WO2019218438A1

WO2019218438A1 - Method and apparatus for monitoring abnormal state of a sweeper

Info

Publication number: WO2019218438A1
Application number: PCT/CN2018/094128
Authority: WO
Inventors: 刘先名
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-05-17
Filing date: 2018-07-02
Publication date: 2019-11-21
Also published as: CN108664027B; CN108664027A

Abstract

Disclosed are a method and apparatus for monitoring the abnormal state of a sweeper. The method comprises: an intelligent device detects the working environment of a sweeper; and if it is detected that the working environment is abnormal, send a preset signal on the basis of the working environment. By detecting and analyzing abnormal state signals of a sweeper, the effect of finding and processing the abnormal state of the sweeper in time is achieved.

Description

Method and device for monitoring abnormal state of sweeper

Technical field

The invention relates to the technical field of smart household appliances, and in particular to a method and device for monitoring an abnormal state of a sweeping machine.

Background technique

With the development of technology, sweepers began to enter various families.

Due to the limitations of the sweeping machine itself, the existing sweeping machine cannot find or deal with the abnormal situation encountered in time and effectively, which makes the sweeping machine have great limitations in many places, and brings the user to the user in daily use. Greatly inconvenient.

technical problem

The main object of the present invention is to provide a method and apparatus for monitoring an abnormal state of a sweeper, aiming at solving the technical problem that the existing sweeper cannot find and handle an abnormal state in time.

Technical solution

The invention provides a method for monitoring an abnormal state of a sweeping machine, comprising: detecting, by the smart device, a working environment of the sweeping machine; and if detecting that the working environment is abnormal, issuing a preset signal based on the working environment.

Further, the smart device is a smart sound, and the smart sound is provided with a panoramic camera, a sound detecting device, and a voice recognition device installed in the smart sound.

Further, the sweeper is a visual sweeper.

Further, if the working environment is abnormal, the step of issuing a preset signal based on the working environment includes: sending a stop cleaning signal to the sweeper if the sweeper is detected to be wound with foreign objects Or a signal to break free from the foreign object.

And the step of transmitting a signal for stopping the cleaning signal or breaking the foreign object to the sweeping machine after detecting that the sweeping machine is wound with foreign matter, the method comprising: if the sweeping machine cannot measure the foreign object within a preset time If you break free, control the sweeper to stop moving and issue an alarm.

Further, if the working environment is abnormal, the step of issuing a preset signal based on the working environment includes: if it is detected that the sound decibel in the current running of the sweeper exceeds a preset decibel threshold, then The sweeper sends a stop sweep signal.

The step of sending a stop sweep signal to the sweeper includes controlling the sweeper to stop moving and issuing an alarm.

Further, if the working environment is abnormal, the step of issuing a preset signal based on the working environment includes: if the sound of the sweeper is not detected, and the sweeper is not on the charging pile , a cleanup failure alert is issued.

Further, if the working environment is abnormal, the step of issuing a preset signal based on the working environment includes: if the user's conversation information is detected in the first cleaning area currently being cleaned by the sweeper, A signal for suspending the cleaning signal or cleaning the second cleaning area is sent to the sweeper.

The present invention also provides a method for monitoring an abnormal state of a Sweeper, comprising: the Sweeper receiving image information of a preset foreign object; wherein the image information of the preset foreign object is detected by a peripheral device of the smart device of the Sweeper Information that is emitted when the preset foreign object exists in the cleaning area of the sweeper; the image information of the preset foreign object is compared with the second image information in front of the current travel route captured by the sweeper, and the preset is determined. Whether the foreign object is located in front of the current travel route; if so, the evasive operation is performed.

The sweeper is a visual sweeper.

The present invention also provides an apparatus for monitoring an abnormal state of a sweeping machine, comprising: an environment detecting unit, configured to detect a working environment of the sweeping machine by the smart device; and a signal transmission unit, configured to detect the working environment abnormality based on the The working environment issues a preset signal.

Further, the signal transmission unit includes: a foreign object determination subunit, configured to send a signal to stop the cleaning signal or break free of the foreign object to the sweeper if detecting that the sweeper is wound with foreign matter; And if the sub-unit detects that the sound decibel in the current running of the sweeper exceeds a preset decibel threshold, sending a stop cleaning signal to the sweeper.

Further, the signal transmission unit further includes: a sound detecting subunit, configured to issue a cleaning failure alarm if the sound of the sweeping machine is not detected, and the sweeping machine is not on the charging pile; the sound recognition subunit And if the user's conversation information is detected in the first cleaning area that the sweeper is currently cleaning, sending a signal to the sweeper to pause the cleaning signal or clean the second cleaning area.

The present invention also provides an apparatus for monitoring an abnormal state of a Sweeper, comprising: an image recognition unit, configured to receive image information of a preset foreign object; wherein the image information of the preset foreign object is an external device The smart device of the sweeping machine detects the information that is emitted when the preset foreign object exists in the cleaning area of the sweeping machine; the position determining unit is configured to use the image information of the preset foreign object and the current traveling route captured by the sweeper The second image information in front is compared to determine whether the preset foreign object is located in front of the current travel route; and an execution unit is configured to perform an evasive operation when the location determination unit determines YES.

The present invention also provides a sweeping machine, comprising: a processor, the processor detecting a working environment of the sweeping machine; if the processor detects that the working environment is abnormal, issuing a preset signal based on the working environment .

Further, the processor executes, when detecting the abnormality of the working environment, a step of issuing a preset signal based on the working environment, if detecting that the sweeper is wound with foreign matter, sending a stop to the sweeper A signal to sweep or break free of the foreign object.

Further, the processor performs a step of generating a preset signal based on the working environment when detecting the abnormality of the working environment, and if it is detected that the sound decibel in the current running of the sweeping machine exceeds a preset decibel threshold, Then, the stop sweep signal is sent to the sweeper.

Further, the processor executes, if the working environment is abnormal, sends a preset signal based on the working environment, if the sound of the sweeper is not detected, and the sweeper is not charging On the pile, a sweep failure alarm is issued.

Further, the processor executes a step of generating a preset signal based on the working environment when detecting the abnormality of the working environment, and detecting the conversation information of the user in the first cleaning area that is currently cleaned by the sweeper And sending a signal to the sweeper to pause the cleaning signal or to clean the second cleaning area.

Beneficial effect

The method and device for monitoring the abnormal state of the sweeping machine provided by the invention realize the effect of timely detecting and processing the abnormal state of the sweeping machine by detecting and analyzing the abnormal state signal of the sweeping machine.

DRAWINGS

1 is a schematic flow chart of a method for monitoring an abnormal state of a sweeping machine according to the present invention;

2 is a schematic flow chart of a method for monitoring an abnormal state of a sweeping machine according to the present invention;

3 is a schematic structural view of an apparatus for monitoring an abnormal state of a sweeping machine according to the present invention;

4 is a schematic structural view of a first embodiment of a signal transmission unit of a device for monitoring an abnormal state of a sweeping machine according to the present invention;

5 is a schematic structural view of a second embodiment of a signal transmission unit of a device for monitoring an abnormal state of a sweeping machine according to the present invention;

6 is a schematic structural view of an apparatus for monitoring an abnormal state of a sweeper according to the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

The technical solutions in the embodiments of the present invention will be clearly and completely described in the following with reference to the accompanying drawings. It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, ...) in the embodiments of the present invention are only used to explain between components in a certain posture (as shown in the drawing). Relative positional relationship, motion situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, the descriptions of "first", "second", and the like in the present invention are used for the purpose of description only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In addition, the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. It is also within the scope of protection required by the present invention.

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to Figure 1, the present invention provides a method of monitoring an abnormal state of a sweeper, comprising:

S1. The smart device detects the working environment of the sweeping machine;

S2. If a working environment abnormality is detected, a preset signal is issued based on the working environment.

In this embodiment, during the sweeping process of the sweeper, since the sweeping machine's own detection system is limited by the limitations of the device's own structure, it is difficult for the sweeper to find the abnormal state of the sweeper in time, which greatly brings the sweeper to the sweeper. inconvenient. In the embodiment, the smart device is a smart sound, and the smart sound is provided with a panoramic camera, a sound detecting device and a voice recognition device installed in the smart sound; the intelligent sound is set at a position where all the sweeping machine cleaning regions can be photographed as much as possible. .

In this embodiment, the intelligent sound system detects the working environment of the sweeping machine during the sweeping process of the sweeper, and determines whether there is an abnormality in the working environment. If yes, the preset signal is sent to the sweeping machine according to the abnormal state represented by the abnormal signal. The abnormal state includes an abnormal state that the obstacle detected by the sweeping machine during the running of the sweeping camera or the sweeping machine is wound onto the obstacle; the sound detecting device detects that the sweeping sound of the sweeping machine is higher than the preset decibel threshold The abnormal state; the sound of the sweeper is not detected, and the abnormal state of the sweeper not on the charging pile and the abnormal state of the user's conversation information are detected in the first cleaning area where the sweeper is currently cleaning.

In this embodiment, if the working environment is abnormal, the step of issuing a preset signal based on the working environment includes:

S21. If it is detected that a foreign object is wound around the sweeper, send a signal to the sweeper to stop the cleaning signal or break free foreign matter.

In this embodiment, the sweeping machine is a visual sweeper.

The panoramic camera captures the current appearance of the sweeper, and compares the appearance with the image of the sweeper stored in the smart stereo. The smart sound detects that the sweeper may be in a state of being wrapped by wires and other debris. At this time, the sweeper needs to be disconnected from the wire. In the entangled working environment, the intelligent sound sends a first signal to the sweeping machine, and the sweeper resolves the first signal and determines the abnormal state represented by the first signal as the first abnormal state. When the sweeping machine is in the first abnormal state, the sweeping machine moves in the opposite direction to the current traveling direction, and attempts to remove the trap. After a period of time, the sweeping machine is still in the first abnormal state, indicating that the sweeping machine cannot complete the self-defeating action. The user is required to assist him in getting out of trouble, sweeping the ground to stop moving, and controlling the sweeper to issue an alarm. Alerts are usually a warning sound and a warning red light.

S22. If it is detected that the sound decibel in the current running of the sweeping machine exceeds a preset decibel threshold, send a stop cleaning signal to the sweeper.

In this embodiment, the sound detecting device in the intelligent sound detects the decibel of the running sound of the sweeping machine, and compares the running sound as the first voice information with the preset decibel threshold to determine whether the preset threshold is exceeded. In contrast, if the operating sound decibel in the first voice information exceeds a preset threshold, the smart sound sends a second signal to the sweeper, and the sweeper resolves the second signal and determines the abnormal state represented by the second signal as the second abnormality. status. If the sweeper has a second abnormal state, it is usually a fault inside the sweeper, and it is necessary to stop the inspection and maintenance immediately. At this time, the sweeping machine stops moving and an alarm is issued to inform the user to check the repair.

S23. If the sound of the sweeper is not detected, and the sweeper is not on the charging pile, a cleaning failure alarm is issued.

In this embodiment, if the intelligent sound system does not detect the sound of the sweeping machine, and the panoramic camera detects that the sweeping machine is not on the charging pile, the intelligent sound sends a third signal to the sweeping machine, and the sweeping machine analyzes the third signal and The abnormal state represented by the third signal is determined as the third abnormal state. The third abnormal state is that the sweeper fails to recharge or the battery is exhausted, and sends a sweep failure alarm to the user.

In this embodiment, the sound detecting device may be disposed inside the sweeping machine to detect the internal sound of the sweeping machine, so that when the sweeping machine enters the low position, the running sound of the sweeping machine is covered, and the smart device appears. The condition of misjudgment.

S24. If the user's conversation information is detected in the first cleaning area that is currently cleaned by the Sweeper, send a signal to suspend the cleaning signal or clean the second cleaning area.

In this embodiment, the voice recognition device of the smart sound detects that the user has the conversation information in the first cleaning area of the current sweeper, and the smart sound sends a fourth signal to the sweeper, and the sweeper analyzes the fourth signal and the fourth The abnormal state represented by the signal is determined as the fourth abnormal state. At this time, the sweeping machine determines whether there are other areas to be cleaned. If there is, the sweeper is controlled to move to the area to be cleaned, and the other areas to be cleaned are cleaned; if not, Then, the sweeping machine pauses to work until the voice recognition device detects that there is no user communication information in the current to-be-cleaned area, and then controls the sweeping machine to start to continue cleaning again.

As shown in FIG. 2, the present invention also provides a method for monitoring an abnormal state of a sweeper, including:

S1, the Sweeping Machine receives the image information of the preset foreign object; wherein, the image information of the preset foreign object is information sent by the peripheral device when the smart device of the Sweeper detects that there is a preset foreign object in the cleaning area of the Sweeping Machine;

S2, comparing image information of the preset foreign object with the second image information in front of the current travel route captured by the sweeper, and determining whether the preset foreign object is located in front of the current travel route;

S3. If yes, perform the avoidance operation.

In this embodiment, the sweeping machine is a visual sweeper.

The sweeping machine receives the panoramic camera on the intelligent sound system to take the entire sweeping machine to be cleaned and to check whether there is any image information of the preset foreign object that will affect the sweeping machine during the cleaning of the sweeper. Information includes pet feces, wires, children's toys, etc., if any of them are detected. Comparing the second image information before the current travel route captured by the sweeper vision system, and determining whether there is a preset foreign object on the second image information, and if it is determined that the preset foreign object is located before the current travel route, the sweeper knows Preset the foreign object from the approximate position of the current sweeper, plan a route, and bypass the preset foreign object position during the sweeping machine to avoid collision with the preset foreign object.

As shown in FIG. 3, the present invention also provides an apparatus for monitoring an abnormal state of a sweeper, including:

The environment detecting unit 1 is configured to detect, by the smart device, a working environment of the sweeping machine;

The signal transmission unit 2 is configured to send a preset signal based on the working environment if an abnormality of the working environment is detected.

In this embodiment, the environment detecting unit 1 of the signal transmitting unit 2 during the sweeping process of the sweeper detects the working environment of the sweeping machine, and detects whether there is an abnormality in the working environment. If yes, an abnormal signal is found, and the signal transmitting unit 2 is abnormal according to the abnormality. The abnormal state represented by the signal sends a preset signal to the sweeper. The abnormal state includes an abnormal state in which the panoramic camera captures the detected obstacle encountered by the sweeping machine during operation or the sweeping machine is wound onto the obstacle; the sound detecting device detects that the sweeping machine operates the sound decibel is higher than the preset decibel The abnormal state of the threshold; the sound of the sweeper is not detected, and the abnormal state of the sweeper not on the charging pile and the abnormal state of the user's conversation information are detected in the first cleaning area where the sweeper is currently cleaning.

As shown in FIG. 3, the signal transmission unit 2 includes:

The foreign object determining subunit 21 is configured to send a signal to the sweeping machine to stop the cleaning signal or to break free foreign matter if it is detected that the sweeper is wound with foreign matter;

The decibel detection sub-unit 22 sends a stop-cleaning signal to the sweeper if it detects that the sound decibel in the current operation of the sweeper exceeds the preset decibel threshold.

In this embodiment, the sweeping machine is a visual sweeper.

The panoramic camera captures an image of the current appearance of the Sweeper, and compares the appearance with the image of the Sweeper stored in the foreign matter determination sub-unit 21, and the foreign object determination sub-unit 21 detects that the Sweeper may be in a state of being entangled by a wire or the like. The sweeping machine needs to be separated from the winding working environment of the electric wire, and the foreign object determining subunit 21 sends a first signal to the sweeping machine, and the sweeping machine analyzes the first signal and determines the abnormal state represented by the first signal as the first abnormal state. When the sweeping machine is in the first abnormal state, the sweeping machine moves in the opposite direction to the current traveling direction, and attempts to remove the trap. After a period of time, the sweeping machine is still in the first abnormal state, indicating that the sweeping machine cannot complete the self-defeating action. The user is required to assist him in getting out of trouble, sweeping the ground to stop moving, and controlling the sweeper to issue an alarm. Alerts are usually a warning sound and a warning red light.

In this embodiment, the sound detecting device in the decibel detecting subunit 22 detects the decibel of the running sound of the sweeping machine, and the decibel detecting subunit 22 compares the running sound as the first voice information with a preset decibel threshold to determine whether it will If the predetermined threshold is exceeded, if the running sound decibel in the first voice information exceeds the preset threshold, the decibel detection subunit 22 sends a second signal to the sweeper, and the sweeper parses the second signal and the second The abnormal state represented by the signal is determined to be the second abnormal state. If the sweeper has a second abnormal state, it is usually a fault inside the sweeper, and it is necessary to stop the inspection and maintenance immediately. At this time, the sweeping machine stops moving and an alarm is issued to inform the user to check the repair.

As shown in FIG. 4, the signal transmission unit 2 includes:

The sound detecting subunit 23 is configured to issue a cleaning failure alarm if the sound of the sweeping machine is not detected and the sweeping machine is not on the charging pile;

The voice recognition subunit 24 is configured to send a signal for suspending the cleaning signal or cleaning the second cleaning area to the sweeper if the user's conversation information is detected in the first cleaning area currently being cleaned by the scanner.

In this embodiment, if the sound detecting subunit 23 does not detect the sound of the sweeping machine operation, and the panoramic camera detects that the sweeping machine is not on the charging pile, the sound detecting subunit 23 sends a third signal to the sweeping machine, the sweeping machine. The third signal is parsed and the abnormal state represented by the third signal is determined as the third abnormal state. The third abnormal state is that the sweeper fails to recharge or the battery is exhausted, and sends a sweep failure alarm to the user.

In this embodiment, when the voice recognition device of the voice recognition subunit 24 detects that the user has the conversation information in the first cleaning area of the current sweeper, the voice recognition subunit 24 sends a fourth signal to the sweeper, and the sweeper will be the fourth. The signal is analyzed and the abnormal state represented by the fourth signal is determined as the fourth abnormal state. At this time, the sweeping machine determines whether there are other areas to be cleaned. If there is, the sweeper is controlled to move to the area to be cleaned, and the other is to be cleaned. The cleaning area; if not, the sweeper pauses until the voice recognition device detects that there is no user communication information in the current cleaning area, and then controls the sweeper to start cleaning again.

The invention also provides an apparatus for monitoring an abnormal state of a sweeping machine, comprising:

The image recognition unit 3 is configured to receive image information of the preset foreign object, wherein the image information of the preset foreign object is information sent by the peripheral device when the smart device of the sweeper detects that the preset foreign object exists in the cleaning area of the sweeper;

The position determining unit 4 is configured to compare the image information of the preset foreign object with the second image information in front of the current traveling route captured by the sweeper, and determine whether the preset foreign object is located in front of the current traveling route;

The execution unit 5 is configured to perform the evasive operation when the position determination unit 4 determines YES.

In this embodiment, the sweeping machine is a visual sweeper.

The sweeper receives the image captured by the image recognition unit 3 and captures the image of the entire sweeper to be cleaned, and checks whether there is image information of the preset foreign object that will affect the sweeping machine during the cleaning process of the sweeper. The image information includes pet feces, electric wires, children's toys, etc., if any one of them is detected, the second image information before the current travel route captured by the sweeper vision system is compared, and the position judging unit 4 judges Whether there is a preset foreign object on the image information, if the position determining unit 4 determines that the preset foreign object is located before the current traveling route, the executing unit 5 sends an evasive operation signal to the sweeping machine, and the sweeping machine knows the preset foreign object distance from the current sweeping machine. The approximate location, plan a route, bypass the preset foreign object position during the sweeping machine to avoid collision with the preset foreign object.

The present invention also provides a sweeping machine, the sweeping machine comprising a processor, the processor detecting a working environment of the sweeping machine; if the processor detects that the working environment is abnormal, issuing a preset signal based on the working environment.

In one embodiment, the processor executes a step of issuing a preset signal based on the working environment when detecting that the working environment is abnormal, and if detecting that the sweeper is wound with foreign matter, sending a stop sweep signal to the sweeper or performing foreign matter The signal of breaking free.

In one embodiment, the processor executes a step of issuing a preset signal based on the working environment if a working environment abnormality is detected, and if detecting that the sound decibel in the current running of the sweeping machine exceeds a preset decibel threshold, the sweeping machine is Send a stop sweep signal.

In one embodiment, the processor executes a step of issuing a preset signal based on the working environment if a working environment abnormality is detected, and if the sound of the sweeping machine is not detected, and the sweeping machine is not on the charging pile, the cleaning is performed. Failure alert.

In one embodiment, the processor executes a step of issuing a preset signal based on the working environment if a working environment abnormality is detected, and if the user's conversation information is detected in the first cleaning area currently cleaned by the sweeper, sweeping the ground The machine sends a signal to pause the sweep signal or clean the second sweep area.

In this embodiment, when the processor of the sweeping machine controls the movement of the sweeping machine, it is realized by controlling the driving device of the sweeping machine, and the driving device is generally composed of a motor, a gear transmission component and a wheel.

In summary, the method and device for monitoring the abnormal state of the sweeping machine provided by the invention realize the effect of the sweeping machine discovering and processing the abnormal state in time by detecting and analyzing the abnormal state signal of the sweeping machine.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

A method for monitoring an abnormal state of a sweeper, comprising:

The smart device detects the working environment of the sweeper;

If it is detected that the working environment is abnormal, a preset signal is issued based on the working environment.
The method for monitoring an abnormal state of a sweeping machine according to claim 1, wherein the smart device is a smart sound, and the smart sound is provided with a panoramic camera, a sound detecting device, and a voice recognition installed in the smart sound. Device.
A method of monitoring an abnormal state of a sweeper according to claim 1, wherein said sweeper is a visual sweeper.
The method of monitoring an abnormal state of a shovel according to claim 1, wherein the step of issuing a preset signal based on the working environment if the working environment is abnormal is detected, comprising:

When it is detected that the sweeper is wound with foreign matter, a signal to stop the cleaning signal or break free of the foreign matter is sent to the sweeper.
The method of monitoring an abnormal state of a shovel according to claim 4, wherein if the squeegee is detected to be entangled with foreign matter, a signal to stop the cleaning signal or break free of the foreign object is sent to the Sweeper. After the steps, including:

If the sweeper cannot break free from the foreign object within the preset time, the sweeper is controlled to stop moving and an alarm is issued.
The method of monitoring an abnormal state of a shovel according to claim 1, wherein the step of issuing a preset signal based on the working environment if the working environment is abnormal is detected, comprising:

If it is detected that the sound decibel in the current running of the sweeper exceeds the preset decibel threshold, the stop sweep signal is sent to the sweeper.
The method of monitoring an abnormal state of a shovel according to claim 6, wherein the step of sending a stop sweep signal to the Sweeper comprises:

Control the sweeper to stop moving and issue an alarm.
The method of monitoring an abnormal state of a shovel according to claim 1, wherein the step of issuing a preset signal based on the working environment if the working environment is abnormal is detected, comprising:

If the sound of the sweeper is not detected and the sweeper is not on the charging post, a sweep failure alarm is issued.
The method of monitoring an abnormal state of a shovel according to claim 1, wherein the step of issuing a preset signal based on the working environment if the working environment is abnormal is detected, comprising:

If the user's conversation information is detected in the first cleaning area currently being cleaned by the sweeper, a signal for suspending the cleaning signal or cleaning the second cleaning area is sent to the sweeper.
A method for monitoring an abnormal state of a sweeper, comprising:

The Sweeper receives the image information of the preset foreign object; wherein the image information of the preset foreign object is information sent by the peripheral device when the smart device of the Sweeper detects that the preset foreign object exists in the cleaning area of the Sweeper ;

Comparing the image information of the preset foreign object with the second image information in front of the current travel route captured by the sweeper, and determining whether the preset foreign object is located in front of the current travel route;

If yes, perform the evasive operation.
A method of monitoring an abnormal state of a sweeper according to claim 10, wherein said sweeper is a visual sweeper.
A device for monitoring an abnormal state of a sweeping machine, comprising:

An environmental detection unit for detecting the working environment of the sweeping machine by the smart device;

And a signal transmission unit, configured to: if the working environment is abnormal, send a preset signal based on the working environment.
The apparatus for monitoring an abnormal state of a sweeper according to claim 12, wherein the signal transmission unit comprises:

a foreign matter determining subunit, configured to send a signal to the sweeping machine to stop the cleaning signal or to break free the foreign object if the sweeper is detected to be wound with foreign matter;

The decibel detection subunit sends a stop cleaning signal to the sweeper if it detects that the sound decibel in the current running of the sweeper exceeds a preset decibel threshold.
The apparatus for monitoring an abnormal state of a shovel according to claim 12, wherein the signal transmission unit further comprises:

a sound detecting subunit, configured to issue a cleaning failure alarm if the sound of the sweeping machine is not detected, and the sweeping machine is not on the charging pile;

The voice recognition subunit is configured to send a signal for suspending the cleaning signal or cleaning the second cleaning area to the sweeper if the user's conversation information is detected in the first cleaning area currently being cleaned by the sweeper.
A device for monitoring an abnormal state of a sweeping machine, comprising:

An image recognition unit, configured to receive image information of a preset foreign object, wherein the image information of the preset foreign object is that the peripheral device in the cleaning device of the sweeper detects that the cleaning area of the sweeper exists Information sent when a foreign object is set;

a position determining unit, configured to compare image information of the preset foreign object with second image information in front of a current travel route captured by the sweeper, and determine whether the preset foreign object is located in front of the current travel route;

The execution unit is configured to perform the evasive operation when the position determination unit determines YES.