CN107928543A - Clean robot and its internal state detection method and device - Google Patents
Clean robot and its internal state detection method and device Download PDFInfo
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- CN107928543A CN107928543A CN201711230935.9A CN201711230935A CN107928543A CN 107928543 A CN107928543 A CN 107928543A CN 201711230935 A CN201711230935 A CN 201711230935A CN 107928543 A CN107928543 A CN 107928543A
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- pressure value
- clean robot
- preset pressure
- preset
- dust box
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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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
- A47L9/19—Means for monitoring filtering operation
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2821—Pressure, vacuum level or airflow
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of clean robot and its internal state detection method and device are provided in the present invention, the first pressure value produced by detecting the air flow in clean robot inside air passage or dust box；According to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to comparing result, judges the state of the clean robot.The internal state detection method and device of the clean robot provided in the present invention, the first pressure value given birth to according to clean robot air passage or dust box internal air stream movable property, as the foundation for judging internal state, are effectively detected the internal state of dust box.
Description
Technical field
The present invention relates to cleaning products field, more particularly to a kind of clean robot and its internal state detection method and dress
Put.
Background technology
Clean robot is widely used in a variety of environment and occasion at present.The universal all band of clean robot
There are a wind turbine and a dust box, rubbish is sucked inside clean robot by wind turbine and is collected inside dust box, with
Reach clean effect.
In order to facilitate the use of user, the capacity of general dust box is all bigger, it is not necessary to which user is cleared up every time.
However, user can forget to clear up dust box sometimes, robot is caused also to be cleaned in the case where dust box has expired
Work, the effect of cleaning can be greatly affected at this time.Such case occurs in order to prevent, and it is special that some robots have carried out
Processing, such as infrared tube is installed to be detected to rubbish in the top both sides of dust box.When the emitter of side is sent
Infrared signal when the receiving device of opposite side does not receive, be considered as dust box and filled up by rubbish.
But this means become unreliable in use for some time.Because dust box is collecting rubbish in itself
During, have many dusts and be adhered to its inner surface.In addition, current clean robot suction is all very big, when cleaning
When the rubbish such as ambient dust, hair are very much, rubbish can be easily absorbing around the strainer of dust box, cause air passage different
The blocking of degree, so as to influence to clean effect.If user does not clear up it thoroughly, it may result in infrared tube and also can
Muffled by dust, so as to cause the signal that dust box is filled to influence the use of user by false triggering.
Therefore, to the abnormal state detection of clean robot, need to further be improved.
The content of the invention
The main object of the present invention is provides a kind of clean robot and its internal state detection method and device, to dust
The internal state of box is effectively detected.
The present invention proposes a kind of internal state detection method of clean robot, comprises the following steps：
Detect the first pressure value of air passage or the air flow generation in dust box inside clean robot；
According to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to comparing result, is judged
The state of the clean robot.
Further, it is described according to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to
Comparing result, the step of judging the state of the clean robot, including：
The first pressure value is contrasted with the first preset pressure value；
When the first pressure value is less than first preset pressure value, judge that the clean robot is in dust box
The abnormality being plugged.
Further, after described the step of being contrasted the first pressure value and the first preset pressure value, also wrap
Include：
When the first pressure value is not less than the first preset pressure value, by the first pressure value and the second preset pressure
Value is contrasted；Second preset pressure value is more than first preset pressure value；
When the first pressure value is less than second preset pressure value, judge that the clean robot is in dust box
The abnormality filled.
Further, after described the step of being contrasted the first pressure value and the second preset pressure value, including：
When the first pressure value is not less than the second preset pressure value, by the first pressure value and the 3rd preset pressure
Value is contrasted；3rd preset pressure value is more than second preset pressure value；
When the first pressure value is less than three preset pressure value, judge that the clean robot is in wind-force not
The state of foot.
Further, it is described according to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to
Comparing result, the step of judging the state of the clean robot, including：
The first pressure value is contrasted with the second preset pressure value；
When the first pressure value is less than second preset pressure value, judge that the clean robot is in abnormal shape
State.
Further, it is described according to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to
Comparing result, after the step of judging the state of the clean robot, including：
According to the state of the clean robot, handled according to default processing mode.
Further, the state of the clean robot includes normal condition, abnormality and the hypodynamic state of wind,
The abnormality that the abnormality and dust box that the abnormality is plugged including dust box are filled；
The state according to the clean robot, the step of processing according to default processing mode, including：
When the clean robot is in abnormality, stop cleaning action, and carry out abnormality processing；
Alternatively, when the clean robot is in the hypodynamic state of wind, then control wind turbine lifts rotating speed.
Further, the step of progress abnormality processing includes：
Send control signal control automated cleaning module dust box is cleaned, or give a warning information to it is described
The user terminal of clean robot binding.
Further, the first pressure of air passage or the air flow generation in dust box inside the detection clean robot
After the step of force value, further include：
Processing is filtered to the first pressure Value Data detected.
Further, the first pressure of air passage or the air flow generation in dust box inside the detection clean robot
Before the step of force value, including：
Obtain the current operational taps of clean robot；
According to the operational taps, inside critical pressure when corresponding clean robot is in various states is obtained
Value, using the critical pressure value as preset pressure value.
Present invention also offers a kind of internal state detection device of clean robot, including：
Detection unit, the first pressure produced for detecting the air flow in clean robot inside air passage or dust box
Force value；
Judging unit, for according to predetermined manner, the first pressure value to be contrasted with preset pressure value, and according to
Comparing result, judges the state of the clean robot.
Further, the judging unit includes：
First contrast subunit, for the first pressure value to be contrasted with the first preset pressure value；
First judges subelement, for when the first pressure value is less than first preset pressure value, described in judgement
Clean robot is in the abnormality that dust box is plugged.
Further, the judging unit further includes：
Second contrast subunit, for when the first pressure value is not less than the first preset pressure value, by described first
Pressure value is contrasted with the second preset pressure value；Second preset pressure value is more than first preset pressure value；
Second judges subelement, for when the first pressure value is less than second preset pressure value, described in judgement
Clean robot is in the abnormality that dust box is filled.
Further, the judging unit further includes：
3rd contrast subunit, for when the first pressure value is not less than the second preset pressure value, by described first
Pressure value is contrasted with the 3rd preset pressure value；3rd preset pressure value is more than second preset pressure value；
3rd judges subelement, for when the first pressure value is less than three preset pressure value, described in judgement
Clean robot is in the hypodynamic state of wind.
Further, the judging unit includes：
4th contrast subunit, for the first pressure value to be contrasted with the second preset pressure value；
4th judges subelement, for when the first pressure value is less than second preset pressure value, described in judgement
Clean robot is in abnormality.
Further, further include：
Processing unit, for the state according to the clean robot, is handled according to default processing mode.
Further, the state of the clean robot includes normal condition, abnormality and the hypodynamic state of wind,
The abnormality that the abnormality and dust box that the abnormality is plugged including dust box are filled；
The processing unit includes：
First processing subelement, for when the clean robot is in abnormality, stopping cleaning action, and carries out
Abnormality processing；
Second processing subelement, for being in the hypodynamic state of wind when the clean robot, then controls wind turbine lifting
Rotating speed, increases wind-force.
Further, the first processing subelement progress abnormality processing specifically includes：
Send control signal control automated cleaning module dust box is cleaned, or give a warning information to it is described
The user terminal of clean robot binding.
Further, further include：
Filter unit, for being filtered processing to the first pressure Value Data detected.
Further, further include：
First acquisition unit, the operational taps current for obtaining clean robot；
Second acquisition unit, for according to the operational taps, obtaining corresponding clean robot and being in various shapes
Inside critical pressure value during state, using the critical pressure value as preset pressure value.
The present invention also provides a kind of clean robot, including：Including memory, processor and at least one it is stored in institute
The application program performed by the processor is stated in memory and is configured as, the application program is configurable in execution
The internal state detection method for the clean robot stated.
The clean robot and its internal state detection method and device provided in the present invention, has the advantages that：
The clean robot and its internal state detection method and device provided in the present invention, is detected inside clean robot
The first pressure value that air flow in air passage or dust box produces；According to predetermined manner, by the first pressure value and in advance
If pressure value is contrasted, and according to comparing result, judges the state of the clean robot；According to clean robot air passage or
The first pressure value of person's dust box internal air stream movable property life, as the foundation for judging internal state, effectively in dust box
Portion's state is detected.
Brief description of the drawings
Fig. 1 is the internal state detection method step schematic diagram of clean robot in one embodiment of the invention；
Fig. 2 is the internal state detection method step schematic diagram of clean robot in another embodiment of the present invention；
Fig. 3 is the internal state detection method step schematic diagram of clean robot in further embodiment of this invention；
Fig. 4 is the internal state structure of the detecting device schematic diagram of clean robot in one embodiment of the invention；
Fig. 5 is the internal state structure of the detecting device schematic diagram of clean robot in another embodiment of the present invention；
Fig. 6 is judging unit structure diagram in one embodiment of the invention；
Fig. 7 is judging unit structure diagram in another embodiment of the present invention；
Fig. 8 is the internal state structure of the detecting device schematic diagram of clean robot in further embodiment of this invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " " above-mentioned " and "the" may also comprise plural form.It is to be further understood that make in the specification of the present invention
Wording " comprising " refers to there are the feature, integer, step, operation, element, unit, module and/or component, but simultaneously
Do not preclude the presence or addition of other one or more features, integer, step, operation, element, unit, module, component and/or it
Group.It should be understood that when we claim element to be " connected " or during " coupled " to another element, it can be directly connected to or couple
To other elements, or there may also be intermediary element.In addition, " connection " used herein or " coupling " can include wirelessly connecting
Connect or wirelessly couple.Wording "and/or" used herein includes the whole or any of one or more associated list items
Unit and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have with the context of the prior art
The consistent meaning of meaning, and unless by specific definitions as here, idealization or the implication of overly formal otherwise will not be used
To explain.
With reference to Fig. 1, for the internal state detection method step schematic diagram of clean robot in one embodiment of the invention.
A kind of internal state detection method of clean robot is proposed in one embodiment of the invention, is comprised the following steps：
Step S1, detects the first pressure value of air passage or the air flow generation in dust box inside clean robot；
Step S2, according to predetermined manner, the first pressure value is contrasted with preset pressure value, and is tied according to contrast
Fruit, judges the state of the clean robot.
In the present embodiment, clean robot when in use, the sky inside clean robot is driven using the rotation of wind turbine
Flow of air, so as to produce negative pressure；By setting pressure sensor to detect in the air passage inside clean robot or dust box
State the first pressure value of air flow generation.After occurring different degrees of blocking in air passage either dust box or filling with,
Influence whether the size of above-mentioned first pressure value.Therefore, according to the size of the first pressure value, compared with preset pressure value
Compared with can reversely derive the current state inside clean robot.In the present embodiment, according to clean robot air passage or
The first pressure value of dust box internal air stream movable property life, as the foundation for judging internal state, the effectively inside to dust box
State is detected.After internal state is detected, corresponding subsequent treatment can be carried out.For example, clean dust box, send
Warning message is to user terminal etc..
Clean robot in the present embodiment includes at least wind turbine, controller and pressure sensor, pressure sensor inspection
The first pressure value of air passage or the air flow generation in dust box inside clean robot is surveyed to send to controller
Reason, controller realize the control to wind turbine.
With reference to Fig. 2, in one embodiment, the air flow in the detection clean robot inside air passage or dust box
Before the step S1 of the first pressure value of generation, including：
Step S1a, obtains the current operational taps of clean robot；
Step S1b, according to the operational taps, obtains inside when corresponding clean robot is in various states
Critical pressure value, using the critical pressure value as preset pressure value.
It is understood that clean robot has a variety of adjustable gears, such as slight cleaning gear, deep clean shelves
, under different stalls, the pressure value that theoretical upper fan drives air flow to produce negative pressure is also different；Under different stalls, cleaner
The critical pressure value being in inside device people under various different conditions is also different.In the present embodiment, different stalls are measured in advance
Under, the critical pressure value inside clean robot under various different conditions, that is, measure preset pressure value and be stored in cleaning
In the memory of robot.When in use, current operational taps are obtained, further according to the gear, can be extracted corresponding
Preset pressure value under different conditions.
In the present embodiment, three preset pressure values are provided with, the default pressure of first be respectively arranged in order from small to large
Force value, the second preset pressure value and the 3rd preset pressure value；What the first preset pressure value represented is that clean robot is in ash
Critical pressure value when dirt box is plugged, what the second preset pressure value represented is clean robot in dust box be filled when
Critical pressure value, what the 3rd preset pressure value sign represented is critical pressure value when clean robot is in wind-force deficiency, and
When first pressure value is more than (or equal to) above-mentioned three preset pressure value, then it represents that current clean robot is in completely normal
State.
In one embodiment, it is described according to predetermined manner, the first pressure value is contrasted with preset pressure value, and
According to comparing result, the step S2 of the state of the clean robot is judged, including：
Step S21, the first pressure value is contrasted with the first preset pressure value；
Step S22a, when the first pressure value is less than first preset pressure value, judges the clean robot
The abnormality being plugged in dust box.
In the present embodiment, the first preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in ash
Critical pressure value when dirt box is plugged, i.e. first pressure value then represent dust box (being typically strainer) less than the critical pressure value
It is plugged, first pressure value then represents that the strainer of dust is not plugged not less than the critical pressure value.
In another embodiment, the step S21 that the first pressure value and the first preset pressure value are contrasted
Afterwards, further include：
Step S22b, when the first pressure value is not less than the first preset pressure value, by the first pressure value and the
Two preset pressure values are contrasted；Second preset pressure value is more than first preset pressure value；
Step S23a, when the first pressure value is less than second preset pressure value, judges the clean robot
The abnormality filled in dust box.
In the present embodiment, the second preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in ash
Critical pressure value when dirt box is filled, i.e. first pressure value then represent that dust box is filled less than the critical pressure value, first
Pressure value then represents that dust box is not filled not less than the critical pressure value.
In another embodiment, the step S22b that the first pressure value and the second preset pressure value are contrasted
Afterwards, including：
Step S23b, when the first pressure value is not less than the second preset pressure value, by the first pressure value and the
Three preset pressure values are contrasted；3rd preset pressure value is more than second preset pressure value；
Step S24, when the first pressure value is less than three preset pressure value, judges at the clean robot
In the hypodynamic state of wind.
In the present embodiment, the 3rd preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in wind
Critical pressure value during power deficiency state, i.e. first pressure value then represent wind-force deficiency in dust box less than the critical pressure value；
First pressure value then represents that wind-force is enough in dust box not less than the critical pressure value, and clean robot is in complete normal shape
State, can be normally carried out cleaning.
In another embodiment, it is described according to predetermined manner, the first pressure value is contrasted with preset pressure value,
And according to comparing result, judge the step S2 of the state of the clean robot, including：
Step S201, the first pressure value is contrasted with the second preset pressure value；
Step S202, when the first pressure value is less than second preset pressure value, judges the clean robot
In abnormality.
In the present embodiment, it is abnormality that dust box, which is plugged, dust box is filled.Therefore it may only be necessary to by first
Pressure value is contrasted with the second preset pressure value, can judge whether current clean robot is in abnormality.
It is in the above-described embodiments, described according to predetermined manner with reference to Fig. 3, by the first pressure value and preset pressure value
Contrasted, and according to comparing result, after the step S2 of state for judging the clean robot, including：
Step S3, according to the state of the clean robot, is handled according to default processing mode.
In the present embodiment, it is hypodynamic to include normal condition, abnormality and wind for the state of the clean robot
State, the abnormality that the abnormality and dust box that the abnormality is plugged including dust box are filled；
The state according to the clean robot, the step S3 handled according to default processing mode, including：
When the clean robot is in abnormality, stop cleaning action, and carry out abnormality processing；
Alternatively, when the clean robot is in the hypodynamic state of wind, then control wind turbine lifting rotating speed, increases wind-force.
Specifically, the methods of PID control can be passed through control wind turbine increase rotary speed, so as to improve the cleaning capacity of robot.
In the present embodiment, the step of progress abnormality processing specifically includes：
Send control signal control automated cleaning module dust box is cleaned, or give a warning information to it is described
The user terminal of clean robot binding.User receives warning message by user terminal, can get current cleaning
Robot is in abnormality, so as to be operated accordingly.
In another embodiment, the air flow detected in clean robot inside air passage or dust box produces
After the step S1 of first pressure value, further include：
Step S11, processing is filtered to the first pressure Value Data detected.Specifically, average can be used
The methods of filtering, medium filtering, is filtered processing.
In conclusion for the internal state detection method of the clean robot provided in the embodiment of the present invention, pass through detection
The first pressure value of air passage or the air flow generation in dust box inside clean robot；According to predetermined manner, by described in
First pressure value is contrasted with preset pressure value, and according to comparing result, judges the state of the clean robot；According to clear
The first pressure value of clean robot dust box internal air stream movable property life, as the foundation of detection internal state, effectively to dust
The internal state of box is detected.At the same time it can also reasonably be handled according to different internal states, lifting cleaning effect
Fruit, and then lift user experience.
Reference Fig. 4, present invention also offers a kind of internal state detection device of clean robot, including：
Detection unit 10, first produced for detecting the air flow in clean robot inside air passage or dust box
Pressure value；
Judging unit 20, for according to predetermined manner, the first pressure value to be contrasted with preset pressure value, and root
According to comparing result, the state of the clean robot is judged.
In the present embodiment, clean robot when in use, the sky inside clean robot is driven using the rotation of wind turbine
Flow of air, so as to produce negative pressure；By setting pressure sensor in the air passage inside clean robot or dust box, detection is single
The first pressure value that the above-mentioned air flow of the detection of member 10 produces.When occur in air passage either dust box different degrees of blocking or
After filling with, the size of above-mentioned first pressure value is influenced whether.Therefore, judging unit 20 is according to the size of the first pressure value,
Compared with preset pressure value, the current state inside clean robot can be reversely derived.In the present embodiment, according to
Clean robot air passage or the first pressure value of dust box internal air stream movable property life, as the foundation for judging internal state,
Effectively the internal state of dust box is detected.After internal state is detected, corresponding subsequent treatment can be carried out.Example
Such as, dust box, transmission warning message to user terminal etc. are cleaned.
Clean robot in the present embodiment includes at least wind turbine, controller and pressure sensor, pressure sensor inspection
The first pressure value of air passage or the air flow generation in dust box inside clean robot is surveyed to send to controller
Reason, controller realize the control to wind turbine.
With reference to Fig. 5, in one embodiment, further include：
First acquisition unit 100, the operational taps current for obtaining clean robot；
Second acquisition unit 110, for according to the operational taps, obtaining corresponding clean robot and being in various
Inside critical pressure value during state, using the critical pressure value as preset pressure value.
It is understood that clean robot has a variety of adjustable gears, such as slight cleaning gear, deep clean shelves
, under different stalls, the pressure value that theoretical upper fan drives air flow to produce negative pressure is also different；Under different stalls, cleaner
The critical pressure value being in inside device people under various different conditions is also different.In the present embodiment, different stalls are measured in advance
Under, the critical pressure value inside clean robot under various different conditions, that is, measure preset pressure value and be stored in cleaning
In the memory of robot.When in use, first acquisition unit 100 obtains current operational taps, second acquisition unit 110
According to the gear, the preset pressure value under corresponding different conditions can be extracted.
In the present embodiment, three preset pressure values are provided with, the default pressure of first be respectively arranged in order from small to large
Force value, the second preset pressure value and the 3rd preset pressure value；What the first preset pressure value represented is that clean robot is in ash
Critical pressure value when dirt box is plugged, what the second preset pressure value represented is clean robot in dust box be filled when
Critical pressure value, what the 3rd preset pressure value sign represented is critical pressure value when clean robot is in wind-force deficiency, and
When first pressure value is more than (or equal to) above-mentioned three preset pressure value, then it represents that current clean robot is in completely normal
State.
With reference to Fig. 6, in one embodiment, the judging unit 20 includes：
First contrast subunit 201, for the first pressure value to be contrasted with the first preset pressure value；
First judges subelement 202, for when the first pressure value is less than first preset pressure value, judging institute
State clean robot and be in the abnormality that dust box is plugged.
In the present embodiment, the first preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in ash
Critical pressure value when dirt box is plugged, i.e. first pressure value then represent dust box (being typically strainer) less than the critical pressure value
It is plugged, first pressure value then represents that the strainer of dust is not plugged not less than the critical pressure value.
In another embodiment, the judging unit 20 further includes：
Second contrast subunit 203, for when the first pressure value is not less than the first preset pressure value, by described
One pressure value is contrasted with the second preset pressure value；Second preset pressure value is more than first preset pressure value；
Second judges subelement 204, for when the first pressure value is less than second preset pressure value, judging institute
State clean robot and be in the abnormality that dust box is filled.
In the present embodiment, the second preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in ash
Critical pressure value when dirt box is filled, i.e. first pressure value then represent that dust box is filled less than the critical pressure value, first
Pressure value then represents that dust box is not filled not less than the critical pressure value.
In another embodiment, the judging unit 20 further includes：
3rd contrast subunit 205, for when the first pressure value is not less than the second preset pressure value, by described
One pressure value is contrasted with the 3rd preset pressure value；3rd preset pressure value is more than second preset pressure value；
3rd judges subelement 206, for when the first pressure value is less than three preset pressure value, judging institute
State clean robot and be in the hypodynamic state of wind.
In the present embodiment, the 3rd preset pressure value is the data obtained in advance, and what it was represented is that clean robot is in wind
Critical pressure value during power deficiency state, i.e. first pressure value then represent wind-force deficiency in dust box less than the critical pressure value；
First pressure value then represents that wind-force is enough in dust box not less than the critical pressure value, and clean robot is in complete normal shape
State, can be normally carried out cleaning.
With reference to Fig. 7, further, the judging unit 20 includes：
4th contrast subunit 210, for the first pressure value to be contrasted with the second preset pressure value；
4th judges subelement 220, for when the first pressure value is less than second preset pressure value, judging institute
State clean robot and be in abnormality.
In the present embodiment, it is abnormality that dust box, which is plugged, dust box is filled.Therefore it may only be necessary to the 4th pair
First pressure value and the second preset pressure value are contrasted than subelement 210, the 4th judgement subelement 220 can be judged
Whether current clean robot is in abnormality.
With reference to Fig. 8, in one embodiment, further include：
Processing unit 30, for the state according to the clean robot, is handled according to default processing mode.
In the present embodiment, it is hypodynamic to include normal condition, abnormality and wind for the state of the clean robot
State, the abnormality that the abnormality and dust box that the abnormality is plugged including dust box are filled；
The processing unit 30 includes：
First processing subelement, for when the clean robot is in abnormality, stopping cleaning action, and carries out
Abnormality processing；
Second processing subelement, for being in the hypodynamic state of wind when the clean robot, then controls wind turbine lifting
Rotating speed, increases wind-force.Specifically, the methods of PID control can be passed through control wind turbine increase rotary speed, so as to improve robot
Cleaning capacity.
Specifically, above-mentioned first processing subelement progress abnormality processing specifically includes：
Send control signal control automated cleaning module dust box is cleaned, or give a warning information to it is described
The user terminal of clean robot binding.User receives warning message by user terminal, can get current cleaning
Robot is in abnormality, so as to be operated accordingly.
In another embodiment, described device further includes：
Filter unit, for being filtered processing to the first pressure Value Data detected.Specifically, can use
The methods of mean filter, medium filtering, is filtered processing.
In conclusion the internal state detection method and device of the clean robot provided in the embodiment of the present invention, detection
The first pressure value of air passage or the air flow generation in dust box inside clean robot；According to predetermined manner, by described in
First pressure value is contrasted with preset pressure value, and according to comparing result, judges the state of the clean robot；According to clear
The first pressure value of clean robot dust box internal air stream movable property life, as the foundation for judging internal state, effectively to dust
The internal state of box is detected.At the same time it can also reasonably be handled according to different internal states, lifting cleaning effect
Fruit, and then lift user experience.
The present invention also provides a kind of clean robot, including：Including memory, processor and at least one it is stored in institute
The application program performed by the processor is stated in memory and is configured as, the application program is configurable in execution
The internal state detection method for the clean robot stated.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is led
Field technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or other
The processor of programmable data processing method is realized, so that the processing by computer or other programmable data processing methods
Device performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations discussed in the present invention, method, flow
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, it is each with having been discussed in the present invention
Other steps, measures, and schemes in kind operation, method, flow may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, it is of the prior art to have and the step in the various operations disclosed in the present invention, method, flow, measure, scheme
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (10)
1. the internal state detection method of a kind of clean robot, it is characterised in that comprise the following steps：
Detect the first pressure value of air passage or the air flow generation in dust box inside clean robot；
According to predetermined manner, the first pressure value is contrasted with preset pressure value, and according to comparing result, described in judgement
The state of clean robot.
2. the internal state detection method of clean robot according to claim 1, it is characterised in that described according to default
Mode, the first pressure value is contrasted with preset pressure value, and according to comparing result, judges the clean robot
The step of state, including：
The first pressure value is contrasted with the first preset pressure value；
When the first pressure value is less than first preset pressure value, judge that the clean robot is blocked in dust box
Abnormality firmly.
3. the internal state detection method of clean robot according to claim 2, it is characterised in that described by described
After the step of one pressure value is contrasted with the first preset pressure value, further include：
When the first pressure value is not less than the first preset pressure value, by the first pressure value and the second preset pressure value into
Row contrast；Second preset pressure value is more than first preset pressure value；
When the first pressure value is less than second preset pressure value, judge that the clean robot is filled in dust box
Abnormality.
4. the internal state detection method of clean robot according to claim 3, it is characterised in that described by described
After the step of one pressure value is contrasted with the second preset pressure value, including：
When the first pressure value is not less than the second preset pressure value, by the first pressure value and the 3rd preset pressure value into
Row contrast；3rd preset pressure value is more than second preset pressure value；
When the first pressure value is less than three preset pressure value, it is hypodynamic to judge that the clean robot is in wind
State.
5. the internal state detection method of clean robot according to claim 1, it is characterised in that the detection cleaning
Before the step of first pressure value that air flow in robot interior air passage or dust box produces, including：
Obtain the current operational taps of clean robot；
According to the operational taps, inside critical pressure value when corresponding clean robot is in various states is obtained,
Using the critical pressure value as preset pressure value.
A kind of 6. internal state detection device of clean robot, it is characterised in that including：
Detection unit, the first pressure produced for detecting the air flow in clean robot inside air passage or dust box
Value；
Judging unit, for according to predetermined manner, the first pressure value to be contrasted with preset pressure value, and according to contrast
As a result, judge the state of the clean robot.
7. the internal state detection device of clean robot according to claim 6, it is characterised in that the judging unit
Including：
First contrast subunit, for the first pressure value to be contrasted with the first preset pressure value；
First judges subelement, for when the first pressure value is less than first preset pressure value, judging the cleaning
Robot is in the abnormality that dust box is plugged.
8. the internal state detection device of clean robot according to claim 7, it is characterised in that the judging unit
Further include：
Second contrast subunit, for when the first pressure value is not less than the first preset pressure value, by the first pressure
Value is contrasted with the second preset pressure value；Second preset pressure value is more than first preset pressure value；
Second judges subelement, for when the first pressure value is less than second preset pressure value, judging the cleaning
Robot is in the abnormality that dust box is filled.
9. the internal state detection device of clean robot according to claim 8, it is characterised in that the judging unit
Further include：
3rd contrast subunit, for when the first pressure value is not less than the second preset pressure value, by the first pressure
Value is contrasted with the 3rd preset pressure value；3rd preset pressure value is more than second preset pressure value；
3rd judges subelement, for when the first pressure value is less than three preset pressure value, judging the cleaning
Robot is in the hypodynamic state of wind.
A kind of 10. clean robot, it is characterised in that including：Including memory, processor and it is at least one be stored in it is described
In memory and the application program performed by the processor is configured as, the application program is configurable for perform claim
It is required that the internal state detection method of the clean robot in 1-5 described in any one.
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| CN201711230935.9A CN107928543A (en) | 2017-11-29 | 2017-11-29 | Clean robot and its internal state detection method and device |
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| CN201711230935.9A CN107928543A (en) | 2017-11-29 | 2017-11-29 | Clean robot and its internal state detection method and device |
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| WO2019104555A1 (en) * | 2017-11-29 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Cleaning robot and internal state detection method and apparatus therefor |
| CN110403531A (en) * | 2019-07-31 | 2019-11-05 | 联想(北京)有限公司 | Fault handling method and sweeper |
| CN111759242A (en) * | 2020-06-30 | 2020-10-13 | 小狗电器互联网科技（北京）股份有限公司 | Blockage area prompting method and device for cleaning equipment |
| CN113116247A (en) * | 2019-12-31 | 2021-07-16 | 佛山市云米电器科技有限公司 | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium |
| CN114468893A (en) * | 2022-01-30 | 2022-05-13 | 苏州简单有为科技有限公司 | Operation control method of sweeping robot, electronic equipment and storage medium |
| CN114532921A (en) * | 2022-01-27 | 2022-05-27 | 深圳原子动力科技有限公司 | Dirt collection full-load detection device and method and cleaning machine |
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| CN114532921B (en) * | 2022-01-27 | 2023-09-22 | 深圳原子动力科技有限公司 | Dirt collection full load detection device, method and cleaning machine |
| CN114468893A (en) * | 2022-01-30 | 2022-05-13 | 苏州简单有为科技有限公司 | Operation control method of sweeping robot, electronic equipment and storage medium |
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