CN103584795A - Robot vacuum cleaner and self-diagnosing method thereof - Google Patents
Robot vacuum cleaner and self-diagnosing method thereof Download PDFInfo
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- CN103584795A CN103584795A CN201210293084.3A CN201210293084A CN103584795A CN 103584795 A CN103584795 A CN 103584795A CN 201210293084 A CN201210293084 A CN 201210293084A CN 103584795 A CN103584795 A CN 103584795A
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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 built-in components and sensors of the robot vacuum cleaner are detected, and automatic self-diagnosing is performed according to the features, output values and the like of the components and the sensors, 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 is generally to possess to have chargeable battery, possess in advancing can avoiding obstacles barrier detecting sensor, thereby when independently advancing, 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.
According to the robot cleaner of an embodiment, comprise possessing more than one the detect unit of output to the inner or outside information that detects on robot cleaner; Input receives the exectorial input block of above-mentioned OBD pattern; According to predefined diagnostic program, carry out above-mentioned OBD pattern, utilize the above-mentioned control module that detects the above-mentioned robot cleaner of information diagnosis; Export above-mentioned OBD pattern execution result output unit and form.The memory cell that also comprises the diagnostic program that presets the above-mentioned OBD pattern of foundation according to the robot cleaner of an embodiment forms.Above-mentioned control module, before carrying out above-mentioned OBD pattern, is confirmed predefined more than one executive condition.
The robot cleaner that has a plurality of operation modes according to possessing of an embodiment, comprises that storage is for the memory cell of the program of above-mentioned a plurality of operation modes; Utilize said procedure to carry out the control module of above-mentioned a plurality of operation modes; Input the exectorial input block of the pending operation mode of above-mentioned control module; Export the output unit of the result of the operation mode that above-mentioned control module carries out; Wherein at least to include OBD pattern be feature to above-mentioned a plurality of operation mode.
According to the self-diagnosing method of the robot cleaner of an embodiment, comprise more than one the detect unit of output to the inner or outside information that detects, and possess and have OBD pattern, comprise that input receives the exectorial stage of self-diagnostic mode; According to predefined diagnostic program, carry out the stage of above-mentioned OBD pattern; Export above-mentioned OBD pattern execution result stage and form.Before also comprising and carry out OBD pattern according to the self-diagnosing method of the robot cleaner of an embodiment, confirm the stage of predefined more than one executive condition and form.
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 the formation inscape of robot cleaner and the state of sensor and independently carry out OBD, thereby improve the stability of system, the running efficiency that increases by preventing mistake or fault, and lifting user's stability and convenience.
Accompanying drawing explanation
Fig. 1 is the outward appearance oblique view according to the robot cleaner of an embodiment.
Fig. 2 and Fig. 3 are the square frame demonstration figure forming according to the robot cleaner of each embodiment.
Fig. 4 is the front elevation showing according to before the robot cleaner of an embodiment.
Fig. 5 shows according to the back view of the robot cleaner bottom of an embodiment.
Fig. 6 shows according to the sectional view of the inside of the robot cleaner of an embodiment.
Fig. 7 is according to the side cross-sectional view of the robot cleaner of an embodiment.
Fig. 8 is the amplification demonstration figure according to the output unit of the robot cleaner of an embodiment.
Fig. 9 and Figure 10 are the simple flow for displaying figure according to the self-diagnosing method of the robot cleaner of each embodiment.
Figure 11 is the pattern demonstration figure according to the OBD pattern of an embodiment.
Critical piece symbol description in accompanying drawing:
100: detect unit 200: control module
300: input block 400: output unit
500: memory cell 600: power subsystem
700: driver element 800: cleaning unit
The specific embodiment
With reference to Fig. 2, according to the robot cleaner of an embodiment, be, in possessing the robot cleaner that has OBD pattern, comprise more than onely detecting unit (100) and control module (200) and input block (300) and output unit (400) and forming.
The more than one unit (100) that detects is arranged on body, and output is to inner or the outside information that detects.
Input block (300) is inputted the fill order of above-mentioned OBD pattern.
Control module (200) is carried out above-mentioned OBD pattern according to above-mentioned fill order, utilizes the above-mentioned above-mentioned robot cleaner of information diagnosis that detects.
Output unit (400) is exported the execution result of above-mentioned OBD pattern.At this, above-mentioned control module (200) is according to the above-mentioned more than one state that detects unit (100) self of above-mentioned OBD pattern diagnosis.
Users etc. pass through input block (300) to the direct input of control commands of robot cleaner.In addition, user waits the order of exporting more than one information in canned data in the memory cell that makes to narrate in the back by input block input.
Input block (300) can be formed by more than one button.For example, input block (300) can comprise confirmation button, set button.Confirm that button is input to the order of really accepting one's fate of perception information, obstacle information, positional information, cleaning field or cleaning map.Set key-press input and set the order of above-mentioned information.Input block possesses the button that resets that has input to reset above-mentioned information, deletes button, and cleaning starts button, stops 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 the button that has input to receive the order resetting to cradle.
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) all forms the form of touch-screen together with output unit.Input block (300) input receives the beginning of self-diagnostic mode, finishes, and stops the orders such as releasing.Users etc. are by inputting or press in the button arranging in robot cleaner, or with certain forms pressing keys, or a button presses certain hour, thereby make it enter the order of OBD pattern.Other example, user utilizes remote controller, and there is control signal in terminating machines etc., 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, explicit reservation information on picture, battery status, concentrates cleaning, spatial expansion, cleaning mode or the modes etc. of advancing such as zigzag running.The status information of the robot cleaner inside that output unit (400) output detections unit (100) detects, for example, forms present status and the present cleaning state of each unit of robot cleaner.In addition, the outside information that detects that output unit (400) detects detecting unit (100), obstacle information, positional information, purging zone information, cleaning map etc. is presented on picture.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 according to caution signal, to outside output warning tones.Voice output means comprise buzzer (beeper), the means of the output sounds such as loudspeaker.Output unit (400) utilizes the audio-frequency information in memory cell that is stored in narrate below, exports diagnostic result to outside.
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 according to diagnosis object, diagnostic mode philosophy store diagnostic program or pre-stored all diagnostic programs.Memory cell (500) storage is for the state of outside portion propagation robot cleaner, the audio-frequency information of diagnostic result.That is, memory cell (500) is the state of robot cleaner, and the execution result of OBD pattern etc. are pre-stored with the shape mode of message data or voice data.
Above-mentioned output unit (400) possesses signal processing part, the audio information signal of storing is processed, and export to outside by voice output means in memory cell.
Memory cell (500) storage is controlled the control program of (driving) robot cleaner and according to this data.Memory cell (500) is gone back the image information outside audio information, obstacle information, positional information, purging zone, cleaning map etc.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.
Detect unit (100) and comprise that as described in Figure 3 the object that detects exterior object detects unit (110).In addition, the above-mentioned unit that detects also comprises that the action that detects above-mentioned robot cleaner action detects unit (120).In addition, above-mentionedly detect the state that unit also comprises the state that detects each unit that forms above-mentioned robot cleaner and detect unit (130).The above-mentioned unit that detects is included in object and detects unit (100), and action detects the sensor that unit (120) and state detect the more than one unit in unit (130) or form this.
Object perception unit (110) is included in external signal detecting sensor, the place ahead detecting sensor, barrier detecting sensor, unsettled detecting sensor, bottom camera sensing device, the more than one sensor in the camera sensing device of top.
Robot cleaner comprises the external signal detecting sensor of perception external signal.External signal sensor is infrared ray sensor (Infrared Ray Sensor), ultrasonic sensor (Ultra Sonic Sensor), radio frequency sensor (Radio Frequency Sensor) etc.Robot cleaner utilizes 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 receives 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 is inside or the outside side possessing in robot cleaner.According to embodiments of the invention, external signal sensor describes for example with infrared ray sensor.Above-mentioned infrared ray sensor (111) 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, on output ＂ infrared ray sensor, there is problem can not attempt the ＂ that charges, ＂ closes and opens after the main power switch of body bottom, please again carry out again diagnostic mode ＂, ＂ problem is repeatedly time, may I ask voice messages such as asking the ＂ of service centre 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 inform the current states such as user.
The place ahead detecting sensor is in the place ahead of robot cleaner, for example as shown in Figure 4, and in the outer peripheral face setting that keeps at a certain distance away.The object, particularly barrier that on the moving direction of the place ahead detecting sensor perception robot cleaner, exist, and pass on to control module detecting information.That is, the protrusion that the place ahead detecting sensor perception exists on the mobile route of robot cleaner, the household electrical appliances in room, furniture, wall, wall corner etc., and its information is communicated to control module.The place ahead detecting sensor is infrared ray sensor, ultrasonic sensor, radio frequency sensor (RF sensor), geomagnetic sensor etc.Robot cleaner is as the place ahead detecting 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 the place ahead detecting 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.After the ultrasonic wave that control module (200) is launched by emission part is reflected by barrier etc., whether by acceptance division, received the existence of disturbance in judgement thing, utilize time of reception to calculate the distance with barrier.
With reference to Fig. 4 or Fig. 6, there are 5 ultrasonic sensors (112) to arrange along the neighboring, the place ahead of robot cleaner.With reference to Fig. 6, robot cleaner is that emission part (112a) and the acceptance division (112b) 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 (112a) is from the configuration at mediad left and right sides interval above of body.Between acceptance division (112b), configure one or two above emission parts (112a), form from the receiving area of the signal of the reflections such as barrier.So to configure, when reducing the quantity of sensor, can expand 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 (112b) is different setting mutually.In addition, for the ultrasonic wave that makes to launch on ultrasonic sensor, export upward, ultrasonic sensor is 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 has or not according to barrier, with the distance of barrier, to control module, passes on different output valves.The scope of output valve is according to the sensing range of ultrasonic sensor and different settings.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) makes robot cleaner move with certain pattern according to diagnostic program, 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) utilizes robot cleaner to exist, and forms the output valve under certain distance state with cradle, and the output valve after Rotate 180 degree makes the output valve of certain distance after keeping straight on etc. carry out the abnormal of diagnostic ultrasound wave sensor.
Output unit (400) has when abnormal at ultrasonic sensor, on output ＂ ultrasonic sensor, there is problem can not attempt the ＂ that charges, ＂ closes and opens after the main power switch of body bottom, please again carry out again diagnostic mode ＂, ＂ problem is repeatedly time, may I ask voice messages such as asking the ＂ of service centre 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.
Barrier detecting sensor (113), 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, the second barrier detecting sensor also can be along outer peripheral face setting, but has to the formation of face outstanding outside robot cleaner body.The second barrier detecting sensor is infrared ray sensor, ultrasonic sensor, radio frequency sensor, position sensitive detector (Position Sensitive Device) sensor, thus the barrier that perception the place ahead or side exist is passed on obstacle information to control module.That is, the second barrier detecting sensor is the protrusion existing on the mobile route of perception robot cleaner, the household electrical appliances in room, and furniture, wall, wall corner etc., thus its information is passed on to control module.In addition, utilize upfront sensor or the second barrier detecting 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) (PSD sensor) (PSD sensor).
Position sensitive detector sensor (PSD sensor) utilizes 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, utilizes the time reflecting to measure distance.That is, position sensitive detector sensor (PSD sensor) (113) possesses to barrier to be launched ultrared emission part and receives the ultrared acceptance division reflecting from barrier, is generally configured to module form.The reflectivity of position sensitive detector sensor (PSD sensor) and barrier, the difference of color is irrelevant, can access stable measured value, and utilize triangulation method.
Position sensitive detector sensor (PSD sensor) is the same with ultrasonic sensor, and according to having or not of barrier, the distance of barrier is passed on different output valves to control module.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 answer perception 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, be diagnosed as position sensitive detector sensor (PSD sensor) 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 unsettled sensor (Cliff Sensor).Unsettled sensor mainly utilizes the optical sensor of variform, in the present embodiment, with infrared ray sensor, describes for example.In this situation, unsettled sensor is as above stated position sensitive detector sensor, has the form that possesses the infrared sensor module that has emission part and acceptance division.With reference to figure 5, unsettled sensor (114) 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 arranges two sensors.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 (114a), and the scales that is arranged on rear side is the 2nd sensor (114b, 114c).The 1st sensor and the 2nd sensor are conventionally all with the sensor of same kind, and for example infrared ray sensor forms, 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 continues bottom surface to carry out perception in robot cleaner moving process.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.Output unit (400) has when abnormal on unsettled sensor, output " has abnormal above " on the unsettled sensor of bottom surface, " on unsettled sensor, have 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 (115) as shown in Figure 5, possesses the back side in robot cleaner, mobile in to below, i.e. ground, swept surface is made a video recording.Bottom camera sensing device is called again Fibre Optical Sensor (Optical Flow Sensor) in addition.The image data of the below video generation certain forms that camera sensing device conversion in bottom receives from the imageing sensor input possessing in sensor.The image data generating is to be 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 possess 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, to the ground region irradiation light of being photographed by imageing sensor.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 to regulate possible light-emitting component by light quantity, 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 taken ground all the time 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, make robot cleaner keep 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 (116) 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.Robot cleaner also comprise be connected to the focus of proofreading subject on the camera sensing device of top camera lens and, regulate camera adjusting portion and, regulate the camera adjusting portion of above-mentioned camera lens.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 is diagnosed 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 acceleration transducer, gyro sensor, wheel sensor, the information that detects of above-mentioned bottom camera sensing device and the accurate recognizing site of image data of top camera sensing device.
Sense of movement notice of invitation unit (120) is included in acceleration transducer, gyro sensor, and more than one sensor in wheel sensor, thus detect the action of robot cleaner.
Acceleration transducer (Acceleration Sensor) is the velocity variations of perception robot cleaner, for example, according to setting out, stop, direction conversion, with the variation of the translational speed of 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 relatively confirmation of and instruction speed or the position of Compensating Robot dust catcher.But according to embodiments of the invention, acceleration transducer is that interior plant control module (200) is upper, perception sweeper mode, the velocity variations of the robot cleaner occurring during 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 carries out continuously perception to ground during the movement of robot cleaner.While carrying out OBD pattern, control module (200) is output valve and the predefined a reference value of acceleration transducer relatively, and utilizes comparative result diagnosis acceleration transducer.During OBD pattern, control module (200) moves robot cleaner certain pattern according to diagnostic program, during output valve more than acceleration transducer output reference value, is diagnosed as acceleration transducer abnormal.Output unit (400) is when acceleration transducer has when abnormal, 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, be may I ask and ask service centre " waits voice message or in the above-mentioned message of picture disply.
Gyro sensor (Gyro Sensor) is when robot cleaner moves according to operation mode, and perception direction of rotation also detects the anglec of rotation.Gyro sensor 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, calculates direction of rotation and the anglec of rotation.
Robot cleaner also comprises the wheel sensor (Wheel Sensor) of the revolution of perception main wheel on main wheel that is connected to left and right sides.Wheel sensor can be rotary encoder (Rotary Encoder).Rotary encoder is when to be robot cleaner move according to traveling mode or sweeper mode, the rotation number of main wheel on perception left side and right side and exporting.Control module can utilize rotation number, calculates 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) 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.
Control module (200) utilizes the rotation number difference of left and right sides wheel to calculate the anglec of rotation.In addition, control module is relatively to utilize the output valve of wheel sensor and the anglec of rotation calculated and the output anglec of rotation of gyro sensor, and utilizes this 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 spend, and when above, control module is that diagnosis gyro sensor is abnormal.
Output unit (400) has 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.
State aware unit (130) detects the sensor of the state of each unit, comprises the sub-state of main wheel that detects, and on off state falls in wheel, sucks the state of motor, the sensor of rotating brush (Agitator) state etc.In addition, above-mentioned state aware unit is to comprise the dust bucket state that detects, battery status, the sensor of rag plate-like state etc.Control module (200), before carrying out above-mentioned OBD pattern, is confirmed predefined more than one executive condition.The executive condition of above-mentioned OBD pattern is the installment state of dust bucket, the attachment state of rag dish, and one 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.
Robot cleaner is as shown in Figures 4 to 7, and it is movably left that both sides, bottom possess respectively the robot cleaner of making, right side main wheel (710a, 710b).The two sides of main wheel are in order to make controlling easily of user can be provided with handle.With reference to Fig. 2, robot cleaner also comprises driver element (700) and forms.Driver element (700) and left and right sides main wheel sub-connection.Driver element is to possess the certain turbin generator (Wheel Motor) that makes above-mentioned rotating of wheel, thereby drives above-mentioned turbin generator that robot cleaner is moved.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 is to possess overleaf 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 electric current and detects means, thereby detects the drive current of turbin generator.Then, the drive current that control module (200) relatively detects and predefined reference current, according to the state of comparative result diagnosis turbin generator.It is to utilize power pack etc. that electric current detects means, but simply can utilize shunt resistance.Output unit (400) has when abnormal on main wheel, 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.
Robot cleaner also comprises, in the situation that being lifted by user or barrier, that is, and action 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 (850) 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 makes to carry out the order of OBD pattern, will diagnose the state that sucks motor (850).Control module (200) possesses electric current and detects means, detects the drive current that sucks motor (850).Then, the drive current that control module (200) relatively detects and predefined reference current, according to comparative result, diagnosis sucks the state of motor (850).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.
Other example, as shown in Fig. 4 or Fig. 5, robot cleaner is brushed in configuration corner, the both sides of rotating brush, between rotating brush and corner brush, possess and make the revolving force of rotating brush to the motor drive mechanism (891) of corner brush reception and registration, thereby only utilize a hairbrush motor rotating brush and corner brush just can both drive.Under latter instance, as motor drive mechanism, can use worm screw (Worm) and gear on worm (Worm Gear), also can utilize driving-belt.
When control module (200) input makes to carry out the order of OBD pattern, will diagnose the state of hairbrush motor (890).Control module (200) makes rotating brush (810) rotation, and 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 part that dust bucket holds.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), by nonwoven, in 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 input receives the order of carrying out OBD pattern, control module (200), as one of all conditions of carrying out, first confirms whether dust bucket is arranged in robot cleaner.Output unit (400) in dust bucket is not arranged on robot cleaner time, will be exported the voice message that " PLSCONFM dust bucket " waits, or on picture, show above-mentioned message.Memory cell (500) can realize the above-mentioned message of storage.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 (600).Power subsystem (600) possesses and has chargeable battery (610), to supply power in robot cleaner.Power subsystem (600) is supplied with to unit
driving powerwith move or carry out when cleaning at robot cleaner required
moving make power supply, and when remaining capacity is not enough, will moves to cradle and supply with acquisition charging current, thereby be charged.Battery is and battery perception portion to transmit 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, in order to make dust bucket be positioned at body bottom, can be positioned at a left side as shown in Figure 5, any side in 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, control module (200) is confirmed battery remaining capacity and the state as one of all conditions of carrying out.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 (860) 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 the travel switch that has the startup of magnetic force, or Hall element.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 meeting of each sensor is different, therefore make to carry out again diagnostic mode after dismounting rag dish.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.
Referring to figs. 1 to Fig. 6, according to the robot cleaner of another embodiment, possess a plurality of operation modes, comprise the memory cell (500) of the program of storing above-mentioned a plurality of operation modes; Utilize said procedure to carry out the control module (200) of above-mentioned a plurality of operation modes; Input receives the exectorial input block (300) that corresponding above-mentioned control module (200) is carried out operation mode; Export above-mentioned control module (200) carry out operation mode result output unit (400) and form.At this, above-mentioned a plurality of operation modes at least comprise OBD pattern.A plurality of operation modes, except above-mentioned charge mode, comprise sweeper mode, traveling mode etc. outside above-mentioned OBD pattern.
Above-mentioned robot cleaner also comprises possessing in above-mentioned robot cleaner, and output detects unit (100) for the inner or outside information that detects more than one and forms.At this, above-mentioned OBD pattern is according to the above-mentioned more than one pattern that detects unit oneself state of diagnostic program diagnosis.
At this, control module (200) only, in the situation that current executory operation mode is the charge mode in a plurality of operation modes, is carried out above-mentioned OBD pattern.Certainly, current executory operation mode is not in the situation of charge mode, utilizes remote controller or input block to make robot cleaner after cradle resets, and makes it carry out OBD pattern.
With reference to Fig. 9 to Figure 11, the OBD action according to the robot cleaner of each embodiment is described.When robot cleaner input receives the fill order of self-diagnostic mode (S100), before carrying out OBD pattern, confirm predefined more than one executive condition (S200).The fill order of OBD pattern is to be waited and in each button possess on top, to be pressed one or press or a button is pressed certain hour and inputs with certain form by user.As another example, the fill order of OBD pattern is utilized built-in sensor or means of communication, from remote controller, and reception control signals such as terminating machine and realize input.
The executive condition of OBD pattern is the installment state at dust bucket, one or the combination of these states in the attachment state of rag dish and battery status.Robot cleaner is confirmed current operation mode, after being confirmed whether to be set with reservation cleaning etc., carries out OBD pattern (S300).Robot cleaner can possess and have a plurality of operation modes, for example, possess OBD pattern, charge mode, and sweeper mode, traveling mode etc., sweeper mode and traveling mode also comprise more than one mode or pattern.Robot cleaner can be programme in advance as being only predefined pattern at current operation mode, for example, in the situation of charge mode, carry out OBD pattern (S110).Robot cleaner is not when being inconsistent with executive condition, by output error message (S500).For example, when not being inconsistent with executive condition, 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 " reservation is cancelled by OBD.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, " voice message waiting or after the above-mentioned message of picture disply is carried out OBD pattern (S300).
Figure 11 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 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. (S400) 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 ".
Execution result occurs when abnormal in each inscape of robot cleaner, and robot cleaner will utilize output unit output error message (S410).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, according to the robot cleaner of various embodiments of the present invention, be to detect each built-in inscape and each sensor, utilize the characteristic of each inscape and each sensor, the autonomous OBD of carrying out such as output valve.With regard to because carry out like this, 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, improve the stability of system, operation efficiency and user's stability and convenience.
Claims (15)
1. possess a robot cleaner that has OBD pattern, comprise and possessing on robot cleaner, more than one the detect unit of output to the inner or outside information that detects; Input receives the exectorial input block of above-mentioned OBD pattern; According to predefined diagnostic program, carry out above-mentioned OBD pattern, utilize the above-mentioned control module that detects the above-mentioned robot cleaner of information diagnosis; Export the output unit of the execution result of above-mentioned OBD pattern.
2. robot cleaner according to claim 1, is characterized in that: the memory cell that also comprises the diagnostic program that presets with good grounds above-mentioned OBD pattern; Above-mentioned control module is carried out above-mentioned OBD pattern according to above-mentioned predefined diagnostic program.
3. robot cleaner according to claim 1, is characterized in that: above-mentioned control module is according to the above-mentioned more than one state that detects unit self of above-mentioned OBD pattern diagnosis.
4. robot cleaner according to claim 1, is characterized in that: above-mentioned control module, before carrying out above-mentioned OBD pattern, is confirmed predefined more than one executive condition.
5. robot cleaner according to claim 4, is characterized in that: the executive condition of above-mentioned OBD pattern is the installment state at dust bucket, one or the combination of these states in the attachment state of rag dish and battery status.
6. robot cleaner according to claim 4, it is characterized in that: the above-mentioned more than one unit that detects is to detect unit at the object that detects exterior object, the state that the action that detects the action of above-mentioned robot cleaner detects unit and detects the state that forms each unit of above-mentioned robot cleaner detect in unit more than one.
7. a robot cleaner, possesses a plurality of operation modes, it is characterized in that: the memory cell that comprises the program of storing above-mentioned a plurality of operation modes; Utilize said procedure to carry out the control module of above-mentioned a plurality of operation modes; Input corresponding above-mentioned control module and carry out the exectorial input block of operation mode; Export above-mentioned control module and carry out the output unit of the result of operation mode.
8. robot cleaner according to claim 7, is characterized in that: also comprise possessing and on above-mentioned robot cleaner, export the more than one unit that detects for the inner or outside information that detects; Above-mentioned OBD pattern is according to the above-mentioned more than one pattern that detects unit oneself state of diagnostic program diagnosis.
9. robot cleaner according to claim 8, is characterized in that: above-mentioned control module only, when current executory operation mode is charge mode, is carried out above-mentioned OBD pattern.
10. robot cleaner according to claim 9, 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 8, it is characterized in that: the above-mentioned more than one unit that detects is to detect unit at the object that detects exterior object, the action that detects the action of above-mentioned robot cleaner detects unit, the state that detects the state that forms each unit of above-mentioned robot cleaner detect in unit more than one.
The self-diagnosing method of 12. 1 kinds of robot cleaners, include more than one the detect unit of output to the inner or outside information that detects, and possess and have OBD pattern, it is characterized in that: comprise the exectorial stage of inputting above-mentioned OBD pattern; According to predefined diagnostic program, carry out the stage of above-mentioned OBD pattern; Export the stage of the execution result of above-mentioned OBD pattern.
The self-diagnosing method of 13. robot cleaners according to claim 12, 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 14. robot cleaners according to claim 13, is characterized in that: the stage of confirming above-mentioned executive condition is to judge whether current executory operation mode is the stage of charge mode.
The self-diagnosing method of 15. robot cleaners according to claim 13, is characterized in that: the executive condition of OBD pattern is the installment state at dust bucket, one or the combination of these states in the attachment state of rag dish and battery status.
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Effective date of registration: 20160512 Address after: 210014 Yongfeng Road, Qinhuai District, Jiangsu, No. 28, No. Applicant after: Nanjing LG Panda Appliances Co., Ltd. Address before: 300402 Beichen District, Tianjin Jin Wai Road, No. 9 Applicant before: Lejin Electronic and Electric Appliance Co., Ltd. (Tianjin) |
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