CN103584793A - Robot vacuum cleaner and self-diagnosing method thereof - Google Patents
Robot vacuum cleaner and self-diagnosing method thereof Download PDFInfo
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- CN103584793A CN103584793A CN201210293065.0A CN201210293065A CN103584793A CN 103584793 A CN103584793 A CN 103584793A CN 201210293065 A CN201210293065 A CN 201210293065A CN 103584793 A CN103584793 A CN 103584793A
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Abstract
The invention discloses robot vacuum cleaner and a self-diagnosing method thereof. The robot vacuum cleaner can automatically perform self-diagnosing during initial starting or according to the needs of a user, so that misoperation and fault of the robot vacuum cleaner can be prevented in advance. Further, the perceptual signals of an action perception unit of the robot vacuum cleaner are used to diagnose the state of the action perception unit during initial starting or according to the needs of a user, so that accidents or mistakes caused by backward motions during starting of the robot vacuum cleaner can be prevented in advance.
Description
Technical field
The present invention be relevant can the robot cleaner of OBD and the self-diagnosing method of robot cleaner.
Background technology
General robot as industry with and develop, taking on a part for factory automation.Recently, utilize the field of robot more to expand, developed medical robot, universe aviation is with robot etc., and the robot that also can use in general family also creates.
The typical example of above-mentioned home-use robot is robot cleaner, is a kind of when independently advanced in certain field, sucks dust around or foreign matter and the e-machine that cleans a kind of.Such robot cleaner generally possesses chargeable battery, possess in advancing can avoiding obstacles obstacle sensor, thereby when can independently advance, complete cleaning.
Simultaneously, as robot cleaner control method, there is the mode of the remote controller that utilizes the interface between user, utilize the mode of the button possessing on robot cleaner body etc.
Recently, utilize the application technology of above-mentioned robot cleaner developing.For example, the exploitation that possesses the robot cleaner that has network function is being carried out, thereby can be in the long-range function moulding gradually of assigning cleaning instruction or can monitoring situation in room.In addition, utilize camera or various sensor, thereby have, self position is identified and the robot cleaner of cartography function is also being developed.
Summary of the invention
One of object of the embodiment of the present invention is to provide initial startup or according to user's needs, can independently carries out the robot cleaner of OBD or the self-diagnosing method of robot cleaner.
Another object of the embodiment of the present invention is to provide initial startup or according to user's needs, utilize the perceptual signal of the sense of movement notice of invitation unit possessing on body, the robot cleaner of state of diagnostic action perception unit and the self-diagnosing method of robot cleaner.
According to the robot cleaner of the present embodiment, comprise the body that forms outward appearance; Possess and have the turbin generator that rotates main wheel, and by driving wheel motor, moved the driver element of above-mentioned body; The action of the robot cleaner that perception changes according to the movement of above-mentioned body, and the sense of movement notice of invitation unit that exports perception information; Utilize the control module of the state of the above-mentioned sense of movement notice of invitation of said sensed information diagnosis unit; Export above-mentioned sense of movement notice of invitation unit diagnostic result output unit and form.
According to the robot cleaner of the present embodiment, be also included as the exectorial input block that input receives self-diagnostic mode.At this, above-mentioned control module is carried out above-mentioned OBD pattern according to above-mentioned fill order, thereby diagnose the state of above-mentioned sense of movement notice of invitation unit, is feature.
According to the robot cleaner of the present embodiment, also comprise the memory cell of the diagnostic program that presets corresponding diagnostic mode, it is feature that above-mentioned control module is carried out above-mentioned diagnostic mode according to above-mentioned predefined diagnostic program.
According to the self-diagnosing method of the robot cleaner of the present embodiment, be included in a plurality of operation modes input and receive the exectorial stage of self-diagnostic mode: while receiving above-mentioned fill order, according to above-mentioned OBD pattern, drive the stage of above-mentioned sense of movement notice of invitation unit: utilize the stage of diagnosing the state of above-mentioned sense of movement notice of invitation unit from the said sensed information of above-mentioned sense of movement notice of invitation unit output: the stage of exporting the execution result of above-mentioned OBD pattern forms.
Advantage and good effect that the present invention has are:
According to one embodiment of the invention, can start or according to user's needs, independently carry out OBD initial, thus the problem points being occurred by misoperation when can prevent cleaning or advancing.
According to one embodiment of the invention, can detect and form the inscape of robot cleaner and the state of sensor and independently carry out OBD, thereby improve the stability of system.
According to one embodiment of the invention, in initial startup or according to user's needs, utilize the perceptual signal of the sense of movement notice of invitation unit possessing on body to carry out the state of diagnostic action perception unit, thereby prevent mistake or the fault of sense of movement notice of invitation unit, improve the running efficiency of robot cleaner, and improve user's stability and convenience.
Accompanying drawing explanation
Fig. 1 is the oblique view of robot cleaner according to an embodiment of the invention.
Fig. 2 and Fig. 3 are the block diagrams forming according to the robot cleaner of various embodiments of the present invention.
Fig. 4 is the front elevation before robot cleaner according to an embodiment of the invention.
Fig. 5 is the back view of robot cleaner bottom according to an embodiment of the invention.
Fig. 6 is the profile of robot cleaner inside according to an embodiment of the invention.
Fig. 7 is the sectional side view of robot cleaner according to an embodiment of the invention.
Fig. 8 is the expansion demonstration figure of the output unit of robot cleaner according to an embodiment of the invention.
Fig. 9 a and Fig. 9 b are the rough flow charts of the self-diagnosing method of robot cleaner according to an embodiment of the invention.The expansion of output unit shows figure.
Figure 10 is the pattern demonstration figure of the OBD pattern of robot cleaner according to an embodiment of the invention.
Critical piece symbol description in accompanying drawing:
100: detecting unit 200: control module
300: input block 400: output unit
500: memory cell 700: power subsystem
600: driver element 800: cleaning unit
The specific embodiment
With reference to Fig. 2, according to the robot cleaner of an embodiment, comprise, form the body of outward appearance, driver element (600), sense of movement notice of invitation unit (110), control module (200), output unit (400) and forming.
Driver element (600) possesses and has the turbin generator that makes main wheel (610) rotation, by driving above-mentioned turbin generator to move above-mentioned body.The action of the robot cleaner that (110) perception of sense of movement notice of invitation unit changes according to the movement of above-mentioned body, and export perception information.Control module (200) utilizes said sensed information to diagnose the state of above-mentioned sense of movement notice of invitation unit.Output unit (400) is exported the diagnostic result of above-mentioned sense of movement notice of invitation unit.
Control module (200), before carrying out above-mentioned OBD pattern, confirms that the more than one executive condition of having set is feature.At this, the executive condition of OBD pattern is the installment state of dust bucket, the attachment state of rag dish and battery status etc.
According to the robot cleaner of an embodiment, also comprise that input receives the exectorial input block (300) of self-diagnostic mode.At this, control module (200) is carried out above-mentioned OBD pattern according to above-mentioned fill order, thereby diagnose the state of above-mentioned sense of movement notice of invitation unit, is feature.Users etc. pass through input block (300) directly to robot cleaner input of control commands.In addition, user waits by input block input and is stored in the order that makes export more than one information in the information in the memory cell that will tell about below.
Input block (300) is formed by more than one button.For example, input block (300) can comprise confirmation button, set button.Confirm that button is the order of really accepting one's fate of input perception information, obstacle information, positional information, cleaning field or cleaning map.Set the setting command of above-mentioned each information of key-press input.Input block possess have above-mentioned each information of input reset the resetting button, delete button of order, cleaning starts button, stop key etc.Other example, input block (300) possesses to be had in order to set or delete the button of subscription information.In addition, input block (300) also possesses and has the button of setting or changing sweeper mode.
In addition, input block (300) also possesses has input to the button of the order of cradle reset.
Input block (300) as shown in Figure 1, by hard manual or soft keyboard, touch pad etc. and be arranged on the top of robot cleaner.In addition, input block (300) can all form the form of touch-screen together with output unit.Input block (300) input receive self-diagnostic mode beginning, finish, stop, the order such as releasing.Users etc. are by pressing in the button arranging in robot cleaner one or with certain forms pressing keys or press a button input with certain hour and make it enter the order of OBD pattern.
Another example, user utilizes remote controller, terminating machine etc. to produce control signal, thereby to robot cleaner, inputs the fill order of OBD pattern.
In this situation, robot cleaner also comprises sensor or the means of communication of reception control signal.In addition, reception diagnosis object, diagnostic mode, diagnostic sequence etc. can be set or input to input block (300).
Output unit (400) as shown in Figure 1, possesses the top in robot cleaner.Certainly, setting position or that form is set is also likely different.For example, output unit (400) as shown in Figure 8, on picture explicit reservation information, battery status, concentrate cleaning mode or the modes etc. of advancing such as cleaning, spatial expansion, zigzag running.
The status information of the robot cleaner inside that output unit (400) output detections unit (100) detects, for example, forms current state and the current cleaning state of each unit of robot cleaner.
In addition, output unit (400) is presented on picture the outside information that detects that detecting unit (100) detects, obstacle information, positional information, purging zone information, cleaning map etc.Output unit (400) is by light emitting diode (Light Emitting Diode; LED), liquid crystal indicator (Liquid Crystal Display; LCD), plasma display panel (Plasma Display Panel), Organic Light Emitting Diode (Organic Light Emitting Diode; OLED) any one element in forms.
Output unit (400) also comprises the voice output means with the execution result of voice output OBD pattern.For example, output unit (400) is exported warning tones according to caution signal to outside.Voice output means comprise buzzer (beeper), the means of the output sounds such as loudspeaker.
Output unit (400) is to utilize the audio signal of storing in the memory cell that will narrate to export diagnostic result to outside below.
Again with reference to Fig. 2, according to the robot cleaner of an embodiment, also comprise that the memory cell (500) of the diagnostic program that presets with good grounds above-mentioned diagnostic mode forms.
Memory cell (500) is distinguished store diagnostic program or pre-stored whole diagnostic program according to diagnosis object, diagnostic mode etc.
Memory cell (500) storage is for the outside portion propagation state of robot cleaner is, the audio-frequency information of diagnostic result.That is, memory cell (500) is carried out medelling execution result of the state of robot cleaner, OBD pattern etc. with the form of message data or voice data and is pre-stored.
Above-mentioned output unit (400) possesses and has signal processing part, thereby the audio-frequency information of storing in memory cell is carried out to signal processing, and exports to outside by voice output means.
The control program of (driving) robot cleaner and data are thus controlled in memory cell (500) storage.Memory cell (500) is the image information outside audio information, obstacle information, positional information, purging zone, cleaning map etc. also.In addition, memory cell (500) storage cleaning mode, the mode of advancing.
Said memory cells (500) is mainly used nonvolatile memory.At this, above-mentioned nonvolatile memory (Non-Volatile Memory, NVM, NVRAM) is that supply power can not continue to maintain the storage device of canned data yet.Nonvolatile memory comprises read-only storage (ROM), flash memory (Flash Memory), magnet computer memory device (for example, hard disk, floppy disk, magnetic sound recording tape), CD drive, magnet RAM, PRAM etc.
With reference to Fig. 2, sense of movement notice of invitation unit (110) is included in the action that more than one sensor in gyro sensor (111), wheel sensor (112), acceleration transducer (113) detects robot cleaner.
Gyro sensor (Gyro Sensor, 111) is when robot cleaner moves according to operation mode, and perception direction of rotation also detects the anglec of rotation.Gyro sensor (111) is detect the angular speed of robot cleaner and export magnitude of voltage proportional to angular speed.
Control module (200) utilizes from the magnitude of voltage of gyro sensor output and calculates direction of rotation and the anglec of rotation.Wheel sensor (Wheel Sensor, 112) is the come up rotation number of perception main wheel of main wheel (610) that is connected to left and right sides.At this, wheel sensor can be rotary encoder (Rotary Encoder).
Rotary encoder is when robot cleaner moves according to traveling mode or sweeper mode, the rotation number of main wheel on perception left side and right side and exporting.
Control module utilizes rotation number to calculate out the rotary speed of left and right sides wheel.During OBD pattern, after control module (200) first makes robot cleaner move with predefined command speed, relatively utilize speed and the command speed of the output valve calculation of wheel sensor.Control module is to utilize comparative result to diagnose the abnormal of main wheel.In addition, can also utilize the rotation number difference of left and right sides wheel or the difference of rotary speed to diagnose extremely.
Output unit (400) is on main wheel, to have when abnormal, output " foreign substances of PLSCONFM left side wheel ", and the voice message that " foreign substances of PLSCONFM right-hand wheel " waits, or on picture, show above-mentioned message.
Control module (200) utilizes the rotation number difference of left and right sides wheel to calculate the anglec of rotation.In addition, control module relatively utilizes the output valve of wheel sensor (112) and the anglec of rotation calculated and the output anglec of rotation of gyro sensor (111), and utilizes comparative result to diagnose gyro sensor.
During OBD pattern, control module is first according to diagnostic program direction rotation robot cleaner 180 degree to the left and right centered by cradle or reference position.Then, by wheel sensor and gyro sensor, calculate or detect the anglec of rotation and mutually compare.For example, the difference of the anglec of rotation is certain angle, and for example 30 degree are when above, and control module diagnosis gyro sensor is abnormal.
Output unit (400) is to have when abnormal at gyro sensor, output " having pinpointed the problems on gyro sensor ", " close and open after the main power switch of body bottom; please again carry out again diagnostic mode " " problem repeatedly time; may I ask and ask service centre " waits voice message, or in the above-mentioned message of picture disply.
The velocity variations of acceleration transducer (Acceleration Sensor, 113) perception robot cleaner, for example, by setting out, stop, direction conversion, the variation of translational speed with conflicting of object etc.
Acceleration transducer is the adjacent locations that is attached to main wheel or auxiliary wheel, detects slip or the idle running of wheel.At this moment, utilize the acceleration calculation speed detecting by acceleration transducer, and by the comparison of and instruction speed, confirm or revise the position of robot cleaner.But according to embodiments of the invention, acceleration transducer is to be built in control module (200) above, the velocity variations of the robot cleaner occurring when perception sweeper mode, traveling mode self.That is, acceleration transducer is the buckles detecting according to velocity variations, thus output magnitude of voltage correspondingly.And then acceleration transducer is the function of carrying out electronic type buffer.
Acceleration transducer (113) is, during the movement of robot cleaner, ground is carried out to perception continuously.When OBD pattern is carried out, control module (200) is output valve and the predefined a reference value of comparison acceleration transducer, and utilizes comparative result diagnosis acceleration transducer.During OBD pattern, control module (200) is according to diagnostic program, robot cleaner certain pattern to be moved, and during output valve more than acceleration transducer output reference value, is diagnosed as acceleration transducer abnormal.
Output unit (400) is to have when abnormal when acceleration transducer, output " on acceleration transducer generation problem ", " close and open after the main power switch of body bottom; please again carry out again diagnostic mode " " problem repeatedly time; may I ask and ask service centre " waits voice message, or in the above-mentioned message of picture disply.
The object perception unit that also comprises perception periphery object according to the robot cleaner of an embodiment.Object perception unit is to be included in external signal sensor, upfront sensor, obstacle sensor, unsettled sensor, the more than one sensor in the camera sensing device of bottom.
Robot cleaner comprises the external signal sensor of perception external signal.External signal sensor can be, infrared ray sensor (Infrared Ray Sensor), ultrasonic sensor (Ultra Sonic Sensor), radio frequency sensor (RF sensor) (Radio Frequency Sensor) etc.Robot cleaner is to utilize external signal sensor to receive the pilot signal occurring on cradle, thereby determines position and the direction of cradle.Cradle is emitted as the pilot signal that robot cleaner is resetted and indicate its direction and distance.Robot cleaner is to receive the signal of launching from cradle, thereby judges present position and set moving direction, and then resets to cradle.The signal that the remote controls such as in addition, robot cleaner utilizes external signal sensor senses remote controller, terminating machine occur.External signal sensor possesses in the inside of robot cleaner or an outside side.According to embodiments of the invention, external signal sensor describes for example with infrared ray sensor.Above-mentioned infrared ray sensor (121) is arranged on robot cleaner inside, for example, as shown in Figure 8, is arranged on the bottom of output unit or the periphery of top camera sensing device.
When OBD pattern is carried out, control module (200) is output valve and the predefined a reference value of infrared ray sensor relatively, utilizes comparative result diagnosis infrared ray sensor.During OBD pattern, control module (200) makes robot cleaner move by certain pattern according to diagnostic program, and in certain distance, infrared ray sensor is from external device (ED)s such as cradles can not acknowledge(ment) signal time, and diagnosis infrared ray sensor is abnormal.At this, said reference value can be to comprise certain number that returns of 0.Output unit (400) has when abnormal at infrared ray sensor, output " has problem can not attempt charging " on infrared ray sensor, " close and open after the main power switch of body bottom; please again carry out again diagnostic mode ", " problem repeatedly time, be may I ask and ask service centre " waits voice message or in the above-mentioned message of picture disply.
On infrared ray sensor, have when abnormal, can not find cradle, therefore, control module (200) makes after robot cleaner stops at current location, to make output unit wait and inform current state to user.
Upfront sensor (122) is the place ahead at robot cleaner, for example as shown in Figure 4, and in the outer peripheral face setting that keeps at a certain distance away.Upfront sensor is the object existing on the moving direction of perception robot cleaner, particularly barrier, and passes on to control module detecting information.That is, upfront sensor is the protrusion that exists on the mobile route of robot cleaner of perception, the household electrical appliances in room, furniture, wall, wall corner etc., and its information is communicated to control module.Upfront sensor is infrared ray sensor, ultrasonic sensor, radio frequency sensor (RF sensor), geomagnetic sensor etc.Robot cleaner is as upfront sensor, use a kind of sensor or as required two or more sensor use together.According to the embodiment of the present invention, above-mentioned upfront sensor describes for example with ultrasonic sensor.
The general main use of ultrasonic sensor is at the remote barrier of perception.Ultrasonic sensor possesses and has emission part and acceptance division.Control module (200) is the ultrasonic wave of launching by emission part, by barrier etc., after reflection, whether by acceptance division, receives the existence of arrival disturbance in judgement thing, and utilizes time of reception to calculate the distance with barrier.With reference to Fig. 4 or Fig. 6, there are 5 ultrasonic sensors (122) to arrange along the neighboring, the place ahead of robot cleaner.With reference to Fig. 6, robot cleaner is that emission part (122a) and the acceptance division (122b) of ultrasonic sensor alternately possesses.That is, transmitting with ultrasonic sensor and reception with ultrasonic sensor, replace be arranged on robot cleaner before.With reference to figure 4 or Fig. 6, emission part (122a) is the configuration at mediad left and right sides interval above from body.Between acceptance division (122b), configure one or two above emission parts (122a), form from the receiving area of the signal of the reflections such as barrier.When so configuring to reduce the quantity of sensor, expansion receiving area.Hyperacoustic emission angle is in order to prevent cross-talk (crosstalk) phenomenon, maintains the angle that mutual different signal is not produced to the scope of image.
The receiving angle of each acceptance division (122b) is different setting mutually.In addition, for the ultrasonic wave that makes to launch on ultrasonic sensor, export upward, ultrasonic sensor is to be limited at a certain angle, arranges upward.In addition, ultrasonic sensor also comprises the intercepting member in order to prevent that ultrasonic wave from launching downwards.
Ultrasonic sensor according to the having or not of barrier, with the distance of barrier, to control module, pass on different output valves.The scope of output valve is according to the sensing range of ultrasonic sensor and different setting.While carrying out OBD pattern, control module (200) will compare output valve and the predefined a reference value of ultrasonic sensor, and utilizes comparative result to carry out diagnostic ultrasound wave sensor.During OBD pattern, because the surrounding of robot cleaner is except cradle, there are not other objects, therefore answer perception clear.Control module (200) is according to diagnostic program, robot cleaner to be moved with certain pattern, and at ultrasonic sensor, as there is barrier during output valve more than output reference value, diagnostic ultrasound wave sensor is abnormal.For example, control module (200) is to utilize robot cleaner to exist, and forms the output valve under certain distance state with cradle, and the output valve after Rotate 180 degree makes output valve that certain distance keeps straight on after mobile etc. carry out the abnormal of diagnostic ultrasound wave sensor.
Output unit (400) has when abnormal at ultrasonic sensor, output " has problem can not attempt charging " on ultrasonic sensor, " close and open after the main power switch of body bottom; please again carry out again diagnostic mode ", " problem be may I ask repeatedly time and ask service centre " waits voice message or in the above-mentioned message of picture disply.
On ultrasonic sensor, have when abnormal, robot cleaner can not perception may be present in the cradle in the place ahead, thereby has the misgivings of colliding with cradle.And then control module (200) does not move robot cleaner to cradle, and makes it after current location stops, output unit waits and informs current state to user.
Obstacle sensor (123), as shown in Fig. 4 or Fig. 6, is arranged on the outer peripheral face of robot cleaner together with above-mentioned upfront sensor.In addition, obstacle sensor also can be along outer peripheral face setting, but has to the formation of face outstanding outside robot cleaner body.Obstacle sensor is infrared ray sensor, ultrasonic sensor, radio frequency sensor (RF sensor), position sensitive detector (Position Sensitive Device) sensor, thereby the barrier that perception the place ahead or side exist, and pass on obstacle information to control module.
That is, obstacle sensor is the protrusion that exists on the mobile route of perception robot cleaner, the household electrical appliances in room, furniture, wall, wall corner etc., thereby passes on its information to control module.In addition, utilize upfront sensor or obstacle sensor, make robot cleaner and wall maintain the movement of certain distance.According to embodiments of the invention, above-mentioned upfront sensor illustrates with position sensitive detector sensor (PSD sensor).
Position sensitive detector sensor (PSD sensor) is to utilize semiconductor surface resistance with a p-n junction, to detect the beeline position of incident light.In position sensitive detector sensor (PSD sensor), there are the 1 dimension position sensitive detector sensor (PSD sensor) that only detects single axial light and the 2 dimension position sensitive detector sensors (PSD sensor) that detect the optical position in plane, and all there is pin photoelectric diode structure.Position sensitive detector sensor (PSD sensor) is a kind of as infrared ray sensor, and infrared emitting is arrived to barrier and disturbance of perception thing, and utilizes the time reflecting to measure distance.Position sensitive detector sensor (PSD sensor) (123) possesses to barrier to be launched ultrared emission part and receives the ultrared acceptance division reflecting from barrier, generally with module morphosis.Position sensitive detector sensor (PSD sensor), can access stable measured value, and utilize triangulation method, the difference of color is irrelevant with the reflectivity of barrier.
Position sensitive detector sensor (PSD sensor) is the same with ultrasonic sensor, according to the distance of the having or not of barrier, barrier, to control module, passes on different output valves.
The difference that the scope of output valve can be set according to the sensing range of position sensitive detector sensor (PSD sensor).When OBD pattern is carried out, output valve and the predefined a reference value of control module (200) comparison position Sensitive Apparatus sensor (PSD sensor), and utilize comparative result to carry out diagnostic position Sensitive Apparatus sensor (PSD sensor).During OBD pattern, because the surrounding of robot cleaner is except cradle, there are not other objects, therefore should be perceived as clear.Control module (200) is according to diagnostic program, robot cleaner is moved with certain pattern, during output valve at position sensitive detector sensor (PSD sensor) more than output reference value, diagnostic position Sensitive Apparatus sensor (PSD sensor) is abnormal.For example, it is mobile that control module (200) makes robot cleaner keep straight on to the rightabout certain distance of cradle, and compare output valve and a reference value, thereby diagnostic position Sensitive Apparatus sensor (PSD sensor) is abnormal.Output unit (400) has when abnormal on position sensitive detector sensor (PSD sensor), output " please wipe left and right side obstacle sensor window " grade for voice message, or in the above-mentioned message of picture disply.
Unsettled sensor is also called steep cliff sensor (Cliff Sensor).Unsettled sensor is the optical sensor that mainly utilizes variform, in the present embodiment, with infrared ray sensor, describes for example.In this situation, unsettled sensor (124) is as above stated position sensitive detector sensor (PSD sensor), has the form that possesses the infrared sensor module that has emission part and acceptance division.Unsettled sensor (124) has reference range and sensing range.Unsettled sensor (124), can access stable measured value, and utilize triangulation method, the difference of color is irrelevant with the reflectivity of barrier.
With reference to figure 5, unsettled sensor (124) possesses in the groove of the certain depth existing below robot cleaner.Unsettled sensor also can be arranged on other positions according to the kind of robot cleaner.
With reference to Fig. 5, unsettled sensor arranges one in the place ahead of robot cleaner, and relative rear side is provided with two.The form of Fig. 5 is for example can utilize as follows.
For the purpose of convenient, being arranged on top unsettled scales is the 1st sensor (124a), and the scales that is arranged on rear side is the 2nd sensor (124b, 124c).The 1st sensor and the 2nd sensor are conventionally all with the sensor of same kind, for example, infrared ray sensor, consist of, or also can form with mutual different types of sensor.Control module (200) utilizes the 1st sensor to launch and the time of reception transmitting that receives carrys out perception steep cliff to landing ground, and can analysis depth.In addition, control module (200) utilizes the 2nd sensor to know the state of ground of the steep cliff of the 1st sensor senses.For example, first whether and the degree of depth of steep cliff the existence of control module (200) by the 1st sensor judgement steep cliff, then only just make it pass through steep cliff by the 2nd sensor senses to reflected signal in the situation that.
As another example, control module (200), with the combination of the sensing results of the 1st sensor and the 2nd sensor, judges the phenomenon of lifting of robot cleaner.
Unsettled sensor is in robot cleaner moving process, to continue bottom surface to carry out perception.When carrying out OBD pattern, output valve and the predefined a reference value of the more unsettled sensor of control module (200), and utilize comparative result to diagnose unsettled sensor.When OBD pattern, control module (200), according to diagnostic program, makes robot cleaner move with certain pattern, during output valve more than unsettled sensor output reference value, diagnoses unsettled sensor for abnormal.For example, control module (200) make robot cleaner certain distance keep straight on mobile after, in the output valve of unsettled sensor, be a reference value when above, be diagnosed as abnormal.On the unsettled sensor of output unit (400), have when abnormal, output " has abnormal above " on the unsettled sensor of bottom surface, " on unsettled sensor, having problem can not attempt charging ", voice messages such as " please wipe a lower sensor " or similarly be above-mentioned message on picture.
On unsettled sensor, have when abnormal, robot cleaner can not perception may be present in the steep cliff in the place ahead, thereby has the misgivings that oneself is damaged.And then control module (200) does not move robot cleaner to cradle, and makes it after current location stops, output unit waits and informs current state to user.
Bottom camera sensing device (125) as shown in Figure 5, possesses the back side in robot cleaner, in moving, to below, ground, swept surface is made a video recording.Bottom camera sensing device is called again Fibre Optical Sensor (Optical Flow Sensor) in addition.Bottom camera sensing device is the below image that conversion receives from the imageing sensor input possessing in sensor, generates the image data of certain forms.The image data generating is stored in memory cell (500).Bottom camera sensing device also possesses the camera adjusting portion that has camera lens and regulate above-mentioned camera lens.As above-mentioned camera lens, use focal length short, and the dark panorama focus lens of the degree of depth is for well.Above-mentioned camera adjusting portion be possess have can make to move forward and backward determine motor and travel mechanism carrys out adjustable lens.In addition, can the more than one light source of contiguous image sensor setting.More than one light source is the ground region irradiation light to imageing sensor photography.That is, at robot cleaner, along ground moving purging zone in the situation that, when ground is smooth, between imageing sensor and ground, will maintain certain distance.Reverse side, in the situation that robot cleaner moves the ground of uneven surface, by the concavo-convex and barrier on ground away from more than certain distance.At this moment, more than one light source is to form the amount that can regulate irradiated light.Above-mentioned light source is the light-emitting component by capable of adjusting bright, for example LED (Light Emitting Diode) or laser and form.
Bottom camera sensing device is the position that detects robot cleaner irrelevant with the slip of robot cleaner.The image data that control module (200) is made a video recording by bottom camera sensing device, compares analysis according to the time, thereby calculates displacement and moving direction, and calculate thus the position of robot cleaner.Utilize bottom camera sensing device to come the below of observer robot dust catcher, thereby control module have the strong assurance of the slip aspect possibility that becomes for the position of being calculated by other means.
Bottom camera sensing device is owing to all the time ground being taken in movement, therefore to more than control module output certain value.When OBD pattern is carried out, control module (200) take bottom camera sensing device output valve whether as predefined a reference value with on diagnose (example comprises 0 arbitrary value) bottom camera sensing device.Control module (200) is given an example, according to diagnostic program, robot cleaner is kept straight on mobile to the opposite direction certain distance of cradle, now, during value outside the following or output area of bottom camera sensing device output reference value, diagnosis bottom camera sensing device is abnormal.Output unit (400) has when abnormal at bottom camera sensing device, the voice message that output " please wipe the bottom camera sensing device window on ground, right side " waits or show above-mentioned message on picture.
With reference to figure 1 or Fig. 8, robot cleaner also comprises towards top or the place ahead and the top camera sensing device (126) that robot cleaner periphery is taken is set.The in the situation that of possessing a plurality of tops camera sensing device on robot cleaner, each camera sensing device at a certain distance or certain angle be formed on top or the side of robot cleaner.
Top camera sensing device (126) also comprises the adjusting portion and the camera adjusting portion that regulates above-mentioned camera lens that is connected to the camera lens of the focus of proofreading subject on camera and regulates camera.
Above-mentioned camera lens is for All Ranges that also can be to periphery in fixed position, and for example the All Ranges of ceiling is photographed, thereby uses the wide camera lens in visual angle.Comprise that for example visual angle is certain value, for example the above camera lens of 160 degree.Control module (200) receives signal or data from top camera sensing device, thereby can diagnostic state.That is the photography that, control module (200) utilizes top camera sensing device whether or the image data of top camera sensing device photography diagnose the state of top camera sensing device.
Control module (200) extracts characteristic point from the image data of top camera sensing device photography, and utilizes the position of the cognitive robot cleaner of characteristic point, and can make the cleaning map to purging zone.Control module (200) utilizes by the anglec of rotation and the direction of rotation of gyro sensor (111) perception, calculates out the relative position of robot cleaner by displacement, rotation number, the direction of rotation of wheel sensor (112) perception.
In addition, control module (200) utilizes by the below image data correction relative position of above-mentioned bottom camera sensing device (125) perception.The image data that control module (200) utilizes above-mentioned camera sensing device (126) is the absolute position of cognitive robot cleaner accurately.
Robot cleaner is utilize to adopt gyro sensor (111), wheel sensor (112), bottom camera sensing device (125) and the relative position of calculating and the absolute position that adopts top camera sensing device (126) to calculate, more accurately cognitive position, and execution cleaning based on this.In addition, the position of the obstacle signal that control module (200) utilization is detected by upfront sensor or obstacle sensor etc. and the cognition by top camera sensing device, accurate generation cleaning map.
According to the robot cleaner of an embodiment, also comprise the state aware unit (130) that detects the state that forms each unit of robot cleaner.State aware unit (130) detects the sensor of the state of each unit, comprises that the sensor of on off state, the state that sucks motor, rotating brush (Agitator) state etc. falls in the sub-state of main wheel that detects, wheel.In addition, above-mentioned state aware unit comprises the sensor of the dust bucket state that detects, battery status, rag plate-like state etc.Control module (200), before the execution of above-mentioned OBD pattern, is confirmed predefined more than one executive condition.The executive condition of above-mentioned OBD pattern is the installment state at dust bucket, the attachment state of rag dish and or the combination of these states in battery status.In addition, control module (200) is confirmed current operation mode, after being confirmed whether to be set with reservation cleaning etc., carries out OBD pattern.
As shown in Figures 4 to 7, both sides, bottom possess respectively movably left and right side main wheel (610a, 610b) of the robot cleaner of making to robot cleaner.The two sides of main wheel are in order to make controlling easily of user can be provided with handle.Turbin generator is to be connected on main wheel, makes main rotating of wheel, and the startup that turbin generator can be separate, and can be to two direction rotations.In addition, robot cleaner possesses overleaf and has more than one auxiliary wheel, thereby supports robot cleaner, makes the minimise friction between robot cleaner and ground (swept surface), and then makes the movement of robot cleaner round and smooth.
Control module (200), when input receives the order of carrying out OBD pattern, is diagnosed the state of turbin generator.Control module (200) possesses has electric current to detect means, thereby detects the drive current of turbin generator.Then, the drive current that control module (200) relatively detects and predefined reference current, and according to the state of comparative result diagnosis turbin generator.Electric current detects means can utilize power pack etc., but simply can utilize shunt resistance.Output unit (400) has when abnormal on main wheel, output " foreign substances of PLSCONFM left side wheel ", the voice message that " foreign substances of PLSCONFM right-hand wheel " waits or show above-mentioned message on picture.
Robot cleaner is also included in situation about being lifted by user or barrier, that is, and and action in the situation that main wheel lifts from ground and switch (Wheel Drop Switch) falls in the wheel of informing.The mechanical switch that switch is generally contact form falls in wheel.Input receives while making to carry out the order of OBD pattern, and control module (200) will confirm that the state of switch falls in wheel.In normally advancing, it should be OFF state all the time that switch falls in wheel, so control module (200) is after carrying out OBD pattern, is confirmed whether the state into OFF.Output unit (400) falls switch while becoming ON state at wheel, output " left (right side) wheel falls on switch and has extremely ", " restarting after the main power switch of body bottom; please again carry out again intelligent diagnostics ", " problem repeatedly time, be may I ask and ask service centre " waits voice message or in the above-mentioned message of picture disply.Memory cell (500) can pre-stored above-mentioned message.
With reference to Fig. 3, robot cleaner also comprises cleaning unit (800) and forms.With reference to Fig. 4 to Fig. 7, cleaning unit (800) is by the dust bucket (840) of storage control of dust dust; The suction fan (880) of the power of the dust that sucks purging zone is provided; Rotate above-mentioned suction fan and the suction motor (880) of air amount and forming, thereby suck dust or the foreign substances of periphery.Suction fan (880) comprises makes a plurality of blades of Air Flow and the parts of ring-type formation on the upstream side exterior angle of a plurality of blades, wherein above-mentioned parts connect a plurality of blades, and make to guide as flowing towards the direction perpendicular to central shaft towards the central axis direction leaked-in air of suction fan.
When control module (200) input receives the order of carrying out OBD pattern, diagnosis sucks the state of motor (880).Control module (200) possesses has electric current to detect the drive current that means detect suction motor (880).Then, the drive current that control module (200) relatively detects and predefined reference current, according to comparative result, diagnosis sucks the state of motor (880).Electric current detects means can utilize power pack etc., but simply can utilize shunt resistance.
Output unit (400) has when abnormal on sucking motor, " suck on motor and found problem ", " restarting after the main power switch of body bottom; please again carry out again intelligent diagnostics ", " problem repeatedly time, be may I ask and ask service centre " waits voice message or in the above-mentioned message of picture disply.
Cleaning unit (800) be also included in robot cleaner body the rotatable installation in bottom rotating brush (810) and when rotating centered by the rotating shaft of the vertical direction of body, the corner brush (820) that the corner of the purging zones such as wall or corner etc. are cleaned.
When rotating brush (810) rotates centered by the left and right directions axle of robot cleaner body, the dust of ground or carpet etc. is dispersed in air.On the outer peripheral face of rotating brush (810), towards the hand of spiral, possess and have a plurality of blades.Between spiral helicine blade, possess and have hairbrush.Because rotating brush (810) and corner brush (820) is that the axle of rotation is mutually different, therefore, robot cleaner generally possesses respectively and has the motor that drives rotating brush and corner brush.Another example, as shown in Figure 5, robot cleaner, at configuration corner, the both sides of rotating brush brush, possesses and makes the revolving force of rotating brush to the motor drive mechanism (891) of corner brush transmission between rotating brush and corner brush, thereby only utilizes a hairbrush motor just can both drive rotating brush and corner brush.Under latter instance, as motor drive mechanism, can use worm screw (Worm) and gear on worm (Worm Gear), also can utilize driving-belt.
When the order of OBD pattern is carried out in control module (200) input, will diagnose the state of hairbrush motor (890).Control module (200) makes rotating brush (810) rotation, thereby detects the rotary speed of rotating brush.After this, the rotary speed that control module (200) relatively detects and predefined reference speed, diagnose the abnormal of rotating brush according to comparative result.Reference speed for example can be set as 500rpm.Output unit (400) has when abnormal on rotating brush, the voice message that output " whether accompanying foreign substances on PLSCONFM rotating brush " waits or show above-mentioned message on picture.
Cleaning unit (800), with reference to figure 6 or Fig. 7, also comprises the dust bucket (840) of dirt accumulation and the holding portion of dust bucket.Cleaning unit (800) as shown in Figure 7, becomes lineal hexahedral shape generally, and comprises dirt in filtered air or the filter (841) of dust.Filter (841) is divided into as required the 1st filter and the 2nd filter and is formed, and also can form a pipe filter on the body that forms filter.The 1st filter and the 2nd filter can be granular membrane (Mesh Filter) or high efficiency particulate air filter (HEPA Filter), in nonwoven, paper filter one form or two above compound and use.
Large being divided into of state of dust bucket includes the state of how many dusts etc. and the state that dust bucket is installed or whether dismantled on robot cleaner in dust bucket.The former in the situation that, can in dust bucket, insert piezoelectric transducer etc. and carry out perception.In the latter case, can utilize variform to carry out the installment state of perception dust bucket.For example, the sensor of whether installing as perception dust bucket, can utilize below the groove of dust bucket is installed can open/close setting microswitch, utilize the magnet sensor in the magnetic field of magnet, utilize the Magnetic Sensor in the magnetic field of magnetite body, possess illuminating part and light accepting part and receive the optical sensor of light.In the situation of magnet sensor or Magnetic Sensor, in the part of magnet or the contact of magnetite body, also comprise the seal member of synthetic rubber material.
When the order of OBD pattern is carried out in input, control module (200), as one of all conditions of carrying out, first confirms whether dust bucket is arranged in robot cleaner.Output unit (400) is not in dust bucket is arranged on robot cleaner time, will export the voice message that " PLSCONFM dust bucket " wait or on picture, show above-mentioned message.Memory cell (500) can pre-stored above-mentioned message.Certainly, at other operation modes, whether in cleaning or traveling mode, also first confirm the installation of dust bucket.
With reference to Fig. 3, robot cleaner also comprises power subsystem (700).Power subsystem (700) possesses and has chargeable battery (710), and to supply power in robot cleaner.
Power subsystem (700) to unit supply with driving power and when robot cleaner moves or carries out cleaning required action power, and when remaining capacity is not enough, will moves to cradle and obtain charging current, thereby charge.
Battery is connected with battery perception portion, thereby transmits battery remaining capacity and charged state to control module.As shown in Figure 8, output unit (400) is shown above-mentioned battery remaining capacity on picture by control module.Battery can be positioned at the bottom of robot cleaner central authorities, as shown in Figure 5 in order to make dust bucket be positioned at body bottom, can be arranged in any side of left and right side.In the latter case, in order to remove laying particular stress on that the battery weight of robot cleaner causes, also possess and have counterweight.
When the order of OBD pattern is carried out in input, as one of all conditions of carrying out, first confirm battery remaining capacity and state.Output unit (400) reaches a reference value when following when battery charge capacity, output " battery remaining capacity is not enough ", the voice message that " battery electric quantity deficiency can not enter OBD pattern " waits or show above-mentioned message on picture.Memory cell (500) can pre-stored above-mentioned message.
With reference to Fig. 7, cleaning unit (800) is also included in the detachable rag dish of installing in bottom of robot cleaner body.
Rag dish can comprise the rag being removably installed, and user only separated rag washs or exchanges.Rag can be installed on rag dish with various ways, but can utilize, makes the attachment flaps of Velcro (Velcro) be attached on rag dish.For example, above-mentioned rag dish is by magnetic force, to be arranged on robot cleaner body.On rag dish, possess the 1st magnet, on body of dust collector, possess the metal parts or the 2nd magnet that have corresponding to the 1st magnet.When rag dish is positioned at the bottom surface of body of dust collector, by the 1st magnet and metal parts or the 1st magnet and the 2nd magnet and rag dish is fixed on robot cleaner body.
Robot cleaner also comprises the installation whether sensor of perception rag dish.For example, the sensor can be travel switch or the Hall element that has the startup of magnetic force.For example, form switch and possess on body of dust collector, by rag dish, be attached to body of dust collector and move, and to control module output, signal is installed.
When the order of OBD pattern is carried out in input, control module utilization is installed signal and is judged whether adhering to of rag dish.In the situation that being attached with rag dish, because the output valve of each sensor has difference, therefore after dismounting rag dish, carry out again diagnostic mode.
When output unit (400) is attached with rag dish on robot cleaner, output " be attached with rag dish and can not enter diagnostic mode ", the voice message that " trying after please removing rag dish " waits again or show above-mentioned message on picture.Memory cell (500) can pre-stored above-mentioned message.
Certainly, at other operation modes, whether in cleaning or traveling mode, also first confirm the installation of dust bucket.
With reference to Fig. 9 a to Figure 10, the OBD action according to the robot cleaner of an embodiment is described.When robot cleaner is inputted the fill order that receives self-diagnostic mode in a plurality of operation modes (S100), before carrying out OBD pattern, confirm predefined more than one executive condition (S200).A plurality of operation modes for example possess, OBD pattern, charge mode, sweeper mode, traveling mode, standby mode etc., and wherein sweeper mode and traveling mode also comprise more than one mode or pattern.The fill order of OBD pattern presses in the button that is arranged on top by user etc. or each button is pressed with certain forms or a button is pressed and inputted with certain hour.Example in addition, the fill order of OBD pattern is utilized built-in sensor or means of communication, from remote controller, terminating machine etc., receives control signal and inputs reception.
The executive condition of OBD pattern is the installment state at dust bucket, the attachment state of rag dish and or the combination of these states in battery status.Robot cleaner is being confirmed current operation mode, after being confirmed whether to be set with reservation cleaning etc., and drive actions perception unit (S300).Then, robot cleaner utilization is from the said sensed information of action perception unit output, diagnoses the state (S400) of above-mentioned sense of movement notice of invitation unit.Robot cleaner can prepared in advancely in program be that current operation mode, only in predefined pattern, for example, in the situation of charge mode, is just carried out OBD pattern (S120).Robot cleaner in the situation that not meeting executive condition, output error message (S510 or S600).For example, in the situation that executive condition is not inconsistent, robot cleaner will be exported " PLSCONFM dust bucket ", " battery electric quantity deficiency can not enter diagnostic mode ", the voice message that " be attached with rag dish and can not enter diagnostic mode " waits or show above-mentioned message on picture.
In addition, in the situation that being set with reservation cleaning, robot cleaner provides by sound or picture, and " being about in advance OBD cancels.Beginning OBD " the message waiting.Meet in the situation of executive condition, robot cleaner is output " robot cleaner starts OBD ", " please away from around, please remove cradle around 1 meter with interior object the " voice message waiting, or after the above-mentioned message of picture disply, carry out OBD pattern (S300).
With reference to figure 9a, when robot cleaner receives fill order (S100), confirm the executive condition of OBD pattern,, confirm whether whether the current operation mode of robot cleaner is charge mode (S120), whether is set with reservation cleaning (S110), be provided with dust bucket, whether rag dish is being dismantled, and whether battery status is low electric weight (Low Battery) state (S200).When meeting all conditions, robot cleaner is that OBD pattern (S300) is carried out in drive actions perception unit.
With reference to figure 9b, demonstrate an embodiment of sense of movement notice of invitation unit diagnostic sequence.Robot cleaner is to depart from cradle to the left or when right direction Rotate 180 degree, utilize gyro sensor, the perception anglec of rotation and direction of rotation (S410).At this moment, robot cleaner is to utilize wheel sensor, and the rotation number of perception left side and right side main wheel is utilized the difference of rotation number, output direction of rotation and rotary distance (S420).Robot cleaner is according to the anglec of rotation and the rotation number of utilizing wheel sensor perception of utilizing gyro sensor perception, the relatively rotation number of calculation.Robot cleaner is at comparative result, and its difference within the specific limits time, is diagnosed as gyro sensor normal, while surpassing certain limit, is diagnosed as gyro sensor abnormal (S430).Simultaneously, robot cleaner compares the rotation number of left side and right side main wheel, thus the state (S440) of diagnosis main wheel.Robot cleaner is output valve and certain a reference value of acceleration transducer relatively, when output valve is a reference value when above, is diagnosed as acceleration transducer (S450) extremely.When diagnostic result is in normal situation, export normal execution result (S500), while noting abnormalities in sense of movement notice of invitation unit, output error message (S510).Robot cleaner also can be after resetting to cradle (S600), output execution result (S500, S510).Then, robot cleaner will be waited for the releasing order (S800) of OBD pattern.When order receive is removed in input, robot cleaner will be converted to charge mode to battery charge (S810).
Figure 10 is the drawing that shows a pattern of OBD pattern.First, robot cleaner input in charge mode is carried out receives after the fill order of self-diagnostic mode, while meeting executive condition, after advance and depart from from cradle.At this moment, whether robot cleaner is foundation if being take from the reception of the pilot signal of cradle transmitting, diagnosis external signal sensor whether extremely.Certainly, robot cleaner is from cradle departs from, continuable diagnosis external signal sensor.To the left or when the degree rotation of right side 180, robot cleaner, by utilizing gyro sensor to detect the anglec of rotation of robot cleaner, utilizes upfront sensor to detect barrier.By as above executable operations, robot cleaner will be diagnosed gyro sensor and upfront sensor.Robot cleaner, in original position rotation, is diagnosed upfront sensor or gyro sensor again.
After the diagnosis of carrying out when finishing rotation, robot cleaner is by the certain distance of advancing to the opposite direction of cradle.At this moment, robot cleaner will be diagnosed the state of other built-in each sensors.For example, robot cleaner sends receiving infrared-ray signal and diagnoses obstacle sensor, utilizes wheel sensor to detect the rotation number of left and right main wheel, thereby diagnoses the state of main wheel such as equilibrium of left and right main wheel.In addition, in movement, robot cleaner is arranged on diagnosis the unsettled sensor at the body back side (bottom), bottom camera sensing device etc., and diagnosis is according to the acceleration transducer of velocity variations.In addition, robot cleaner is by detecting the electric current of the various motors that form driver element or cleaning unit, rotary speed etc., thus it is diagnosed.
When the execution of OBD pattern finishes, robot cleaner will be exported the voice message that " diagnostic mode finishes " waited, or in the above-mentioned message of picture disply.In addition, robot cleaner, the execution result of " diagnostic result not have extremely " grade, utilizes output unit to satisfy the needs of consumers etc. (S500) is provided with sound or picture.The message that in addition, robot cleaner also provides " think again to listen diagnostic result by charging press-key, finish diagnosis please by stopping key " etc.Like this, during the releasing order of input diagnostic mode, robot cleaner will be exported the message of " will remove diagnostic mode ".
Be not inconsistent with execution result, executive condition, or the state that is diagnosed as sense of movement notice of invitation unit in OBD pattern is while being abnormality, robot cleaner will utilize output unit output error message (S510).For example, robot cleaner will be exported " sensor has extremely ", " having pinpointed the problems ", " can not attempt charging ", " restart after the main power switch of body bottom, please again attempt again diagnosis ", " ask wiping sensor windows ", the error message that " may I ask and ask service centre " waits.
As mentioned above, according to the robot cleaner of the embodiment of the present invention and self-diagnosing method thereof, be, make it when initial startup or independently carry out OBD according to user's needs, therefore prevent in advance the misoperation of robot cleaner, fault.In addition, various embodiments of the present invention are, when initial startup or according to user's needs, to utilize the perceptual signal of the sense of movement notice of invitation unit possessing on body, the state of diagnostic action perception unit.Thus, various embodiments of the present invention will be prevented by the action of robot cleaner the accident or the mistake that occur backward in advance.
Claims (20)
1. a robot cleaner, is characterized in that: comprise, form the body of outward appearance; Possess and have the turbin generator that rotates main wheel, and by driving wheel motor, moved the driver element of above-mentioned body; The action of the robot cleaner that perception is changed by the movement of above-mentioned body, and the sense of movement notice of invitation unit that exports perception information; Utilize the control module of the state of the above-mentioned sense of movement notice of invitation of said sensed information diagnosis unit; Export the output unit of the diagnostic result of above-mentioned sense of movement notice of invitation unit.
2. robot cleaner according to claim 1, is characterized in that: also comprise, input receives the exectorial input block of self-diagnostic mode; At this, above-mentioned control module is to carry out above-mentioned OBD pattern according to above-mentioned fill order, thereby diagnoses the state of above-mentioned sense of movement notice of invitation unit.
3. robot cleaner according to claim 2, is characterized in that: also comprise, preset the memory cell of the diagnostic program of corresponding diagnostic mode, above-mentioned control module is to carry out above-mentioned OBD pattern according to above-mentioned predefined diagnostic program.
4. robot cleaner according to claim 2, is characterized in that: above-mentioned sense of movement notice of invitation unit comprises the direction of rotation of perception robot cleaner and the gyro sensor of the anglec of rotation by the rotation of above-mentioned body.
5. robot cleaner according to claim 4, is characterized in that: above-mentioned sense of movement notice of invitation unit also comprises and being connected on above-mentioned main wheel, the wheel sensor of the rotation number of above-mentioned main wheel of perception.
6. robot cleaner according to claim 5, it is characterized in that: above-mentioned control module is relatively in robot cleaner is kept straight on, be connected to the rotation number and the rotation number that is connected to the wheel sensor perception on main wheel of right side of the Hall element perception on main wheel of left side, and take this comparative result as foundation, diagnose the abnormal of main wheel.
7. robot cleaner according to claim 5, it is characterized in that: the anglec of rotation that the anglec of rotation of the more above-mentioned gyro sensor perception of above-mentioned control module is calculated with utilizing the above-mentioned rotation number of above-mentioned wheel sensor perception, and according to comparative result, diagnose the state of above-mentioned gyro sensor.
8. robot cleaner according to claim 5, it is characterized in that: above-mentioned control module utilizes above-mentioned direction of rotation and the anglec of rotation of above-mentioned gyro sensor perception or utilizes the above-mentioned rotation number of above-mentioned wheel sensor perception, the position of recognition machine people's dust catcher.
9. robot cleaner according to claim 5, is characterized in that: above-mentioned sense of movement notice of invitation unit also comprises according to the movement of above-mentioned body and the acceleration transducer of the velocity variations of the robot cleaner of perception; Above-mentioned control module, when carrying out above-mentioned OBD pattern, is certain a reference value when above in the output valve of above-mentioned acceleration transducer, and the state of diagnosing above-mentioned obstacle sensor is abnormality.
10. according to the robot cleaner described in claim 2 to 9 any one, it is characterized in that: above-mentioned control module, before carrying out above-mentioned OBD pattern, is confirmed predefined more than one executive condition.
11. robot cleaners according to claim 10, is characterized in that: the executive condition of above-mentioned OBD pattern is the installment state at dust bucket, the attachment state of rag dish, and one or the combination of these states in battery status.
12. robot cleaners according to claim 10, is characterized in that: also comprise and be arranged on body and the object of perception periphery and export the more than one object perception unit of perception information.
13. according to the robot cleaner of claim 12, it is characterized in that: above-mentioned object perception unit comprises the bottom that is arranged on body, and utilizes imageing sensor to take pictures and the bottom camera sensing device of image output data to ground; Above-mentioned control module is in carrying out above-mentioned OBD pattern, and when the output valve of above-mentioned bottom camera sensing device is the value below certain a reference value or outside certain limit, diagnosing the state of above-mentioned bottom camera sensing device is abnormality.
14. robot cleaners according to claim 13, is characterized in that: above-mentioned control module utilizes the above-mentioned image data of above-mentioned bottom camera sensing device output, the position of recognition machine people's dust catcher.
15. according to claim 2 device people dust catcher, it is characterized in that: also comprise the bottom that is arranged on above-mentioned body, possess and have rechargeable battery, thus the power subsystem of supply driving power; And be arranged on the bottom of above-mentioned body, suck the cleaning unit of ground or airborne dirt or dust.
The self-diagnosing method of 16. 1 kinds of robot cleaners, the sense of movement notice of invitation unit that comprises the action of the robot cleaner that perception is changed by the movement of robot cleaner body, and have a plurality of operation modes, it is characterized in that: comprise, in a plurality of operation modes, input receives the exectorial stage of self-diagnostic mode; While receiving above-mentioned fill order, according to above-mentioned OBD pattern, drive the stage of above-mentioned sense of movement notice of invitation unit; The stage of the state of above-mentioned sense of movement notice of invitation unit is diagnosed in utilization from the said sensed information of above-mentioned sense of movement notice of invitation unit output; Export the stage of the execution result of above-mentioned OBD pattern.
The self-diagnosing method of 17. robot cleaners according to claim 16, is characterized in that: before being also included in the above-mentioned OBD pattern of execution, confirm the stage of predefined more than one executive condition.
The self-diagnosing method of 18. robot cleaners according to claim 17, is characterized in that: the stage of above-mentioned confirmation executive condition is to judge whether current executory above-mentioned operation mode is the stage of charge mode.
The self-diagnosing method of 19. robot cleaners according to claim 17, it is characterized in that: the executive condition of above-mentioned OBD pattern is the installment state at dust bucket, the attachment state of rag dish, and one or the combination of these states in battery status.
The self-diagnosing method of 20. robot cleaners according to claim 17, it is characterized in that: also comprise with above-mentioned executive condition and not being inconsistent, or when in above-mentioned OBD pattern, the condition diagnosing of above-mentioned object perception unit is abnormality, the stage of output error message.
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