CN111481116A - Sweeping robot fault detection method and device and sweeping robot - Google Patents
Sweeping robot fault detection method and device and sweeping robot Download PDFInfo
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- CN111481116A CN111481116A CN201910086867.6A CN201910086867A CN111481116A CN 111481116 A CN111481116 A CN 111481116A CN 201910086867 A CN201910086867 A CN 201910086867A CN 111481116 A CN111481116 A CN 111481116A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 84
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 claims abstract description 43
- 230000004044 response Effects 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 29
- 238000010586 diagram Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000012216 screening Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 210000000577 adipose tissue Anatomy 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention discloses a sweeping robot fault detection method and device and a sweeping robot. The method comprises the following steps: in response to the received detection instruction, controlling one or more components of the sweeping robot to respectively execute specified operations; acquiring execution information of each component; and judging whether each component has a fault according to the execution information. The beneficial effects of this technical scheme lie in can carrying out the self-checking through modes such as user manual trigger, detect the subassembly that each item function relied on, help the user to detect whether the robot breaks down of sweeping the floor to and where has broken down, avoid sweeping the floor the robot because the trouble can not normally work, damage furniture etc. has greatly promoted user experience.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot fault detection method and device and a sweeping robot.
Background
The sweeping robot is loved by users because of the fact that the sweeping robot can carry out automatic sweeping, but many sweeping robots are fed back to be high in failure rate, and the failure rate is greatly related to the working environment and the mode of the sweeping robot. In fact, many faults can be eliminated by a user through simple operation, but it is difficult for the user to clearly distinguish where the sweeping robot has the fault.
Disclosure of Invention
In view of the above problems, the present invention has been made to provide a sweeping robot fault detecting method, device and sweeping robot that overcome the above problems or at least partially solve the above problems.
According to an aspect of the invention, a fault detection method for a sweeping robot is provided, which comprises the following steps:
in response to the received detection instruction, controlling one or more components of the sweeping robot to respectively execute specified operations;
acquiring execution information of each component;
and judging whether each component has a fault according to the execution information.
Optionally, the detection instruction is sent by a specified application on the target device.
Optionally, the method further comprises before all the steps:
and receiving a binding request of the equipment, and taking the bound equipment as the target equipment.
Optionally, the method further comprises:
and informing the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or a fault solution.
Optionally, the assembly comprises one or more of:
radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
Optionally, the controlling one or more components of the sweeping robot to respectively perform the designated operations includes:
controlling each component with the distance measuring function to measure the distance in the same direction respectively;
the judging whether each component has a fault according to the execution information comprises: and screening out the components with faults according to the ranging results returned by the components with the ranging function.
Optionally, the acquiring execution information of each component includes: acquiring actual working voltage values and/or actual working current values of all components when executing specified operation;
the judging whether each component has a fault according to the execution information comprises: and judging whether the actual working voltage value/actual working current value of each component during the execution of the specified operation is out of the corresponding normal working voltage range/normal working current range.
According to another aspect of the present invention, there is provided a fault detection apparatus for a cleaning robot, comprising:
the control unit is used for responding to the received detection instruction and controlling one or more components of the sweeping robot to respectively execute specified operations;
the acquisition unit is suitable for acquiring the execution information of each component;
and the judging unit is suitable for judging whether each component has a fault according to the execution information.
Optionally, the detection instruction is sent by a specified application on the target device.
Optionally, the apparatus further comprises:
and the binding unit is suitable for receiving a binding request of the equipment and taking the bound equipment as the target equipment.
Optionally, the apparatus further comprises:
and the notification unit is suitable for notifying the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or a fault solution.
Optionally, the assembly comprises one or more of:
radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
Optionally, the control unit is adapted to control each component having a ranging function to perform ranging in the same direction respectively;
and the judging unit is suitable for screening out the components with faults according to the ranging results returned by the components with the ranging function.
Optionally, the collecting unit is adapted to collect an actual working voltage value and/or an actual working current value of each component when performing a specified operation;
the judging unit is suitable for judging whether the actual working voltage value/actual working current value of each component is out of the corresponding normal working voltage range/normal working current range when the specified operation is executed.
According to another aspect of the invention, a sweeping robot is provided, which comprises the sweeping robot fault detection device as described in any one of the above.
According to still another aspect of the present invention, there is provided an electronic apparatus including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method as any one of the above.
According to a further aspect of the invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement a method as any one of the above.
According to the technical scheme, one or more components of the sweeping robot are controlled to respectively execute the specified operation by responding to the received detection instruction, the execution information of each component is collected, and whether each component has a fault or not is judged according to the execution information. The beneficial effects of this technical scheme lie in can carrying out the self-checking through modes such as user manual trigger, detect the subassembly that each item function relied on, help the user to detect whether the robot breaks down of sweeping the floor to and where has broken down, avoid sweeping the floor the robot because the trouble can not normally work, damage furniture etc. has greatly promoted user experience.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic flow chart of a fault detection method for a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a fault detection device of a sweeping robot according to an embodiment of the invention;
fig. 3 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention;
FIG. 4 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;
fig. 5 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a schematic flow chart of a fault detection method for a sweeping robot according to an embodiment of the present invention. As shown in fig. 1, the method includes:
and step S110, responding to the received detection instruction, and controlling one or more components of the sweeping robot to respectively execute specified operations. Here, the detection command may be manually triggered by the user, or may be automatically triggered during cleaning or at the time of periodic self-inspection.
Step S120, collecting execution information of each component. The sweeping robot has a plurality of components and different functions, each component executes the same or different operations respectively to generate corresponding execution information, and whether a fault occurs can be further determined according to the execution information. That is, step S130, it is determined whether each component has failed according to the execution information.
As can be seen, in the method shown in fig. 1, one or more components of the sweeping robot are controlled to execute designated operations respectively by responding to the received detection instruction, the execution information of each component is collected, and whether each component has a fault is determined according to the execution information. The beneficial effects of this technical scheme lie in can carrying out the self-checking through modes such as user manual trigger, detect the subassembly that each item function relied on, help the user to detect whether the robot breaks down of sweeping the floor to and where has broken down, avoid sweeping the floor the robot because the trouble can not normally work, damage furniture etc. has greatly promoted user experience.
In one embodiment of the present invention, in the method, the detection instruction is sent by a specific application on the target device.
Similar with many intelligent hardware like intelligent route, intelligent body fat balance etc. the robot of sweeping the floor can be controlled through supporting APP, then the detection instruction can be that the user sends through APP on the cell-phone, for example, provides the function of a key self-checking in APP, triggers through widgets such as button, then APP can with the robot communication of sweeping the floor, make it carry out the self-checking.
In an embodiment of the present invention, the method further includes, before all the steps: and receiving a binding request of the device, and taking the bound device as a target device.
Often, the surface of the intelligent hardware lacks an interactive interface which can input complex instructions like a mobile phone and other devices, and the intelligent device also needs to have a networking function and can execute different operations according to control instructions, so that the mobile phone and the intelligent hardware need to be bound at one time. For example, if a user purchases a sweeping robot, the mobile phone of the user can be used as a target device bound with the sweeping robot.
In a specific example, by pressing one or more keys on the smart hardware, the distribution network request may be triggered, and by executing corresponding operations on the APP, the device may be bound through WIFI or bluetooth.
In an embodiment of the present invention, the method further includes: and notifying the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or fault solution.
Here, the user may be prompted in a voice or image-text manner, such as "radar fault, please contact for replacement after sale", "charging pile cannot be returned, please wipe the side of the sweeping robot", and so on.
In one embodiment of the invention, in the above method, the assembly comprises one or more of: radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
Wherein, the radar can be a laser radar, and obstacle detection, image building, distance measurement and the like are carried out by emitting laser; the traveling wheels are the wheels of the sweeping robot, so that the sweeping robot can travel in a random manner or in a Chinese character 'bow'; the fan can be used for dust collection; the side brush assembly and the middle brush assembly correspond to different cleaning functions; the recharging pile assembly generally comprises an infrared module and can be used for distance measurement; the anti-collision assembly can prevent the radar from being collided, the sweeping robot from being pressed and the like; the wall-following assembly and the cliff-protection assembly typically include distance sensors to prevent the sweeping robot from hitting the wall and falling from a high location (i.e., the "cliff").
In an embodiment of the present invention, the method, wherein controlling one or more components of the sweeping robot to perform the designated operations respectively includes: controlling each component with the distance measuring function to measure the distance in the same direction respectively; judging whether each component has a fault according to the execution information comprises: and screening out the components with faults according to the ranging results returned by the components with the ranging function.
For example, radar, as well as assemblies containing ultrasonic, infrared, and distance sensors may accomplish ranging. In a specific embodiment, all components with the same function can be made to perform the same type of operation, and since the probability that all components with the same function fail is low, it is easy to determine which component has failed according to the execution result. For example, radar, the ranging results along the wall assembly are close, and are different from the ranging results of the recharge pile assembly, and then the recharge pile assembly is considered to be likely to fail.
In an embodiment of the present invention, in the method, the acquiring execution information of each component includes: acquiring actual working voltage values and/or actual working current values of all components when executing specified operation; judging whether each component has a fault according to the execution information comprises: and judging whether the actual working voltage value/actual working current value of each component during the execution of the specified operation is out of the corresponding normal working voltage range/normal working current range.
For example, in a normal working state of the fan, the side brush assembly, the middle brush assembly and the like, the working condition of the motor is predictable, and if the measured actual working voltage value/actual working current value is out of the corresponding working range, the corresponding assembly is considered to be out of order.
Fig. 2 shows a schematic structural diagram of a fault detection device of a sweeping robot according to an embodiment of the invention. As shown in fig. 2, the fault detection apparatus 200 of the cleaning robot includes:
the control unit 210 is adapted to control one or more components of the sweeping robot to perform a designated operation in response to the received detection instruction. Here, the detection command may be manually triggered by the user, or may be automatically triggered during cleaning or at the time of periodic self-inspection.
The collecting unit 220 is adapted to collect the execution information of each component. The sweeping robot has a plurality of components and different functions, each component executes the same or different operations respectively to generate corresponding execution information, and whether a fault occurs can be further determined according to the execution information.
A judging unit 230 adapted to judge whether each component has a failure according to the execution information.
As can be seen, the device shown in fig. 2 controls one or more components of the sweeping robot to respectively execute specified operations in response to the received detection instructions through the mutual cooperation of the units, collects the execution information of the components, and judges whether the components are in failure according to the execution information. The beneficial effects of this technical scheme lie in can carrying out the self-checking through modes such as user manual trigger, detect the subassembly that each item function relied on, help the user to detect whether the robot breaks down of sweeping the floor to and where has broken down, avoid sweeping the floor the robot because the trouble can not normally work, damage furniture etc. has greatly promoted user experience.
In an embodiment of the present invention, in the above apparatus, the detection instruction is sent by a specified application on the target device.
Similar with many intelligent hardware like intelligent route, intelligent body fat balance etc. the robot of sweeping the floor can be controlled through supporting APP, then the detection instruction can be that the user sends through APP on the cell-phone, for example, provides the function of a key self-checking in APP, triggers through widgets such as button, then APP can with the robot communication of sweeping the floor, make it carry out the self-checking.
In an embodiment of the present invention, the apparatus further includes: and the binding unit is suitable for receiving the binding request of the equipment and taking the bound equipment as target equipment.
Often, the surface of the intelligent hardware lacks an interactive interface which can input complex instructions like a mobile phone and other devices, and the intelligent device also needs to have a networking function and can execute different operations according to control instructions, so that the mobile phone and the intelligent hardware need to be bound at one time. For example, if a user purchases a sweeping robot, the mobile phone of the user can be used as a target device bound with the sweeping robot.
In a specific example, by pressing one or more keys on the smart hardware, the distribution network request may be triggered, and by executing corresponding operations on the APP, the device may be bound through WIFI or bluetooth.
In an embodiment of the present invention, the apparatus further includes: and the notification unit is suitable for notifying the component sending the fault to the specified application so as to enable the specified application to output corresponding prompt information and/or a fault solution.
Here, the user may be prompted in a voice or image-text manner, such as "radar fault, please contact for replacement after sale", "charging pile cannot be returned, please wipe the side of the sweeping robot", and so on.
In one embodiment of the present invention, in the above apparatus, the component comprises one or more of: radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
Wherein, the radar can be a laser radar, and obstacle detection, image building, distance measurement and the like are carried out by emitting laser; the traveling wheels are the wheels of the sweeping robot, so that the sweeping robot can travel in a random manner or in a Chinese character 'bow'; the fan can be used for dust collection; the side brush assembly and the middle brush assembly correspond to different cleaning functions; the recharging pile assembly generally comprises an infrared module and can be used for distance measurement; the anti-collision assembly can prevent the radar from being collided, the sweeping robot from being pressed and the like; the wall-following assembly and the cliff-protection assembly typically include distance sensors to prevent the sweeping robot from hitting the wall and falling from a high location (i.e., the "cliff").
In an embodiment of the present invention, in the above apparatus, the control unit 210 is adapted to control each component having a distance measuring function to measure distances in the same direction; and the judging unit 230 is adapted to screen out the failed component according to the ranging result returned by each component with the ranging function.
For example, radar, as well as assemblies containing ultrasonic, infrared, and distance sensors may accomplish ranging. In a specific embodiment, all components with the same function can be made to perform the same type of operation, and since the probability that all components with the same function fail is low, it is easy to determine which component has failed according to the execution result. For example, radar, the ranging results along the wall assembly are close, and are different from the ranging results of the recharge pile assembly, and then the recharge pile assembly is considered to be likely to fail.
In an embodiment of the present invention, in the above apparatus, the collecting unit 220 is adapted to collect an actual operating voltage value and/or an actual operating current value of each component when performing a specified operation; the judging unit 230 is adapted to judge whether the actual operating voltage value/actual operating current value of each component when performing the specified operation is outside the corresponding normal operating voltage range/normal operating current range.
For example, in a normal working state of the fan, the side brush assembly, the middle brush assembly and the like, the working condition of the motor is predictable, and if the measured actual working voltage value/actual working current value is out of the corresponding working range, the corresponding assembly is considered to be out of order.
Fig. 3 shows a schematic structural diagram of a sweeping robot according to an embodiment of the present invention. As shown in fig. 3, the sweeping robot 300 includes the sweeping robot malfunction detecting apparatus 200 according to any of the embodiments described above.
In summary, according to the technical scheme of the present invention, one or more components of the sweeping robot are controlled to execute the designated operation respectively by responding to the received detection instruction, the execution information of each component is collected, and whether each component has a fault is determined according to the execution information. The beneficial effects of this technical scheme lie in can carrying out the self-checking through modes such as user manual trigger, detect the subassembly that each item function relied on, help the user to detect whether the robot breaks down of sweeping the floor to and where has broken down, avoid sweeping the floor the robot because the trouble can not normally work, damage furniture etc. has greatly promoted user experience.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that microprocessors or Digital Signal Processors (DSPs) may be used in practice to implement some or all of the functions of some or all of the components of the sweeping robot fault detection apparatus and sweeping robot in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 4 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device comprises a processor 410 and a memory 420 arranged to store computer executable instructions (computer readable program code). The memory 420 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 420 has a storage space 430 storing computer readable program code 431 for performing any of the method steps described above. For example, the storage space 430 for storing the computer readable program code may include respective computer readable program codes 431 for respectively implementing various steps in the above method. The computer readable program code 431 can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 4. Fig. 5 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. The computer readable storage medium 500 has stored thereon a computer readable program code 431 for performing the steps of the method according to the invention, which is readable by the processor 410 of the electronic device 400, the computer readable program code 431, when executed by the electronic device 400, causing the electronic device 400 to perform the steps of the method described above, in particular the computer readable program code 431 stored thereon, is capable of performing the method shown in any of the embodiments described above. The computer readable program code 431 may be compressed in a suitable form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The embodiment of the invention discloses a1 fault detection method for a sweeping robot, which comprises the following steps:
in response to the received detection instruction, controlling one or more components of the sweeping robot to respectively execute specified operations;
acquiring execution information of each component;
and judging whether each component has a fault according to the execution information.
A2, the method of A1, wherein the detection instruction is sent by a specified application on a target device.
A3, the method of a2, wherein the method further comprises before all steps:
and receiving a binding request of the equipment, and taking the bound equipment as the target equipment.
A4, the method of a2, wherein the method further comprises:
and informing the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or a fault solution.
A5, the method of A1, wherein the assembly comprises one or more of:
radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
A6, the method as in a1, wherein the controlling one or more components of the sweeping robot to perform the specified operations respectively comprises:
controlling each component with the distance measuring function to measure the distance in the same direction respectively;
the judging whether each component has a fault according to the execution information comprises: and screening out the components with faults according to the ranging results returned by the components with the ranging function.
A7, the method as in A1, wherein the collecting the execution information of each component comprises: acquiring actual working voltage values and/or actual working current values of all components when executing specified operation;
the judging whether each component has a fault according to the execution information comprises: and judging whether the actual working voltage value/actual working current value of each component during the execution of the specified operation is out of the corresponding normal working voltage range/normal working current range.
The embodiment of the invention also discloses B8 and a fault detection device of the sweeping robot, which comprises:
the control unit is used for responding to the received detection instruction and controlling one or more components of the sweeping robot to respectively execute specified operations;
the acquisition unit is suitable for acquiring the execution information of each component;
and the judging unit is suitable for judging whether each component has a fault according to the execution information.
B9, the apparatus as in B8, wherein the detection instruction is sent by a specified application on a target device.
B10, the apparatus of B9, wherein the apparatus further comprises:
and the binding unit is suitable for receiving a binding request of the equipment and taking the bound equipment as the target equipment.
B11, the apparatus of B9, wherein the apparatus further comprises:
and the notification unit is suitable for notifying the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or a fault solution.
B12, the device of B8, wherein the components include one or more of:
radar, travelling wheel, fan, limit brush subassembly, well brush subassembly, return and fill electric pile subassembly, anticollision subassembly, edge wall subassembly, cliff protection subassembly.
B13, the device of B8, wherein,
the control unit is suitable for controlling each component with the distance measuring function to measure the distance in the same direction;
and the judging unit is suitable for screening out the components with faults according to the ranging results returned by the components with the ranging function.
B14, the device of B8, wherein,
the acquisition unit is suitable for acquiring the actual working voltage value and/or the actual working current value of each component when executing the specified operation;
the judging unit is suitable for judging whether the actual working voltage value/actual working current value of each component is out of the corresponding normal working voltage range/normal working current range when the specified operation is executed.
The embodiment of the invention also discloses a C15 sweeping robot, which comprises the sweeping robot fault detection device as described in any one of B8-B14.
The embodiment of the invention also discloses D16 and electronic equipment, wherein the electronic equipment comprises: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the method of any one of a1-a 7.
Embodiments of the invention also disclose E17, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method as described in any of a1-a 7.
Claims (10)
1. A fault detection method for a sweeping robot comprises the following steps:
in response to the received detection instruction, controlling one or more components of the sweeping robot to respectively execute specified operations;
acquiring execution information of each component;
and judging whether each component has a fault according to the execution information.
2. The method of claim 1, wherein the detection instruction is sent by a designated application on the target device.
3. The method of claim 2, wherein the method further comprises, prior to all steps:
and receiving a binding request of the equipment, and taking the bound equipment as the target equipment.
4. The method of claim 2, wherein the method further comprises:
and informing the specified application of the component sending the fault so as to enable the specified application to output corresponding prompt information and/or a fault solution.
5. A fault detection device of a sweeping robot comprises:
the control unit is used for responding to the received detection instruction and controlling one or more components of the sweeping robot to respectively execute specified operations;
the acquisition unit is suitable for acquiring the execution information of each component;
and the judging unit is suitable for judging whether each component has a fault according to the execution information.
6. The apparatus of claim 5, wherein the detection instruction is sent by a designated application on the target device.
7. The apparatus of claim 6, wherein the apparatus further comprises:
and the binding unit is suitable for receiving a binding request of the equipment and taking the bound equipment as the target equipment.
8. A sweeping robot comprising the fault detection device of the sweeping robot as claimed in any one of claims 5-7.
9. An electronic device, wherein the electronic device comprises: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the method of any one of claims 1-4.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-4.
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| CN201910086867.6A CN111481116A (en) | 2019-01-29 | 2019-01-29 | Sweeping robot fault detection method and device and sweeping robot |
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| CN201910086867.6A CN111481116A (en) | 2019-01-29 | 2019-01-29 | Sweeping robot fault detection method and device and sweeping robot |
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