Autonomous robot and device and method for fault detection

Abstract

The present invention provides an autonomous robot and a device and method for fault detection, belonging to the robot field. The method comprises: when a plurality of first distances detected by a proximity detector are smaller than a first presetting threshold, controlling an autonomous robot to perform spinning on the spot; obtaining a plurality of distances detected by the proximity detector in the spinning process; and determining whether the proximity detector has faults or not based on the second distances and the second presetting threshold. In the process of the spinning of the autonomous robot, the proximity detector is used to detect the distance between the autonomous robot and the barrier in various directions to determine the surrounding of the autonomous robot, and autonomous robot and the device and method for fault detection determine whether the proximity detector has faults or not based on the second distances and the second presetting threshold to avoid that the autonomous robot detects the fault when the proximity detector is shielded by a barrier or close to a barrier at some direction so as to allow the accuracy of the fault detection to be higher through the autonomous 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, robots with autonomous control capabilities have emerged, which can determine their own movement methods and routes by actively sensing the surrounding environment. [0003] In order to help the autonomous robot perceive the surrounding environment, various sensors are configured in the autonomous robot. For example, as a very important sensor, the proximity sensor can detect the distance between the wall and the autonomous robot, so that the autonomous robot can keep a certain distance from the wall and walk along the wall without contact. However, it is also possible for a proximity sensor to fail, for example if the distance detected by the proximity sensor is always small or zero. Then the fault detection principle adopted in the...

AI Technical Summary

Problems solved by technology

[0005] When the autonomous robot is located in a small space, since the distance between the autonomous robot and the surrounding walls is very close, the collision sensor will continuously trigger the collision signal when moving. At this time, the collision sensor makes the autonomous robot continuously deflect the direction. Although the proximity sensor is normal, the distance it detects It will still be too small or zero. When the above-mentioned error detection mechanism is adopted, this will make the autonomous robot mistakenly believe that the proximity sensor is faulty, thereby falsely reporting an error, resulting in low accuracy of the autonomous robot's detection of faults

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