CN108991993A - A kind of sweeping robot identifies the method and system of excrement by gas detection technology - Google Patents
A kind of sweeping robot identifies the method and system of excrement by gas detection technology Download PDFInfo
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- CN108991993A CN108991993A CN201810823574.7A CN201810823574A CN108991993A CN 108991993 A CN108991993 A CN 108991993A CN 201810823574 A CN201810823574 A CN 201810823574A CN 108991993 A CN108991993 A CN 108991993A
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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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Emergency Alarm Devices (AREA)
Abstract
A kind of method that sweeping robot identifies excrement by gas detection technology, which is characterized in that comprise the steps of, S1. detects the concentration of pre-set gas；S2. judge whether the concentration of the pre-set gas is greater than preset threshold, if so, carrying out S3；S3. the concentration of the pre-set gas is sent to Cloud Server to carry out secondary-confirmation, if the concentration that secondary-confirmation result is the pre-set gas is greater than preset threshold, carries out S4；S4. the instruction of the Cloud Server is received, stops clearing up and sounding an alarm.A kind of sweeping robot is based on above method realization by the system that gas detection technology identifies excrement.The present invention is while sweeping robot runs and cleans, automatic detection surrounding air composition of gases within and concentration, once it was found that doubtful fecal matter, gas information is then uploaded to be confirmed, when by confirmation being fecal matter, sweeping robot stops cleaning work and sounds an alarm, and notifies user, avoids touching and carrying excrement smearing room floor.
Description
Technical field
The present invention relates to intelligent furniture fields, and in particular to a kind of sweeping robot identifies excrement by gas detection technology
Method and system.
Background technique
In recent years, with the fast development of new material, sensor technology, artificial intelligence and computer technology, domestic
Horizontal continuous improvement, sweeping robot are just becoming home intelligent new lover.Currently, sweeping robot can not only contexture by self road
Diameter, can also identify home environment, easy detection and avoid object, be able to satisfy most of user substantially and tell to household cleaning
It asks, becomes the pretty good selection of one kind of liberation both hands.
There is the user of pet to be more likely to using sweeping robot most of support, because it can rapidly remove pet hair
Hair, but user can also face this problem once in a while: it after sweeping robot encounters pet dung, cannot identify, continue to execute clear
It sweeps work to walk repeatedly indoors, so that excrement is filled entire room.Such event is commonplace, although sweeping robot energy
It is enough to provide convenience to people, but do not have rubbish identification function, some puzzlements can be also caused to user.
Accident caused by excrement can not be identified for sweeping robot, and there are two types of the processing schemes of mainstream at present: one is
It is recommended that not open the timing function of sweeping robot in the family for having pet in the case where no worker monitor.But pet can
Excrement can be drained in extremely hidden place, it cannot be guaranteed that real time monitoring, once sweeping robot has been stained with excrement, cleaning ten
Divide complicated and machine breakdown may be led to because cleaning is improper, seriously affects the mood and normal use of user.
Another kind be it is pre- build vision system, such as application No. is the Chinese patent documents of CN201510956435.8 to disclose
It is a kind of to carry the method for rapidly positioning that the robot in vision system is carried for robot, though the program is not by vision system
Possibility is provided for sweeping robot, but to increase vision system on sweeping robot, in the technical scheme, is carried
Robot " obtains the coordinate information that all preset points on material to be handled correspond to vision system；Material to be handled is recorded simultaneously
On mobile coordinate information ... the vision system of all preset point coordinate informations and robot according to transfer robot and take the photograph
The information of the coordinate correspondence relationship as determined by the positional relationship of head and material to be handled, calculate material to be handled X-axis,
The offset of Y-axis；... after robot is moved to the preset track for putting material to be handled, the basis on existing moving coordinate
X, Y, R adjust final placement coordinate points, material to be handled are precisely put into predetermined position, completes handling work ", " to utilize figure
As processing technique, allow sweeping robot that there is the ability of identification excrement and Other Waste " become feasible program, but this scheme
The drawbacks of be: the visual apparatus such as camera are installed on the sweeping robot that can voluntarily enter and leave at home, it is hidden to may relate to user
Private leakage, and at night or the poor place of light, fogging image discrimination be not high.
Summary of the invention
The present invention provides the method and system that a kind of sweeping robot identifies excrement by gas detection technology, works as sweeper
Device people detects surrounding air composition of gases within and concentration when running automatically, once finding doubtful fecal matter, then uploads gas information
Confirmed, when by confirmation being fecal matter, sweeping robot stops cleaning work and simultaneously sounds an alarm, and notifies user, avoids touching
It touches and carries excrement and smear room floor.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of sweeping robot passes through gas
The method of physical examination survey technology identification excrement, wherein include the following steps,
S1. the concentration of pre-set gas is detected；
S2. judge whether the concentration of the pre-set gas is greater than preset threshold, if so, carrying out S3；
S3. the concentration of the pre-set gas is sent to Cloud Server to carry out secondary-confirmation, if secondary-confirmation result is institute
The concentration for stating pre-set gas is greater than preset threshold, then carries out S4；
S4. the instruction of the Cloud Server is received, stops clearing up and sounding an alarm.Preferably, the pre-set gas packet
Include ammonia, hydrogen sulfide and methane.
Preferably, have the unresponsive step of S4.1 after step s4,
If failing to detect feedback answer signal within the set time, stop alarm, and send and prompt to user mobile phone
Information.
Preferably, there are also S6 intelligence cleanup step after the unresponsive step of S4.1,
It retreats and halts to lateral cleaning whenever encountering the then alarm of sending setting duration again of exceeded gas, after
It is continuous to retreat and be displaced sideways cleaning.
Preferably, have S4.2 re-detection step after step s4,
If receiving the re-detection signal of user mobile phone, stops alarm and be back to step S1.
A kind of system that sweeping robot identifies excrement by gas detection technology, wherein including gas detection module, control
Molding block, communication module, alarm module and power supply module, the gas detection module is for acquiring and analyzing collected gas
Pre-set gas concentration, the pre-set gas concentration that the control module is used to will test is compared with preset threshold, described
Communication module is used to send pre-set gas concentration to Cloud Server and receives Cloud Server feedback signal, and the alarm module is used for
It receives feedback signal and alarms, the power supply module is for providing electric energy, the gas detection module, the alarm mould
Block, the communication module and the power supply module are separately connected the control module, and the communication module connects Cloud Server.
Preferably, the gas detection module includes ammonia gas sensor, hydrogen sulfide sensor and methane transducer.
Preferably, further including unresponsive module, the unresponsive module executes unresponsive step for determining whether to meet
Rapid condition, the unresponsive module connect the alarm module.
Preferably, further including intelligent cleaning modul, the intelligence cleaning modul is described for executing intelligent cleanup step
Intelligent cleaning modul connects the unresponsive module.
Preferably, further include resurveying module, it is described resurvey module for receive resurvey signal, and to ambient gas ingredient
Again it is detected, the module of resurveying connects the alarm module and the gas detection module.
The utility model has the advantages that firstly, when sweeping robot operation when detect surrounding air composition of gases within and concentration automatically, once
It was found that doubtful fecal matter, then upload gas information and confirmed, when by confirmation being fecal matter, sweeping robot stops fettler
Make and sound an alarm, notify user, avoids touching and carrying excrement smearing room floor；Secondly as containing part in excrement
Pernicious gas finds in time and clears up excrement also and can bring the guarantee of health to home life；Furthermore when alarm is in setting time
It does not obtain inside releasing feedback, sweeping robot still can carry out cleaning works by conservative liquidation procedures.
Detailed description of the invention
Fig. 1 is the flow diagram of embodiment 1.
Fig. 2 is the system architecture schematic diagram of embodiment 2.
Fig. 3 is the system architecture schematic diagram of embodiment 3.
Fig. 4 is the system architecture schematic diagram of embodiment 4.
Fig. 5 is the system architecture schematic diagram of embodiment 5.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, the technical solution of invention is further described, but
Invention is not limited to these embodiments.
Embodiment 1
While completing the hygienic cleaning of life at home using sweeping robot increasedly, concurrently occur
Problem also gradually increases, and one of the most common problem is exactly to encounter pet when carrying out domestic hygiene cleaning using sweeping robot
Continue to be cleared up according to program after excrement, monolith cleaning floor has been filled flood excrement by the sweeping robot that carry excrement
Just, the effect of cleaning is not played not only, on the contrary, by floor " cleaning " dirtier.So, user needs again
Cleaning one time, increases time cost, secondly, the excrement being spread out on floor can distribute the toxic gas being harmful to the human body, sternly
Weight will affect daily house life.Such as sweeping robot encounter be usually house pet excrement, such excrement gas
Composition mainly has ammonia (ammonia, NH3), hydrogen sulfide (hydrogen sulfide, H2S) and carbon dioxide (carbon
Dioxide, CO2) and methane (methane, CH4) etc..Fecaluria it is fermented decomposition can produce ammonia, hydrogen sulfide, mercaptan, phenol,
Paracresol, indoles, scatol etc. be all kinds of nitrogenous or the organic odorous substance of sulfur-bearing.Wherein ammonia has biggish toxicity, people to human body
Strong impulse symptom can occur for contact 553mg/m3, can tolerate 1.25 minutes, can be dead immediately under 3500~7000mg/m3 concentration
It dies；Hydrogen sulfide belongs to severe toxicity and inflammable, and methane belongs to micro- poison and inflammable, and three of the above gas such as concentration is excessive, can to human body and
Living environment can all cause huge harm.
Therefore, the gas of animal wastes more can be obviously attached to from these three as point of penetration, to house space
Based on interior air carries out gas componant detection, animal wastes or the foul identification of suspected animals excrement are realized, thus sending out
After such existing animal wastes, the user for waiting sweeping robot cleaning is reminded, user is helped accurately to find to be difficult to perceive
Excrement position continues to complete the cleaning to room floors after clearing up excrement.
As shown in Figure 1 it is that the specific implementation of the technical program is as follows:
A kind of method that sweeping robot identifies excrement by gas detection technology, wherein include the following steps,
S1. the concentration of pre-set gas is detected；
S2. judge whether the concentration of the pre-set gas is greater than preset threshold, if so, carrying out S3；
S3. the concentration of the pre-set gas is sent to Cloud Server to carry out secondary-confirmation, if secondary-confirmation result is institute
The concentration for stating pre-set gas is greater than preset threshold, then carries out S4；
S4. the instruction of the Cloud Server is received, stops clearing up and sounding an alarm.
Function modifications are carried out to sweeping robot at this stage on the market first, makes it possible to and is carried out together in cleaning work
When the gas in surrounding space is absorbed, after being absorbed into ambient gas, to the gas carry out gas composition analysis, example
Such as three kinds of ammonia in the gas, hydrogen sulfide and methane gas componants are identified and measured, these three gases are default
Gas obtains the concentration value of three kinds of gas componants, is compared with the gas componant preset threshold built in program, the preset threshold
It can be understood as the standard content of three kinds of gas componants when excrement is present in air, if wherein there is a kind of gas dense
Degree is higher than corresponding gas preset threshold, then needs to carry out secondary-confirmation to ensure there may be the doubtful object of excrement at this, will be real
When the gas composition concentration value that measures be sent to cloud or Cloud Server, the concentration under this condition is assert by Cloud Server
Whether there may be excrement, if by secondary judgement confirm measured concentration show really at this there are after excrement, Ke Yichuan
Up to signal data, i.e., the feedback letter of secondary-confirmation is sent to sweeping robot and user mobile phone or computer end by Cloud Server
Breath, in order to avoid contacting excrement because continuing cleaning, simultaneously sounds an alarm at this point, sweeping robot stops current cleaning work
Sound, help user or other people excrement whereabouts is found by alarm signal, to clear up.
Specifically, after opening sweeping robot and carrying out floor liquidation procedures, sweeping robot is started to work, right on one side
Ground is cleaned, and surrounding air is sucked and detected on one side, and when encountering, ammonia in gas, hydrogen sulfide and concentration of formaldehyde are big
When plug-in preset threshold, by wireless or cable network by the gas concentration data transmission to cloud or cloud service
Device, the comparison again and confirmation of Cloud Server, come check the gas concentration whether represent gas at this it is suspicious and there are excrement doubt
Like object, if gas concentration has excrement really, there are height dubieties, pass through Cloud Server to sweeping robot and user hand
Secondary-confirmation signal is passed under machine or computer end, stops the cleaning work of sweeping robot, and alarm simultaneously, helps user
Find excrement.After user has cleared up excrement, three kinds of gas concentrations in neighbouring space understand rapid drawdown, can restart sweep the floor at this time
The cleaning works of robot, sweeping robot restore to work normally again.
Preferably, can also have the unresponsive step of S4.1 after step s4: if sweeping robot is sounding an alarm it
Afterwards, fail to detect feedback answer signal within the set time, then stop alarm, and send prompt letter again to user mobile phone
On the one hand breath can save sweeping robot electric energy, on the one hand remind user again.
Preferably, can also have S6 intelligence cleanup step after the unresponsive step of S4.1: after executing unresponsive step,
Sweeping robot is retreated and is halted to lateral cleaning whenever encountering the then alarm of sending setting duration again of exceeded gas,
Continue to retreat and be displaced sideways cleaning.
Preferably, can also have S4.2 re-detection step after step s4: if sweeping robot receives user hand
The re-detection signal of machine stops alarm and is back to step S1.
The beneficial effects of the present invention are: firstly, detect in surrounding air automatically when sweeping robot operation gas at
Point and concentration then upload gas information once finding doubtful fecal matter and confirmed, when by confirmation being fecal matter, sweeper
Device people stops cleaning work and sounds an alarm, and notifies user, avoids touching and carrying excrement smearing room floor；Secondly as
Contain part pernicious gas in excrement, finds and clear up excrement also and can bring the guarantee of health to home life in time.
Embodiment 2
Based on the system that a kind of sweeping robot of embodiment 1 identifies excrement by gas detection technology, as shown in Fig. 2,
Including gas detection module, control module, communication module, alarm module and power supply module, the gas detection module is for adopting
Collect and analyze the pre-set gas concentration of collected gas, pre-set gas concentration that the control module is used to will test and pre-
If threshold value is compared, the communication module is used to send pre-set gas concentration to Cloud Server and receives Cloud Server feedback letter
Number, the alarm module is for receiving feedback signal and alarming, and the power supply module is for providing electric energy, the gas inspection
It surveys module, the alarm module, the communication module and the power supply module and is separately connected the control module, the communication mould
Block connects Cloud Server.
The power supply module is exactly for providing the power supply of operating power to sweeping robot, it can be common that lithium battery and lithium
Battery charger.
Gas detection module further includes gas collecting module, the gas absorbing device being just mounted on sweeping robot,
Pump suction type can be used in the gas absorbing device, that is, installs a small-sized air pump, and when starting to work, small air pump exists
The gas in sweeping robot peripheral region is subjected to extraction sampling under the drive of power supply, then obtained gas is sent into closed
The gas sensor interior in space.
The gas detection module is exactly gas sensor, can install ammonia, sulphur simultaneously on sweeping robot host
Change the sensor of hydrogen and methane, the gas concentration signal that then each sensor will test is handled, i.e., gas is dense
Degree signal data is sent in the control module, and simultaneously detected gas is discharged, and the control module will be for that will pass
Preset threshold that is defeated and coming in concentration values and memory compares, if the component content of discovery detected gas is greater than preset threshold,
The concentration values that ingredient in the detected gas is then sent to the communication module are sent out by the communication module to Cloud Server
Out, the wireless networks such as WIFI generally can be used, and perhaps the 4G finite element network Cloud Server can be computer end or use
Whether family mobile phone terminal, such as computer judge the concentration according to current environment attribute when receiving instant gas concentration numerical value
Can be determined that for there are excrement around sweeping robot, such as when temperature is high, certain gases itself can solubility can mention
It rises, aerial content specific gravity is improved, if can actually prove detected gas ingredient under the premise of current environment attribute
Concentration corresponds to around sweeping robot that there are excrement or doubtful objects, then sends simultaneously to user hand generator terminal and the communication module
Feedback signal is sent to the control module using the communication module, and the control module is according to signal data to described
Alarm module sends command signal, and the alarm module realizes warning function, and at the same time, user sees the prompt letter of mobile phone terminal
Breath finds excrement.Particularly, the type of alarm of the alarm module can have diversity, and such as music is glistened or sent out simultaneously
Sound and flash lamp form, especially can be according in detected gas, and the concentration height of three kinds of pernicious gases is different to feed back
Type of alarm can be set to issue rapid audio alarm and rapid warning blinker, work as concentration when dense
When lower, then alarm form is the opposite audio alarm mitigated or warning blinker.It sweeps the floor finally, user passes through directly operation again
Robot resets or sends by computer or mobile phone the operation again for eliminating alarm signal to realize sweeping robot.
It can also include single survey module, single module of surveying carries out designated gas for controlling the gas detection module
Detection, single module of surveying connect the gas detection module.
Single module of surveying can be regarded as the control mould to ammonia gas sensor, hydrogen sulfide sensor and methane transducer
Block, i.e., operate it is described it is single survey module when, may be implemented to a certain sensor it is independent open and other two kinds of sensors it is temporary
When close, can be specifically chosen instantly only a certain gas componant is monitored, which improves sweeping robot for
The flexibility of gas detection, one can more pointedly monitor pure gas, quasi- for the detection of the pure gas content
True property has a degree of help and a promotion, and two can be improved the responding ability of gas detection, i.e., examines to single gas
Survey completion speed will be faster than while to the completion speed that three kinds of gases are monitored, and improve monitoring efficiency, also save system
The time of judgement shortens sweeping robot for the used time of entire cleaning process.
Embodiment 3
It is illustrated in figure 3 the system architecture schematic diagram of embodiment 3.It as different from Example 2, further include unresponsive mould
Block, the unresponsive module is for determining whether to meet the condition for executing unresponsive step, described in the unresponsive module connects
Alarm module.
When sweeping robot detects in surrounding environmental gases that three kinds of harmful gas concentrations are higher and by secondary-confirmation are
Excrement exists when carrying out alert process, and can encounter user's long period does not feed back, do not receive either reset operation or
Feedback signal, it is at this moment, not single to be still unable to get feedback if sweeping robot alarms always, it can also be damaged because of alarm
Consuming electric power causes to clean cruising ability decline and have to go to charge in unfinished cleaning works.So described unresponsive
When module can guarantee that sweeping robot does not receive feedback signal within the set duration, suspend current alert.It is described unresponsive
Condition is exactly not receive feedback operation within the stipulated time after sweeping robot alarm.
Embodiment 4
It is illustrated in figure 4 the system architecture schematic diagram of embodiment 4.It as different from Example 4, further include intelligence cleaning mould
Block, the intelligence cleaning modul connect the unresponsive module for executing intelligent cleanup step, the intelligence cleaning modul.
After the function starting of unresponsive module, sweeping robot has just suspended alarm, and due to suspicious excrement
In the presence of sweeping robot cannot be cleaned optionally, and the work of the intelligent cleaning modul at this moment can be triggered, and the intelligence is clear
It manages and is equipped with special cleaning program in module, that is, detecting that the high position of harmful gas concentration do not readvance, issuing set again
The long alarm of timing, and retrogressing movement is carried out, when no longer occurring high concentration pernicious gas around after moving a certain distance, into
Row lateral movement cleans, if encountering " suspicious region " again, sounds an alarm again and retreats rear side to Mobile cleaning, in this way,
It is suspicious to bypass " excrement region ", ground is cleaned as far as possible.
Embodiment 5
It is illustrated in figure 5 the system architecture schematic diagram of embodiment 5.It as different from Example 2, further include resurveying module,
It is described resurvey module for receive resurvey signal, and ambient gas ingredient is detected again, the module of resurveying connects institute
State alarm module and the gas detection module.
It is likely to occur the situation of single detection gas ingredient mistake, i.e. sweeping robot detection error, thus it is suspicious to current
Environment present position region is detected again, prevents the appearance of error detection.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of method that sweeping robot identifies excrement by gas detection technology, which is characterized in that include the following steps,
S1. the concentration of pre-set gas is detected；
S2. judge whether the concentration of the pre-set gas is greater than preset threshold, if so, carrying out S3；
S3. the concentration of the pre-set gas is sent to Cloud Server to carry out secondary-confirmation, if secondary-confirmation result is described pre-
If the concentration of gas is greater than preset threshold, then S4 is carried out；
S4. the instruction of the Cloud Server is received, stops clearing up and sounding an alarm.
2. the method that a kind of sweeping robot according to claim 1 identifies excrement by gas detection technology, feature
It is,
The pre-set gas includes ammonia, hydrogen sulfide and methane.
3. the method that a kind of sweeping robot according to claim 1 identifies excrement by gas detection technology, feature
It is there is the unresponsive step of S4.1 after step s4,
If failing to detect feedback answer signal within the set time, stop alarm, and send prompt information to user mobile phone.
4. the method that a kind of sweeping robot according to claim 3 identifies excrement by gas detection technology, feature
It is, there are also S6 intelligence cleanup step after the unresponsive step of S4.1,
It retreats and halts, after continuation to lateral cleaning whenever encountering the then alarm of sending setting duration again of exceeded gas
Move back and be displaced sideways cleaning.
5. the method that a kind of sweeping robot according to claim 1 identifies excrement by gas detection technology, feature
It is there is S4.2 re-detection step after step s4,
If receiving the re-detection signal of user mobile phone, stops alarm and be back to step S1.
6. the system that a kind of sweeping robot identifies excrement by gas detection technology, which is characterized in that including gas detection mould
Block, control module, communication module, alarm module, the gas detection module are used to acquire and analyze the default of collected gas
Gas concentration, the pre-set gas concentration that the control module is used to will test are compared with preset threshold, the communication
Module is used to send pre-set gas concentration to Cloud Server and receives Cloud Server feedback signal, and the alarm module is for receiving
Feedback signal is simultaneously alarmed.
7. the system that a kind of sweeping robot according to claim 6 identifies excrement by gas detection technology, feature
It is, the gas detection module includes ammonia gas sensor, hydrogen sulfide sensor and methane transducer.
8. the system that a kind of sweeping robot according to claim 6 identifies excrement by gas detection technology, feature
It is, further includes unresponsive module, the unresponsive module is described for determining whether to meet the condition for executing unresponsive step
Unresponsive module connects the alarm module.
9. the system that a kind of sweeping robot according to claim 8 identifies excrement by gas detection technology, feature
It is, further includes intelligent cleaning modul, the intelligence cleaning modul is for executing intelligent cleanup step, the intelligence cleaning modul
Connect the unresponsive module.
10. the system that a kind of sweeping robot according to claim 6 identifies excrement by gas detection technology, feature
Be, further include resurveying module, it is described resurvey module for receive resurvey signal, and ambient gas ingredient is examined again
It surveys, the module of resurveying connects the alarm module and the gas detection module.
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| CN110597081A (en) * | 2019-09-30 | 2019-12-20 | 青岛海尔科技有限公司 | Method and device for sending control instruction based on smart home operating system |
| CN113491479A (en) * | 2020-03-20 | 2021-10-12 | 俞海燕 | Cleaning device with smell detects |
| CN114532904A (en) * | 2022-03-02 | 2022-05-27 | 北京瞰瞰智能科技有限公司 | Intelligent sweeping robot based on 3D structured light, control method and device |
| CN114711671A (en) * | 2022-06-08 | 2022-07-08 | 深圳市瑞亿科技电子有限公司 | Robot protection system capable of judging action behaviors |
| CN115644740A (en) * | 2022-12-29 | 2023-01-31 | 中国石油大学(华东) | Control method and system of sweeping robot |
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