when the first feedback signal meets a first abnormal condition, acquiring a second feedback signal output by a second sensor; the first sensor and the second sensor are different types of sensors;

and determining the loading state of the containing frame according to the second feedback signal.

2. The loading state detecting method according to claim 1, wherein the housing frame and the working mechanism are connected at an opening of the housing frame, the first sensor is an ultrasonic sensor provided on the working mechanism, the ultrasonic sensor is configured to transmit an ultrasonic signal from the opening of the housing frame into the housing frame for distance measurement, and the first feedback signal is configured to indicate a distance detected by the ultrasonic sensor;

and when the first feedback signal is not received within a first preset time period or the distance is smaller than a first preset distance threshold value, determining that the first feedback signal meets the first abnormal condition.

3. A loading state detecting method according to claim 1, wherein said second sensor includes an infrared receiver and an infrared transmitter, said infrared receiver and said infrared transmitter being provided on said working mechanism; when the accommodating frame is connected with the operating mechanism, the infrared receiver and the infrared transmitter are positioned on two sides of the opening of the accommodating frame;

the determining the loading state of the containing frame according to the second feedback signal comprises:

when the second feedback signal is a first level signal, confirming that the accommodating state of the accommodating frame is a full-load state; the first level signal is a level signal generated when the infrared receiver does not receive the infrared signal transmitted by the infrared transmitter.

4. A loading state detecting method according to claim 2, wherein after receiving a first feedback signal output from a first sensor while the housing frame is connected to the working mechanism, the method further comprises:

when the distance is greater than or equal to the first preset distance threshold and less than a second preset distance threshold, determining that the loading state of the containing frame is a full-load state; and/or

When the distance is greater than or equal to the second preset distance threshold and smaller than a third preset distance threshold, confirming that the loading state of the containing frame is not in a full-load state;

the third preset distance threshold is greater than the second preset distance threshold, and the second preset distance threshold is greater than the first preset distance threshold.

5. The loading state detection method according to claim 4, wherein after receiving the first feedback signal output from the first sensor while the housing frame is connected to the work mechanism, the method further comprises:

and outputting second prompt information when the distance is greater than or equal to the third preset distance threshold, wherein the second prompt information is used for indicating that the ultrasonic sensor is abnormally mounted or the accommodating frame is abnormal.

6. A loading state detecting method according to claim 1, wherein the housing frame is detachably attached to the working mechanism, the collecting device further comprises a third sensor provided on the working mechanism, the third sensor outputs a preset signal when the housing frame is attached to the working mechanism, and the method further comprises, before receiving the first feedback signal output from the first sensor when the housing frame is attached to the working mechanism:

receiving a third feedback signal output by a third sensor;

when the third feedback signal is the preset signal, confirming that the accommodating frame is connected with the operating mechanism;

and when the third feedback signal is not the preset signal, confirming that the accommodating frame is not connected with the operating mechanism.

7. The loading state detection method of claim 6, further comprising:

and when the third feedback signal is not received in a second preset time period, outputting third prompt information, wherein the third prompt information is used for indicating that the third sensor is abnormal.

8. A loading condition detecting method according to claim 1, wherein said collecting device is detachably attached to a self-moving apparatus, said working mechanism further includes a working unit, said method further includes:

and when the working instruction of the self-moving equipment is received and the accommodating state of the accommodating frame is not fully loaded, controlling the working assembly to operate so as to collect the target object.

9. A collecting device, comprising a working mechanism, a receiving frame, a first sensor, a second sensor and a controller, wherein the receiving frame is connected to the working mechanism, the first sensor and the second sensor are both electrically connected to the controller, and the controller is configured to perform the loading state detecting method according to any one of claims 1 to 8.

10. The collection apparatus of claim 9, wherein the collection apparatus is removably attachable to a self-moving device, the collection apparatus being powered by the self-moving device when the collection apparatus is attached to the self-moving device, the controller communicating with the self-moving device to receive work orders transmitted by the self-moving device.

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