Autonomous robot, device and method for detecting faults
A technology for autonomous robots and sensor failures, applied in the field of robotics, can solve problems such as damage to both sides, response actions that do not conform to the actual environment, and collisions with obstacles, so as to achieve the effect of improving reliability and safety
Active Publication Date: 2019-08-13
BEIJING XIAOMI MOBILE SOFTWARE CO LTD +1
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Problems solved by technology
[0005] If the sensor is faulty, it may continue to trigger the signal to make the autonomous robot respond. At this time, because the response action may not conform to the actual environment, it may cause damage to itself
For example, the collision sensor continuously triggers the collision signal when it fails, causing the autonomous robot to continuously retreat, and may hit an obstacle instead, causing damage to both parties
Method used
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[0074] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in further detail below in conjunction with the implementation manners and accompanying drawings. Here, the exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, but not to limit the present disclosure.
[0075] Figure 1 to Figure 4 is a schematic structural diagram of an autonomous robot shown according to an exemplary embodiment, such as Figure 1 to Figure 4 As shown, the autonomous robot 100 can be an autonomous cleaning device such as a sweeping robot and a mopping robot. Computer interaction system 170. in:
[0076] The main body 110 of the machine includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximately D-sh...
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The present invention discloses an autonomous robot, and a device and method for fault detection, belonging to the robot field. The method comprises: when trigger signals of a sensor is continuously received, the sensor is determined as a sensor to be detected; the autonomous robot is controlled to move and is controlled to rotate after the movement of the autonomous robot is end; and in the rotation process, if the trigger signals of the sensor to be detected is continuously received, it is determined the sensor to be detected has faults. Through controlling the movement of the autonomous robot and the rotation of the autonomous robot after the movement, the possibility that the autonomous robot continuously triggers signals at an original position caused by the environment where the autonomous robot is located; and moreover, in the rotation process, the state of the sensor to be detected at each direction is fully detected to determine whether there are faults of the sensor to be detected or not so as to improve the work reliability and the safety of a cleaning robot.
Description
technical field [0001] The present disclosure relates to the field of robotics, in particular to an autonomous robot, an apparatus and a method for detecting faults. Background technique [0002] With the development of science and technology, autonomous robots such as sweeping robots and mopping robots are widely used in daily life, and are popular with the public for their ability to clean themselves. [0003] In order to help the autonomous robot perceive the surrounding environment, a variety of sensors are configured in the autonomous robot, such as obstacle avoidance sensors, collision sensors and cliff sensors. These sensors will generate corresponding signals according to the actual environment, and then the autonomous robot can respond to these signals, for example, when the autonomous robot receives a collision signal, it will retreat to avoid obstacles. [0004] During the process of realizing the present disclosure, the inventors found that the related technolog...
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IPC IPC(8): G05D1/02
CPCG05D1/0219G05D1/0227
Inventor 谢濠键夏勇峰
Owner BEIJING XIAOMI MOBILE SOFTWARE CO LTD