Method for identifying a fault condition in a cleaning robot
By comparing the deviation between the single filling time and the average filling time of the cleaning robot, fault conditions are identified, solving the problem of traditional cleaning robots continuing to clean under fault conditions, and achieving effective removal of dirt and robot protection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BSH HAUSGERATE GMBH
- Filing Date
- 2021-06-08
- Publication Date
- 2026-05-12
AI Technical Summary
Traditional cleaning robots continue cleaning when they malfunction, resulting in dirt remaining in the area that needs cleaning without being removed, and may also damage the robot.
By comparing the deviation between the time it takes to fill a collection container once and the average time it takes to fill it, fault conditions are identified, and the cleaning process is interrupted when the deviation exceeds a threshold.
It effectively avoids the distribution of dirt in the area to be cleaned, prevents robot damage, adapts to different levels of pollution in different environments, and improves the accuracy and reliability of fault identification.
Smart Images
Figure CN115666352B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method for identifying fault conditions in a cleaning robot and a cleaning robot having a control / regulation device configured / programmed to perform the method. Background Technology
[0002] Traditional cleaning robots include an air intake through which contaminated air drawn in by the robot flows. Furthermore, such robots typically include a separator, usually implemented as a filter, to separate contaminants from the contaminated air drawn in through the air intake. Additionally, traditional cleaning robots have an exhaust duct for discharging the cleaned air obtained by the separator. Furthermore, cleaning robots typically include a collection container for collecting the separated contaminants. The fill level of this collection container is typically determined by monitoring the pressure difference between the robot's air intake and exhaust ducts. If this pressure difference increases sharply, it is determined that the maximum fill level of the collection container has been reached. Typically, if the maximum fill level is determined to exist, an error message is displayed to the user of the cleaning robot, but the robot continues cleaning uninterrupted.
[0003] What often proves to be a disadvantage here is that, although an incident message is displayed, the user will only notice the malfunction when they inspect the cleaning robot, such as when the malfunction is due to a blocked air intake. This can result in the cleaning robot no longer picking up dirt as the cleaning process continues, but instead allowing the dirt to "spread" onto the areas that still need cleaning. Summary of the Invention
[0004] Therefore, the object of the present invention is—in particular to eliminate the aforementioned disadvantages—to describe an improved method for identifying fault conditions in a cleaning robot. It is also intended to provide a cleaning robot configured / programmed to perform this method.
[0005] These tasks are solved by the method according to the invention or by the cleaning robot according to the invention. Preferred embodiments are the subject of the description below.
[0006] Therefore, the basic idea of this invention is to compare the average time it takes for the collection container of the cleaning robot to fill with dirt during the robot's operation with the time it takes for the container to fill in a single instance. This allows for the identification of a malfunction in the cleaning robot when the time for a single instance to fill deviates significantly from the average time. Upon identification of a malfunction, the cleaning process can be interrupted.
[0007] Therefore, it is advantageous to avoid situations where, especially in the event of a malfunction caused by air intake blockage, the cleaning robot continues to travel over the area to be cleaned, spreading dirt, especially wet dirt, onto the remaining area without removing the dirt and thus failing to clean the area. Furthermore, damage to the cleaning robot that might occur due to a malfunction can be prevented. Moreover, the average filling time depends on the average dirt level of the area to be cleaned, allowing the cleaning robot to learn how long it will take on average in its familiar environment before its collection container is full. Therefore, even when the cleaning robot is operating in an environment different from the standard environment, malfunctions can be reliably identified.
[0008] The method for identifying fault conditions in a cleaning robot having a collection container for collecting waste, according to the present invention, specifies that the average time for the collection container to fill with waste is determined during the operation of the cleaning robot. Furthermore, according to this method, the existence of a fault condition is identified once the deviation of a single filling time from the determined average filling time exceeds a predetermined and defined threshold value. As described above, this provides the advantage that, in the event of a fault condition, the cleaning robot can be prevented from malfunctioning or breaking down. Moreover, the value of the average filling time depends on the (area-specific) average level of contamination in the area to be cleaned by the cleaning robot, making it possible to reliably identify the existence of a fault condition even if the surface to be cleaned is more contaminated than average—as might be the case, for example, in a workshop.
[0009] According to a preferred extension of this method, the single filling time is taken as the operating time of the cleaning robot during the period between emptying the collection container and the next identification of the collection container reaching a predetermined maximum fill level. That is, only the operating time of the cleaning robot that is actually cleaning is considered. In this way, the filling time or average filling time can be advantageously determined with particular accuracy.
[0010] According to another preferred extension of the method, a fault condition is classified as having occurred once the duration of a single filling operation falls below the determined average filling time by a predetermined difference exceeding a threshold. In such a case below the threshold, a fault condition is particularly likely to exist, thus advantageously avoiding the identification of a fault condition when it does not actually exist.
[0011] In another preferred extension of the method, the average filling time is calculated by taking the arithmetic mean of the times it takes to fill a single container. This allows for a particularly simple determination of the filling time based on previous filling times.
[0012] Another advantageous extension of the method specifies that the difference is defined as the absolute deviation from the average filling time. Here, depending on the cleaning performance of the cleaning robot, the absolute deviation is suitably a defined time value. Particularly preferably, the absolute deviation is a value of 1 to 3 hours, and most preferably a value of 2 hours. The advantage of implementing such an extended method is its particularly low computational cost.
[0013] Another advantageous extension of this method specifies that the difference is defined as a relative deviation from the average filling time. Here, this relative deviation preferably corresponds to a multiple standard deviation, most preferably three times the standard deviation, of the single filling time considered relative to the average filling time. This allows for particularly reliable identification of the presence of fault conditions.
[0014] According to another advantageous extension of the method, the cleaning robot can operate in at least two different operating modes, which can be cleaning modes. Here, the average filling time is determined separately for each operating mode, and malfunctions are subsequently identified. Preferably, these operating modes differ in terms of the suction performance of the cleaning robot. Therefore, it is also advantageous to use this method to reliably identify the presence of malfunctions in different operating modes that match the different requirements imposed on the cleaning robot.
[0015] According to another advantageous extension, the cleaning robot can also determine the average filling time for operations with mixed operating modes. To this end, the corresponding average filling time is calculated based on the cleaning cycles performed in only one of these operating modes, from emptying the collection container until a predetermined maximum fill level is identified. Once these corresponding average filling times are available, the current equivalent single filling time and equivalent average filling time in the currently executed cleaning cycle can be determined based on a weighted proportion of the corresponding operating mode (e.g., in terms of time, distance, or area). Advantageously, the robot's behavior, set by the user, is taken into account in this way.
[0016] In another preferred extension of the method, the cleaning robot creates a digital map of the area to be cleaned, which is stored in the cleaning robot's digital map memory. This map may include the areas to be cleaned in one or more rooms. It is then determined whether the cleaning robot is cleaning an area that has already been mapped. The average fill time is determined individually for each digital map or each room, and fault conditions are subsequently identified. An advantageous result of this is that different average fill times can be determined based on which digital map or room the cleaning robot has identified, or these different average fill times can be used to identify fault conditions.
[0017] According to another preferred extension of the method, in order to determine the duration of a single filling, the pressure difference between the air intake and exhaust ducts of the cleaning robot is monitored during its operation. This provides a particularly easy way to determine this duration of a single filling.
[0018] In another preferred extension of the method, upon identifying a fault state, a fault message is generated, and the fault message is displayed to the user of the cleaning robot or otherwise made known to the user of the cleaning robot by means of an information device provided for this purpose on the cleaning robot and—alternatively or additionally—by means of a mobile terminal device connected to the cleaning robot in a data transmission manner. This allows the user of the cleaning robot to react to the identified fault state in a particularly intuitive way.
[0019] The present invention also relates to a cleaning robot having a collection container for collecting waste and a control / regulation device configured / programmed to perform the method described above according to the present invention.
[0020] Other important features and advantages of the invention will become apparent from the accompanying drawings and from the description thereof.
[0021] It is readily understood that the features mentioned above and to be described below can be applied not only in the combinations described separately, but also in other combinations or individually, without departing from the scope of protection of this invention. Attached Figure Description
[0022] Preferred embodiments of the invention are shown in the accompanying drawings and described in more detail in the following description. (Unique) Figure 1 The illustration shows an example of a method for identifying fault conditions in a cleaning robot according to the invention. Detailed Implementation
[0023] The only Figure 1The diagram illustrates an example of a method V for identifying a fault state F in a cleaning robot according to the invention. The cleaning robot includes a collection container for collecting waste and a control / regulation device configured / programmed to execute the method V. According to the method V, the average filling time 1 of the collection container during the operation of the cleaning robot is determined. Furthermore, according to the method V, a fault state F is identified once the deviation of a single filling time 2 from the determined average filling time 1 exceeds a predetermined difference 6, i.e., when the single filling time 2 is lower than a predetermined threshold 3 determined by means of the difference 6. Here, the single filling time 2 is defined as the operating time 4 during which the cleaning robot cleans between emptying the collection container and the next identification of the collection container reaching a predetermined maximum filling level. Once the single filling time 2 is lower than the determined average filling time 1 by a degree exceeding the predetermined difference 6, the fault state F is classified as having occurred. The average filling time 1 is calculated by taking the arithmetic mean 5 of the single filling times 2. For example, the average filling time is calculated by taking the arithmetic mean 5 of n single filling times 2. In the example shown, the average filling time 1 is calculated by taking the arithmetic mean 5 of four single filling times 2. Here, the difference 6 is defined as the deviation from the average filling time 1.
[0024] The deviation of the specified difference 3 can be an absolute deviation from the average filling time 1. This absolute deviation can be a time value defined as 1 to 3 hours, for example, 2 hours. Alternatively, the deviation of the specified difference 6 can be a relative deviation from the average filling time 1. Here, the relative deviation can correspond to a multiple standard deviation, for example, three times the standard deviation, of the single filling time 2 considered for the average filling time 1 relative to the average filling time 1. Determining the average filling time 1 or calculating the arithmetic mean 5 can be reset after identifying the fault condition F.
[0025] The cleaning robot can operate in at least two different operating modes. These operating modes include, for example, a cleaning mode, and differ in the robot's suction performance. An average filling time 1 is determined separately for each operating mode, and a fault condition F is subsequently identified. This means that, depending on the operating mode in which the cleaning robot is operating, another average filling time 1 assigned to that operating mode is used as a reference value.
[0026] The cleaning robot can also determine the average filling time 1 for operations with mixed operating modes. To this end, the corresponding average filling time 1 is calculated based on the cleaning cycles performed in only one of these operating modes, from emptying the collection container until a predetermined maximum fill level is identified in the container. Once these corresponding average filling times are available, the current equivalent single filling time 2 and the equivalent average filling time 1 in the currently executed cleaning cycle can be determined based on a weighted proportion of the corresponding operating mode (e.g., in terms of time, route, or area).
[0027] The cleaning robot can also be configured to: create a digital map of the area to be cleaned and store the digital map in the cleaning robot's digital map memory. It is then determined whether the cleaning robot is cleaning an area that has already been mapped. Next, the average fill time 1 is determined individually for each digital map, and a fault state F is subsequently identified. This means that if the cleaning robot has identified an area that has already been mapped, the average fill time 1 assigned to that digital map is used for method V.
[0028] To determine the duration of each filling cycle, the pressure difference between the air intake and exhaust ducts of the cleaning robot is monitored during operation. A separation device and a collection container for separating contaminants from the polluted air drawn in through the intake duct can be arranged between the air intake and exhaust ducts. If a fault condition F is identified, a fault message is generated. This fault message is displayed to the user of the cleaning robot. The fault message can be provided to the user of the cleaning robot using an information device specifically designed for this purpose, and alternatively or additionally, via a mobile terminal device connected to the cleaning robot for data transmission.
[0029] List of reference numerals
[0030] 1. Average time to fill
[0031] 2. Duration of filling a single container
[0032] 3. Threshold
[0033] 4. Running time
[0034] 5. Arithmetic Mean
[0035] 6. Difference
[0036] F Fault Status
[0037] Method V.
Claims
1. A method (V) for identifying a fault condition (F) in a cleaning robot having a collection container for collecting waste, wherein the method determines the average filling time (1) of the collection container for waste during operation of the cleaning robot; and wherein, according to the method, the presence of a fault condition (F) is identified once the deviation of a single filling time (2) from the determined average filling time (1) exceeds a predetermined and defined threshold value (6). Once the single filling time (2) is lower than the determined average filling time (1) by a predetermined difference (6) and thus falls below the threshold (3), the fault state (F) is classified as having occurred.
2. The method (V) according to claim 1, characterized in that, The running time (4) during which the cleaning robot cleans the collection container between emptying it and the next time the collection container is identified as having reached a predetermined maximum filling level is used as the single filling time (2).
3. The method (V) according to claim 1 or 2, characterized in that, The average filling time (1) is calculated by taking the arithmetic mean (5) of the single filling time (2).
4. The method (V) according to claim 1 or 2, characterized in that, The difference (6) is defined as the absolute deviation from the average filling time (1), wherein the absolute deviation has a predetermined time value.
5. The method (V) according to claim 4, characterized in that, The absolute deviation has a value of 1 to 3 hours.
6. The method (V) according to claim 5, characterized in that, The absolute deviation has a value of 2 hours.
7. The method (V) according to claim 1 or 2, characterized in that, The difference (6) is defined as the relative deviation from the average filling time (1), wherein the relative deviation corresponds to the standard deviation of the single filling time (2) considered for the average filling time (1) relative to the average filling time (1).
8. The method (V) according to claim 7, characterized in that, The relative deviation corresponds to three standard deviations of the single filling time (2) considered for the average filling time (1) relative to the average filling time (1).
9. The method (V) according to claim 1 or 2, characterized in that, The cleaning robot is capable of operating in at least two different operating modes, wherein the average filling time (1) is determined separately for each operating mode and a fault state (F) is subsequently identified, wherein the operating modes are different.
10. The method (V) according to claim 9, characterized in that, The cleaning robot is capable of operating in cleaning mode.
11. The method (V) according to claim 9, characterized in that, The operating modes differ in terms of the suction performance of the cleaning robot.
12. The method (V) according to claim 1 or 2, characterized in that, The cleaning robot is capable of operating in at least two different operating modes, wherein, based on the weighted average filling time determined for each operating mode using the time spent or distance traveled or area cleaned in the operating mode used, the equivalent average filling time (1) and the equivalent single filling time (2) are calculated and the resulting fault state (F) is identified.
13. The method (V) according to claim 12, characterized in that, The cleaning robot is capable of operating in cleaning mode.
14. The method (V) according to claim 1 or 2, characterized in that, The cleaning robot creates a digital map of the area to be cleaned and the digital map is stored in a map memory, wherein it is identified whether the cleaning robot is cleaning an area that has been mapped; and the average filling time (1) is determined individually for each digital map and the fault state (F) is identified thereafter.
15. The method (V) according to claim 1 or 2, characterized in that, In order to determine the duration of a single filling (2), the pressure difference between the air intake and exhaust ducts of the cleaning robot is monitored during the operation of the cleaning robot.
16. The method (V) according to claim 1 or 2, characterized in that, In response to the identification of the fault state (F), a fault message is generated and transmitted to the user of the cleaning robot by means of the information device provided for this purpose by the cleaning robot and / or by means of a mobile terminal device connected to the cleaning robot in the form of data transmission.
17. A cleaning robot having a collection container for collecting waste and a control / regulation device configured / programmed to perform the method according to any one of claims 1 to 16.