CN109213123A - The control method and robot system of robot - Google Patents
The control method and robot system of robot Download PDFInfo
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- CN109213123A CN109213123A CN201810951771.7A CN201810951771A CN109213123A CN 109213123 A CN109213123 A CN 109213123A CN 201810951771 A CN201810951771 A CN 201810951771A CN 109213123 A CN109213123 A CN 109213123A
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Abstract
A kind of control method of robot, the control method include the following steps: that robot monitors the operating parameter of itself automatically；When the operating parameter is abnormal, fault message is generated；The fault message is sent to remote service center；The failure that the remote service center is sent is received to solve information and be shown on the corresponding mobile phone of the robot.
Description
Technical field
The present invention relates to a kind of control method of robot and robot systems.
Background technique
With being constantly progressive for science and technology, various robots have begun people's lives of coming into slowly, such as certainly
Dynamic dust catcher and automatic mower etc..This robot has running gear, equipment and automatic control device, thus
The operation for being detached from people is allowed the robot to, automatically walk and executes work in a certain range, is filled in the energy storage of robot
When setting energy deficiency, can auto-returned charging station arrangement charge, then proceed to work.This robot by people from
It is freed in the uninteresting and time-consuming and laborious housework work such as house cleaning, turf-mown, saves the time of people, be people
Life brings convenience.
Robot can work in the case where unattended, but when encountering some extremely special situations, such as
Robot in the case that some position perhaps some stuck or robot certain positions generate failure when, people often can not
Timely know that above situation has occurred in robot, the progress for having delayed work plan possibly even generates danger.
Meanwhile the structure of robot be often it is more complicated, when robot breaks down, people are difficult by existing
Knowledge correctly judge failure cause and position so that people want oneself to exclude difficult when the failure of robot, work as machine
People have to be sent to specified after-sale service department of producer and detect, repair when device people breaks down, to using band
Inconvenience is carried out.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of robot easy to use and its control method.
To achieve the above object, present invention provide the technical scheme that a kind of control method of robot, the controlling party
Method includes the following steps:
Robot monitors the operating parameter of itself automatically；
When the operating parameter is abnormal, fault message is generated；
The fault message is sent to remote service center；
The failure that the remote service center is sent is received to solve information and be shown on the corresponding mobile phone of the robot.
Preferably, the control method further includes following steps:
It reminds user to receive the failure and solves information.
Preferably, the operating parameter is that the electrical characteristic of the robot or the sensor of the robot detect
Information.
Preferably, the fault message is to represent the code of abnormal details.
Preferably, the robot passes through the communication component transmission fault message being arranged on.
Preferably, the robot returns to the bus stop of the robot, is sent by the communication component of the bus stop
Fault message.
Preferably, the communication component is sent by least one of wired Internet access and wireless Internet access
Fault message.
Preferably, the remote service center analyzes the fault message by data base machine people and provides failure solution
Information.
Preferably, the control method further includes following steps: the robot receives the failure and solves information, described
Failure solves the execution code that information is the robot, and the robot recompilates program according to the execution code.
Preferably, the control method further includes following steps: the corresponding e-mail of the robot receive it is described therefore
Barrier solves information.
Preferably, it is the Operating Guideline executed for the user of the robot that the failure, which solves information,.
Following technical solution also can be used in the present invention:
A kind of robot system, including
Robot, the automatic work in working region；
Accident analysis unit analyzes the failure of the robot and provides the accident analysis unit that failure solves information；
The robot includes:
Casing；
Operational module；
Walking module drives the robot to move in working region；
Main control module detects the operating parameter of the robot, when the operating parameter is abnormal, generates failure letter
Breath；
The robot and the accident analysis unit are separately positioned, and the robot further includes communication module, the master
Control module is by the communication module to sending the fault message outside the robot；The accident analysis unit receives institute
Fault message is stated, and issues failure and solves information to the corresponding mobile phone of the robot.
Preferably, the failure, which solves information, to show for the mobile phone.
Preferably, the artificial automatic mower of the machine or automatic cleaner.
Preferably, failure solution information is also sent to the robot and/or described by the accident analysis unit
The corresponding E-mail address of robot.
Preferably, the accident analysis unit is data base machine people.
Preferably, the main control module include temperature sensor, rain sensor, gravity sensor, acceleration transducer,
At least one of displacement sensor and electrical characteristic detection unit.
Preferably, the communication module, which receives, releases the abnormal failure solution information, and the main control module is according to institute
State the program releasing exception that failure solves information by the recompility robot.
Preferably, the fault message is to represent the code of the abnormal details.
Preferably, the communication module includes internet access component.
Compared with prior art, robot provided by the invention and its control method enable a user to enough timely
Know the working condition of robot, when a failure occurs it, can timely exclude, ensure that the smooth execution of work plan, together
When, user is detected without specified after-sale service department of producer when robot breaks down, is sent to every time
Maintenance brings conveniently for user, can obtain good usage experience.
Detailed description of the invention
The invention will be further described with embodiment with reference to the accompanying drawing；
Fig. 1 is schematic diagram of the robot of embodiment of the present invention offer in working region；
Fig. 2 is the module diagram for the robot that embodiment of the present invention provides；
Fig. 3 is the flow chart of the control method for the robot that embodiment of the present invention provides；
Fig. 4 is the schematic diagram of the communication mode for the robot that embodiment of the present invention provides；
Fig. 5 is the schematic diagram of the communication mode for the robot that embodiment of the present invention provides；
Fig. 6 is the flow chart of the control method for the robot that second embodiment of the invention provides；
Fig. 7 is the schematic diagram of the communication mode for the robot that second embodiment of the invention provides；
Fig. 8 is the flow chart of the control method for the robot that third embodiment of the invention provides.Wherein
1. 16. user interface of robot
11. 17. shell of walking module
12. 171. first terminal of operational module
13. 3. boundary line of energy-storage module
14. 5. bus stop of main control module
141. processing unit, 51. first connection component
142. storage unit, 52. second connection component
143. control unit, 18. wireless router
144. 19. mobile communication network base station of detection unit
15. communication module
Specific embodiment
Robot automatically walk can work in working region, such as automatic mower or automatic cleaner, they
Automatically walk in carried out on lawn perhaps ground mow or dust suction work.Certainly, robot be not limited to automatic mower and
Automatic cleaner, or other kinds of equipment, such as automatic spraying equipment or automatic monitoring equipment etc..Pass through machine
People realizes the unattended operation of work in every.
- Fig. 2 referring to Figure 1, robot 1 include walking module 11, operational module 12, energy-storage module 13, user interface 16,
Communication module 15, the shell 17 etc. of main control module 14 and the above-mentioned module of receiving.
Working region is closed interval made of the boundary line 3 as being manually arranged surrounds, and boundary line 3 can be avoided robot
1 leaves working region；Boundary line 3 can be wall, railing etc.；It is also possible to the conducting wire being powered or other signals fills
It sets, such as electromagnetic signal or optical signal.Bus stop 5 is provided in working region, bus stop 5 is set on boundary line 3, machine
People 1 stops, into dormant state when stopping working in bus stop 5；When needing to start to work, again from bus stop 5s,
Into working condition.Bus stop 5 usually can provide charge function, charge for energy-storage module 13.When energy-storage module 13
When not enough power supply, robot 1 returns to bus stop 5 and charges.Bus stop 5 can to the return of robot 1 provide guidance and it is right
Connect, docking can realize wireless guidance by modes such as infrared ray or ultrasonic waves, can also be guided by boundary line 3 and
Docking.
Movement of the walking module 11 for realizing robot 1 in working region, walking module 11 can be traveling wheel or
Person's pedipulator, they are usually driven by the controllable motor of multiple revolving speeds or steering, to realize robot movement
In the process, movement speed or moving direction are flexibly adjusted.
Operational module 12 is the module that robot executes work, and the operational module of different robots is different, such as
The operational module of automatic mower includes mowing blade, cutting motor etc., for executing the grass cutting action of automatic mower；Automatically
The operational module of dust catcher then includes dust-absorbing motor, and suction inlet, sweep-up pipe, vacuum chamber, dust collect plant etc. are appointed for executing dust suction
The workpiece of business.
Energy-storage module 13 is usually that rechargeable battery, provides electric power for automatic mower operation, can also be in reserve power
External power supply is connected when lower than predetermined value to charge；Certainly, energy-storage module is also possible to other kinds of energy supply device,
Such as solar power supply apparatus, gasoline engine or fuel cell etc..
User interface 16 be set on shell 17 convenient for user it can be seen that and the position that is operated, such as robot
Top, user interface 16 generally include display and input key, the menu of display display robot, operating parameter etc.,
Notice or alarm can be shown to user by display；It inputs key and inputs instruction to robot for user, such as start, stop
Operating parameter of robot etc. is arranged in only robot；In alternative embodiments, user interface 16 is also possible to and machine
People is separately positioned, such as the remote controler that can remotely control.
Communication module 15, can be by wired or wirelessly connect for data information exchange between robot 1 and the external world
The mode and extraneous progress data exchange connect, sends or receives the external data transmitted for the data information of robot 1
Information.
Main control module 14 includes processing unit 141, storage unit 142, control unit 143 and detection unit 144.Detection
Unit 144 is used to detect the operating parameter of robot 1, processing unit 141 receive the operating parameter that detection unit 144 detects or
The data information that the instruction or communication module 15 that person's user interface 16 inputs receive passes through control unit after treatment
143 control walking modules 11 and operational module 12 are walked and are worked, or send scheduled information by communication module 15.
Refer to Fig. 3, the control method of robot 1 provided by the invention the following steps are included:
Step S0: detection operating parameter.In the process of work, 144 moment of detection unit detects robot 1 for robot 1
Every operating parameter.
The operating parameter of monitoring robot 1 includes the temperature height of monitoring robot 1, if it drenches with rain, the inclination of robot 1
Angle with whether collide situations such as.These operating parameters can be detected by the various sensors being set in robot 1
It obtains, these sensors can be temperature sensor, and rain sensor, acceleration transducer, displacement sensor and gravity pass
Sensor etc..When the above-mentioned operating parameter of robot 1 changes, these variations can pass through the sensor list processed
Member 141 detects.
The operating parameter of monitoring robot 1 includes the various electrical characteristics of robot 1, these parameters can be by being set to
Electrical characteristic detection unit in robot 1, such as current detecting unit, voltage detection unit and battery capacity detection unit etc.
Etc. being detected, when the electrical characteristic of robot 1 changes, these variations can pass through above-mentioned electrical characteristic detection unit
Unit 141 processed detects.
Certainly, the detection unit 144 of robot 1 can also include other kinds of detection mode, those skilled in the art
It is contemplated that magnetic field sensor etc. can be also arranged in robot 1 there are also some range sensors, it is used to detection machine
The operating parameter of device people 1, reason is numerous to list herein as space is limited.Robot 1 detect operating parameter when, both can individually into
Row detection, can also detect a variety of operating parameters simultaneously.
Step S1: normal data is read.The normal data of the every operating parameter of robot 1 is stored in storage unit 142,
After processing unit 141 receives the operating parameter detected in step S0, processing unit 141 is read from storage unit 142
The normal data of corresponding operating parameter.
The normal data of robot 1 is for limiting the operational parameter value for allowing to appear in robot 1 or limiting
Do not allow to appear in the operational parameter value in robot 1.Normal data can have diversified forms, can limit robot
The limiting value of 1 operating parameter, for example, robot 1 energy-storage module 13 voltage max and minimum value, the work of robot 1
Maximum value of electric current etc.；Whether a certain item parameter that robot 1 can also be limited allows to be detected, such as does not allow machine
The sensor of device people 1 detects that robot 1 is inclined by certain angle or overturning etc..
Robot 1 can have the normal data of one group of operational factor, and further, robot 1 has multiple groups operation ginseng
Several normal datas respectively corresponds different operating modes, when the switching of the operating mode of robot 1, the standard of operating parameter
Data are also changed therewith.
Step S2: judge whether to be abnormal.Processing unit 141 will test the operating parameter that unit 144 detects, and deposit
The normal data stored in storage unit 142 compares, and does not allow to appear in robot 1 when the operating parameter detected belongs to
When operational parameter value, processing unit 141 judges that exception has occurred in robot 1, into next step；Conversely, processing unit 141 is sentenced
There is no exception, return step S0 for disconnected robot 1.
Processing unit 141 can judge in several ways whether robot 1 is abnormal: processing unit 141 can be with
Judged according to any one operating parameter, such as when the voltage value of energy-storage module 13 is lower than normal data, or collision
When repeatedly occurring, when being perhaps consistently detected rainwater or detect that some motor of the walking module 11 of robot 1 is no electric
Stream flows through etc., judges that robot 1 is abnormal.
Processing unit 141 can also according to multinomial operating parameter whether simultaneously be judged, such as when robot 1 inspection
It measures and is already attached to charging station, but when charging terminal can't detect voltage always, judge that robot 1 is abnormal；Such as
It when detecting that energy-storage module 12 fills with electricity, but remains attached on charging station, judges that robot 1 is abnormal；Such as
When the tilt angle for detecting robot 1 is greater than 40 degree, if detecting that operational module 12 is still operating, robot is judged
1 is abnormal etc..
Processing unit 141 can also be judged according to the sequence that multinomial operating parameter is detected, or according to fortune
Whether row parameter occurs judge in the time range being allowed to etc., these modes are all that by producer or can make
User, come what is set, is not enumerated one by one herein according to the use condition of robot 1 or personal preference.
Certainly, various judgment modes as described above can be used alone, and can also use simultaneously, as long as but any
Judgment mode judges abnormal generation, i.e., it is believed that exception has occurred in robot 1.
Step S3: fault code is generated.When operating parameter is abnormal, robot 1 for the ease of exception information note
Record, display or transmission, the details of exception information are indicated using fault code.Be stored in storage unit 142 with it is various
Fault code corresponding to abnormal conditions or normal data, for representing abnormal details.Fault code is usually set of number,
For the robot 1 of same robot 1 or same producer, these digital codes are usually general.Certainly, failure
Code can also be represented with other forms, such as letter, the combination of letter and number etc..Processing unit 141 judges exception
When generation, fault code corresponding with abnormal conditions is read from storage unit 142.
Step S4: detection communication connection.Please also refer to Fig. 4, communication module 15 includes wireless network card, when 1, robot
When connecting in the coverage area of wireless router 18 or wireless aps (wireless access node) of internet, wireless network card can lead to
It crosses the WIFI mode based on wireless local area network technology and accesses internet.When communication module 15 detects network connection, under
One step, conversely, return step S4, robot 1 in the process of moving, continues to test communication connection.
Further, communication module 15 also may include the mobile communication networks access unit such as GSM/CDMA.Please join together
See Fig. 5, communication module 15 can send text by GSM/CDMA network in the range of mobile communication network base station 19 is covered
Word or digital information can also access internet by GSM/CDMA network, this logical for wireless local area network technology
The connection of connection is believed apart from farther, and robot 1 can free mobile working in a wider context.
Step S5: fault code is sent.Communication module 15 is when communicating to connect normal, failure generation for will generating in step S3
Code is sent to preset network address, the preset network address is corresponding be robot 1 accident analysis unit address,
Such as robot 1 maintenance or after-sale service department E-mail address or the GSM/CDMA network terminal.Further, preset
Network address can be set by user, so as to allow fault code to be always sent to newest network address.
Step S6: fault code is received.The E-mail address or GSM/CDMA net of the maintenance after-sale service department of robot 1
Network terminal receives fault code, is stored.
Step S7: fault code decoding.The maintenance after-sale service department of robot 1 is stored with fault code and various exceptions
The corresponding lists of situation or normal data, after receiving fault code, by former with the corresponding coding stored in robot 1
Then, fault code is reduced to the abnormal details of operating parameter.
Step S8: failure reason analysis.The original that extremely occurs of the maintenance after-sale service department of robot 1 to operating parameter
Because being analyzed, it is preferred that abnormal the reason of occurring of operating parameter can be carried out automatically by data base machine people, be taken after sale
In the database of business department, it is stored in the abnormal occurrence cause and same operating parameter of all kinds of operating parameters different abnormal
Failure cause corresponding to the numerical value of data, data base machine people can look for automatically according to the numerical value of abnormal data in exception information
To failure Producing reason or component.Certainly, the analysis of abnormal cause can also be taking human as progress.
Step S9: fault solution is generated.The maintenance after-sale service department of robot 1, according to failure Producing reason
Or component, corresponding solution is provided, solution can compare generation by data base machine people automatically, can also lead to
After-sale service department staff is crossed to provide.Fault solution is usually the text that person detailed and easy to use understands and executes
Word.When failure Producing reason perhaps component can not determine perhaps can not easily solve when data base machine people or work
Personnel can suggest that user's portable people 1 returns to after-sale service department and carries out detailed inspection.
Step S10: it sends failure and solves information.The after-sale service department of robot 1 passes through internet or mobile communication
Network is sent failure and is solved information to scheduled reception address in a manner of Email or short message.Receiving address is usually
What user set when buying robot 1 or registering robot 1 to producer, receiving address can be E-mail address account,
Or mobile communication account.
Step S11: it receives failure and solves information.The network connection terminals such as the preset computer of user or mobile phone receive
Failure solves information.Further, the network connection terminal usually has display component, for showing that failure solves information；
The network connection terminal also can have acoustical generator, solve information for reminding user to receive failure.
Step S12: failure is solved.User solves information according to the failure that receives, to robot 1 carry out operation or
Maintenance, to solve the failure of robot 1.
The control method of the robot provided through the invention, people can timely know whether robot occurs event
Barrier also can solve information, debugging, to ensure that work plan by the failure received in time in the event of a failure
Progress, without every time by robot send to producer specify after-sale service department carry out Measuring error, to user with
Convenience is carried out.
Fig. 6 is referred to, is the control method for the robot 1 that second embodiment of the invention provides, with first embodiment
It compares, difference place is that robot 1 sends the mode of fault code, when robot 1 is abnormal, executes following step
It is rapid:
Step S24: bus stop is returned.When the judgement of robot 1 is abnormal, starts starting and return to bus stop.Robot 1
Returning can be by wired or wirelessly guide.Please also refer to Fig. 1, bus stop 5 is set on boundary line 3,
When the judgement of robot 1 is abnormal, nearest boundary line 3 is found by detection unit 144 by robot 1, when detection unit 144
When detecting that robot 1 has been positioned on boundary line 3, start along boundary line 3 according to arrow direction shown in Fig. 1, directly
To return bus stop.
Robot 1 returns to bus stop 5 and can also guide wirelessly, such as infrared hair is arranged on bus stop 5
The detection unit 144 of injection device, robot 1 includes infrared receiving device, guides recurrence by infrared.Further, it is also possible to
Guided by B-ultrasound or magnetic field induction etc..
Step S25: detection communication connection.Please also refer to Fig. 7, bus stop 5 includes the first connection component 51, the second connection
Component 52.First connection component 51 is adapted with the communication module 15 of robot 1, for the letter between bus stop 5 and robot 1
Breath exchange；Second connection component 52 is connected with internet, for the information exchange between bus stop 5 and internet.
As shown in fig. 7, the communication mode between the first connection component 51 and communication module 15 is wire communication, robot 1
Shell 17 on be provided with first terminal 171, when robot 1 is stopped to bus stop 5, pass through first terminal 171 and the first company
Connected components 51 are electrically connected, and first terminal 171 can pass through serial data transmission mode or parallel with the first connection component 51
Data transfer mode carries out data transmission, such as common USB interface form etc..
Communication between first connection component 51 and communication module 15 can also use communication, such as infrared,
Bluetooth or WLAN etc., according to the difference of communication mode, the first connection component 51 and communication module 15 have accordingly
Infrared emission and receiving part, bluetooth component or wireless network card component etc., above-mentioned component by corresponding communication protocol, into
The transmission of row data.
Certainly, bus stop 5 can also be connected to computer by the second connection component 52, then by computer access because
Special net can reduce the volume and manufacturing cost of bus stop 5 compared with bus stop 5 is directly connected to internet.
The control method for the robot that second embodiment of the invention provides, communication connection is more reliable and more stable, meanwhile, when
When robot breaks down, it will not be parked in the position of failure generation, the Awaiting Overhauls such as meeting auto-returned bus stop, for machine at random
The larger situation in the working region of device people looks for the robot to break down without using person when robot breaks down,
Convenience is brought for user.
Fig. 8 is referred to, is the control method for the robot 1 that third embodiment of the invention provides, with first embodiment
Or second embodiment is compared, difference place is that receiving failure solves the mode of information and solve the mode of failure.When event
After hindering analytical unit progress failure reason analysis, following steps are executed:
Step S39: fault solution is generated.The after-sale service department of robot 1, according to failure Producing reason or
Component provides corresponding solution, and solution can compare generation by data base machine people automatically, can also be by selling
Service department staff provides afterwards.Unlike first embodiment of the invention and second embodiment, failure solution party
Case is the actuating code or program that one section of robot 1 can identify.
Step S310: it sends failure and solves information.The after-sale service department of robot 1, it is logical by internet or movement
Failure solution information is sent to the robot 1 for issuing corresponding fault code by communication network.
Step S311: it receives failure and solves information.Robot 1 receives failure by communication module 15 and solves information, and will
Failure solves information and is stored into storage unit 142.
Step S312: judge whether to finish receiving.When communication module 15 is within the scheduled time cycle, do not receive again
When to information, processing unit 141 judges that failure solves information and finished receiving.It will be apparent to those skilled in the art
The mode for being able to carry out judgement has very much, such as solves that termination message is added in information in failure, when processing unit 141 receives
When termination message, then it is judged as that failure solves information and finished receiving.Conversely, then continuing to receive.
Step S313: failure is solved.When robot 1 judges that failure solution information has finished receiving, from storage unit 142
Middle read failure solves information.It is the program that one section of complete guidance machine people 1 runs, this section of program pin pair that failure, which solves information,
The situation for leading to failure locating at present of robot 1 is write, and program that can be performed at present with robot 1 is differentiated to be treated
The actually located environment of robot 1, so that the operating parameter of robot 1 be made to restore normal.Processing unit 141 interrupts currently
The program of execution executes failure and solves the program for including in information, helps robot 1 from currently causing the situation of failure to be detached from,
Such as robot 1 is when executing original program and can not leave from barrier, failure solves information can be for mentioning in fault message
The information of the barrier of confession formulates special walking path, left from barrier etc..
In alternative embodiments, it is the modification to the existing program of robot 1, processing unit 141 that failure, which solves information,
The parameter for the program that robot 1 is carrying out solves corresponding parameter in information using failure and is replaced, to adapt to machine
The situation that people 1 is presently in, to help robot 1 from currently causing the situation of failure to be detached from；In alternative embodiments,
It is the actuating code that robot 1 can identify that failure, which solves information, is stored in storage unit 142 corresponding with the identification code
Program, guidance machine people completes preset movement, such as is moved to some direction, and returns to bus stop 5 or restarting
Robot 1 etc..When robot 1 receives actuating code, processing unit 141 read from memory 142 and execute with it is described
The corresponding movement of identification code helps robot 1 from currently causing the situation of failure to be detached from.
The control method for the robot 1 that third embodiment of the invention provides, enables robot 1 to pass through its program weight
It is newly compiled or restarting robot, voluntarily carry out fault restoration, realize real unattended operation, be user with
Convenience is carried out.
It may occur to persons skilled in the art that 1 control method of the robot provided in embodiment of the present invention, has
A little steps be can with exchanging order perhaps simultaneous such as robot 1 generate fault code then return bus stop 5 or
Returning to bus stop 5 and then generating fault code is that will not influence effect of the invention；Certain robot 1 generate fault code and
It returns to bus stop 5 and carries out also possible simultaneously, content does not constitute influence for the essence of the present invention.
The control method of robot 1 provided by the invention, when robot breaks down, user can enough obtain in time
Know, and can remotely know troubleshooting methodology, information, debugging, to ensure that work are solved by the failure received
The progress made a plan carries out Measuring error without being sent to maintenance after-sale service department every time, is the user side of bringing
Just.
It may occur to persons skilled in the art that the present invention can also have other implementations, but as long as it is used
Technical spirit and the present invention it is same or similar seemingly or it is any based on the easy full of beard made of the present invention and variations and alternatives all
Within protection scope of the present invention.
Claims (20)
1. a kind of control method of robot, which is characterized in that the control method includes the following steps:
Robot monitors the operating parameter of itself automatically；
When the operating parameter is abnormal, fault message is generated；
The fault message is sent to remote service center；
The failure that the remote service center is sent is received to solve information and be shown on the corresponding mobile phone of the robot.
2. the control method of robot according to claim 1, it is characterised in that: the control method further includes walking as follows
It is rapid:
It reminds user to receive the failure and solves information.
3. the control method of robot according to claim 1, it is characterised in that: the operating parameter is the robot
Electrical characteristic or the robot the information that detects of sensor.
4. the control method of robot according to claim 1, it is characterised in that: the fault message is to represent exception
The code of details.
5. the control method of robot according to claim 1, it is characterised in that: the robot is by being arranged on
Communication component send fault message.
6. the control method of robot according to claim 1, it is characterised in that: the robot returns to the robot
Bus stop, fault message is sent by the communication component of the bus stop.
7. the control method of robot according to claim 5 or 6, it is characterised in that: the communication component passes through wired
At least one of internet access and wireless Internet access send fault message.
8. the control method of robot according to claim 1, it is characterised in that: the remote service center passes through data
Library robot, which analyzes the fault message and provides failure, solves information.
9. the control method of robot according to claim 1, it is characterised in that: the control method further includes walking as follows
Rapid: the robot receives the failure and solves information, and the failure solves the execution code that information is the robot, described
Robot recompilates program according to the execution code.
10. the control method of robot according to claim 1, it is characterised in that: the control method further includes as follows
Step: the robot corresponding e-mail reception failure solves information.
11. the control method of robot according to claim 1, it is characterised in that: the failure solves information as institute
State the Operating Guideline that the user of robot executes.
12. a kind of robot system, including
Robot, the automatic work in working region；
Accident analysis unit analyzes the failure of the robot and provides the accident analysis unit that failure solves information；
It is characterized in that, the robot includes:
Casing；
Operational module；
Walking module drives the robot to move in working region；
Main control module detects the operating parameter of the robot, when the operating parameter is abnormal, generates fault message；
The robot and the accident analysis unit are separately positioned, and the robot further includes communication module, the master control mould
Block is by the communication module to sending the fault message outside the robot；The accident analysis unit receives the event
Hinder information, and issues failure and solve information to the corresponding mobile phone of the robot.
13. the robot system of robot according to claim 12, it is characterised in that: the failure, which solves information, to be supplied
The mobile phone is shown.
14. robot system according to claim 12, it is characterised in that: the artificial automatic mower or automatic of machine
Dust catcher.
15. robot system according to claim 12, it is characterised in that: the accident analysis unit is also by the failure
It solves information and is sent to the corresponding E-mail address of the robot and/or the robot.
16. robot system according to claim 12, it is characterised in that: the accident analysis unit is data base machine
People.
17. robot system according to claim 12, it is characterised in that: the main control module include temperature sensor,
At least one of rain sensor, gravity sensor, acceleration transducer, displacement sensor and electrical characteristic detection unit.
18. robot system according to claim 12, it is characterised in that: the communication module, which receives, releases the exception
Failure solve information, the main control module solves information by recompilating the program solution of the robot according to the failure
Except the exception.
19. robot system according to claim 12, it is characterised in that: the fault message is to represent the exception
Details code.
20. robot system according to claim 12, it is characterised in that: the communication module includes internet access group
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951771.7A CN109213123A (en) | 2012-07-26 | 2012-07-26 | The control method and robot system of robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210261624.XA CN103576567A (en) | 2012-07-26 | 2012-07-26 | Robot, control method thereof and robot system |
| CN201810951771.7A CN109213123A (en) | 2012-07-26 | 2012-07-26 | The control method and robot system of robot |
Related Parent Applications (1)
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