A method for detecting the degree of wear of a component

Abstract

The application provides a method for detecting the wear degree of a cleaning component, comprising: determining the average current value of at least one motor corresponding to the cleaning component after starting the cleaning component; determining the current attenuation of the at least one cleaning component according to the average current value and the reference current value of the motor corresponding to the cleaning component, and judging whether the current attenuation exceeds the preset current change threshold; if the current attenuation of the motor corresponding to the at least one cleaning component exceeds the current change threshold of the motor, judging whether the historical working condition of the cleaning component meets the target wear condition; and outputting the target wear prompt information if the historical working condition meets the target wear condition. The application can accurately detect the wear degree of the cleaning component.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a method for detecting the wear degree of a cleaning component. BACKGROUND

[0002] A household cleaning robot has rich functions, and can achieve good cleaning functions through cleaning components such as a mop, an edge brush and a roller brush carried by itself. The mop, the edge brush and the roller brush all belong to easily damaged cleaning components, and will be worn after long-time use, thereby affecting the cleaning effect of the robot. Therefore, such wear components need to be replaced regularly.

[0003] In the related art, the running time of the robot can be detected, and when the running time reaches a set threshold, the user is prompted to replace all cleaning components of the robot. However, the wear degrees of different cleaning components are different, and using the running time of the robot as a basis for replacing the cleaning components cannot distinguish between cleaning components that are actually severely worn and cleaning components that are actually slightly worn, and replacing the cleaning components of the slightly worn model will cause a certain degree of waste. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a method for detecting the wear degree of a cleaning component, which is used to accurately detect the wear degree of the cleaning component.

[0005] In one aspect, the present application provides a method for detecting the wear degree of a cleaning component, applied to a robot, wherein the robot carries a plurality of cleaning components, including:

[0006] (1) After starting the cleaning component, determining the average value of the current of the motor corresponding to at least one cleaning component after starting the cleaning component;

[0007] (2) For the at least one cleaning component, determining the current attenuation according to the average value of the current of the motor corresponding to the cleaning component and a current reference value, and determining whether the current attenuation exceeds a preset current change threshold;

[0008] (3) If the current attenuation of the motor corresponding to the at least one cleaning component exceeds the current change threshold of the motor corresponding thereto, determining whether the historical working condition of the cleaning component meets a target wear condition;

[0009] (4) If yes, outputting a target wear prompt information.

[0010] In one embodiment, the historical working condition of the cleaning component is a historical cumulative working time length, and the target wear condition is that the historical cumulative working time length exceeds a preset first time length threshold; and / or,

[0011] The historical working condition of the cleaning component is a historical cleaning frequency, and the target wear condition is that the historical cleaning frequency exceeds a preset first frequency threshold.

[0012] In an embodiment, after determining whether the current attenuation exceeds the preset current variation threshold, the method further comprises:

[0013] If the current attenuation of any cleaning component does not exceed the current variation threshold of the corresponding motor, determining whether a historical working condition of the cleaning component satisfies a specified wear condition; wherein the specified wear condition is that a cumulative working duration exceeds a preset second duration threshold, and the second duration threshold is greater than the first duration threshold; and / or the specified wear condition is that a cleaning number exceeds a preset second number threshold, and the second number threshold is greater than the first number threshold.

[0014] If the historical working condition satisfies the specified wear condition, outputting a specified wear prompt information.

[0015] In an embodiment, the method further comprises:

[0016] After starting the cleaning component, determining whether the cleaning component is started for the first time;

[0017] If yes, taking an average value of the current of the motor corresponding to the cleaning component after the first start as a current reference value of the motor corresponding to the cleaning component;

[0018] If no, determining an average value of the current of the motor corresponding to each cleaning component, and then performing the step (2).

[0019] In an embodiment, after starting the cleaning component, the method further comprises:

[0020] When the robot is in a base station to prepare to perform a cleaning task, starting a plurality of cleaning components of the robot, and determining an average value of the current of the motor corresponding to at least one cleaning component after starting the plurality of cleaning components.

[0021] In an embodiment, after starting the cleaning component, the method further comprises:

[0022] After the robot performs the cleaning task and returns to the base station, updating a historical working condition of each cleaning component of the robot;

[0023] Self-cleaning the plurality of cleaning components, and before the self-cleaning ends, determining an average value of the current of the motor corresponding to at least one cleaning component after starting the cleaning component for self-cleaning.

[0024] In an embodiment, the method further comprises:

[0025] The method further comprises periodically determining the average current of the motor corresponding to each cleaning component during the robot starting the cleaning component to perform the cleaning task.

[0026] In an embodiment, the method further comprises:

[0027] When any cleaning component of the robot is replaced, the historical working condition of the replaced cleaning component is cleared.

[0028] In an embodiment, the method further comprises:

[0029] The replaced cleaning component is started, and the average current of the replaced cleaning component after the first start is determined as the reference value of the current of the motor corresponding to the replaced cleaning component.

[0030] In an embodiment, the method further comprises:

[0031] The historical working condition of each cleaning component is updated after the cleaning task is performed.

[0032] The application can accurately detect the wear degree of the cleaning component by means of the current attenuation of the motor corresponding to the cleaning component and the historical working condition of the cleaning component, and then prompt the replacement of the cleaning component when the wear degree is large enough, so as to ensure the replacement of the cleaning component at the appropriate time and reduce waste.

[0033] The application introduces the specified wear condition and the target wear condition, wherein the wear judgment condition of the former is more relaxed; the introduction of the two wear conditions can detect the wear degree of the cleaning component through the historical working condition of the cleaning component in the case that the current attenuation of the motor corresponding to the cleaning component exceeds or does not exceed the current change threshold, which plays a more comprehensive role in wear detection of the cleaning component, and solves the technical problem that wear detection cannot be performed through a single wear condition in the case of abnormal current detection.

[0034] The application starts the cleaning component when the robot is in the base station to determine the average current of the motor corresponding to the cleaning component after the start, which can avoid the difference in motor current caused by ground material, shape, obstacles and the like, and the detected average current can more objectively reflect the wear condition of the cleaning component, thereby solving the technical problem of error caused by the ground environment to the current detection.

[0035] The application can avoid the influence of dirt of the cleaning component on current detection when measuring motor current, and can avoid the difference of motor current caused by ground material, shape, obstacles and the like, and solves the technical problem of error caused by dirt of the cleaning component and ground environment on current detection. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments of the application will be briefly introduced.

[0037] Figure 1 The structural schematic diagram of the robot provided by an embodiment of the application is shown in the figure.

[0038] Figure 2 The flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0039] Figure 3 The overall flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0040] Figure 4 The overall flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0041] Figure 5 The overall flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0042] Figure 6 The overall flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0043] Figure 7 The overall flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application is shown in the figure.

[0044] Figure 8 The block diagram of the wear degree detection device of the cleaning component provided by an embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the application will be described in combination with the drawings in the embodiments of the application.

[0046] Similar labels and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the application, the terms “first”, “second” and the like are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0047] As Figure 1 shown, the embodiment provides a robot 1, comprising: at least one processor 11 and a memory 12, Figure 1 The processor 11 and the memory 12 are connected through a bus 10, and the memory 12 stores instructions executable by the processor 11, and the instructions are executed by the processor 11 to enable the robot 1 to execute all or part of the processes of the method in the following embodiments. In an embodiment, the robot 1 can be a cleaning robot for performing a wear degree detection method of a cleaning component.

[0048] The memory 12 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0049] The application also provides a computer-readable storage medium, which stores a computer program executable by the processor 11 to complete the wear degree detection method of the cleaning component provided by the application.

[0050] Referring to Figure 2 , the flowchart of the wear degree detection method of the cleaning component provided by an embodiment of the application, as Figure 2 shown, the method can include the following steps (1) to (4).

[0051] Step (1): After starting the cleaning component, determine the average value of the current of the at least one motor corresponding to the cleaning component after starting the cleaning component.

[0052] The application scheme is applied to a robot, which carries several cleaning components, which can include but are not limited to a mop, an edge brush, a roller, etc. Each cleaning component is controlled by its corresponding motor and rotates when the robot performs a cleaning task.

[0053] The robot can detect the current average value of the motor corresponding to the cleaning component in a specified time period after the current start of the cleaning component, for at least one cleaning component for which the wear degree detection needs to be performed. Here, the specified time period can be configured as needed. For example, the specified time period can be a time period of 10 seconds from the start of the cleaning component.

[0054] Step (2): For at least one cleaning component, the current attenuation is determined according to the current average value of the motor corresponding to the cleaning component and the current reference value, and it is determined whether the current attenuation exceeds the preset current change threshold.

[0055] The current reference value is the current average value of the motor corresponding to the cleaning component when the cleaning component is not worn. When the cleaning component is worn, the friction between the cleaning component and the contact surface decreases, and accordingly, the current average value of the motor controlling the rotation of the cleaning component also decreases.

[0056] The current change threshold is used to screen cleaning components with a large wear degree that need to be replaced.

[0057] For the cleaning component whose wear degree is detected, after obtaining the current average value of the motor corresponding to the cleaning component, the current attenuation can be obtained by subtracting the current average value from the current reference value of the motor corresponding to the cleaning component. The robot can determine whether the current attenuation exceeds the current change threshold.

[0058] Step (3): If the current attenuation of the motor corresponding to at least one cleaning component exceeds the current change threshold of the motor corresponding to the cleaning component, it is determined whether the historical working condition of the cleaning component meets the target wear condition.

[0059] Step (4): If yes, output the target wear prompt information.

[0060] On the one hand, if the current attenuation of the motor corresponding to the cleaning component whose wear degree is detected exceeds the current change threshold, it can be further determined whether the historical working condition of the cleaning component meets the target wear condition.

[0061] Here, the historical working condition can be the historical cumulative working time length; or the historical working condition can be the historical cleaning times; or the historical working condition can be the historical cumulative working time length and the historical cleaning times. Correspondingly, the target wear condition can be that the historical cumulative working time length exceeds a preset first time length threshold, which can be preconfigured according to experience; or the target wear condition can be that the historical cleaning times exceed a preset first number threshold, which can be preconfigured according to experience; or the target wear condition can be that the historical cleaning times exceed the first number threshold and the historical cumulative working time length exceeds the first time length threshold.

[0062] In one case, if the historical working condition of the cleaning component satisfies the target wear condition, it indicates that the cleaning component has been worn to the extent that it needs to be replaced, at this time, the target wear prompt information can be output. The target wear prompt information can indicate that the cleaning component needs to be replaced, and in addition, the target wear prompt information can indicate that the historical working condition of the cleaning component satisfies the target wear condition. For example, the robot can output the target wear prompt information through the voice output device carried by itself. For example, the robot can output the target wear prompt information through the user terminal application (such as a mobile phone App) docked with itself.

[0063] In another case, if the historical working condition of the cleaning component does not satisfy the target wear condition, it indicates that the cleaning component has not been worn to the extent that it needs to be replaced, and no processing is required.

[0064] On the other hand, if the current attenuation of the motor corresponding to the cleaning component whose wear degree is detected does not exceed the current change threshold of the motor corresponding to the cleaning component, it indicates that the cleaning component has not been worn to the extent that it needs to be replaced, and no processing is required.

[0065] Through the above measures, by means of the current attenuation of the motor corresponding to the cleaning component and the historical working condition of the cleaning component as two different dimensions of judgment basis, the wear degree of the cleaning component can be accurately detected, and then the cleaning component is prompted to be replaced when the wear degree is large enough, so that the cleaning component is replaced at the appropriate time, and waste is reduced.

[0066] In one embodiment, after starting the cleaning component, the robot can determine whether the cleaning component is started for the first time. The robot can determine whether the cleaning component is started for the first time according to the historical working condition corresponding to the cleaning component. On the one hand, if it is, it indicates that the cleaning component has not been worn at all, and the average value of the current of the motor corresponding to the cleaning component after the first start can be taken as the current reference value of the motor corresponding to the cleaning component. On the other hand, if the cleaning component is not started for the first time, the average value of the current corresponding to each cleaning component can be determined, and then step (2) is performed to detect the wear degree of the cleaning component.

[0067] Through the above measures, in the case that the robot starts the cleaning component for the first time, the current reference value of the motor corresponding to the cleaning component can be collected. Since the current reference value of the motor corresponding to different cleaning components is collected respectively as the basis for subsequent detection of the wear degree of the cleaning component, the problem of inconsistent initial current average value caused by differences in different motors, body structures and cleaning components can be effectively avoided, and the reliability of subsequent wear detection is improved.

[0068] In one embodiment, if the current attenuation of the motor corresponding to the cleaning component whose wear degree is detected does not exceed the current change threshold of the motor corresponding to the cleaning component, the robot can determine whether the historical working condition of the cleaning component satisfies the specified wear condition.

[0069] The specified wear condition is more relaxed than the target wear condition. The specified wear condition can be that the cumulative working time exceeds a preset second time threshold, and the second time threshold is greater than the first time threshold. Alternatively, the specified wear condition can be that the cleaning frequency exceeds a second frequency threshold, and the second frequency threshold is greater than the first frequency threshold. Alternatively, the specified wear condition can be that the cleaning frequency exceeds the second frequency threshold and the cumulative working time exceeds the second time threshold. For example, the first time threshold is 100 hours, and the second time threshold is 500 hours.

[0070] In one case, if the historical working condition meets the specified wear condition, it is considered that the cleaning component has been worn to the extent that it needs to be replaced. At this time, the specified wear prompt information can be output. The specified wear prompt information can indicate that the cleaning component needs to be replaced. In addition, the specified wear prompt information can indicate that the historical working condition of the cleaning component meets the specified wear condition.

[0071] In another case, if the historical working condition does not meet the specified wear condition, it means that the cleaning component has not been worn to the extent that it needs to be replaced. At this time, no processing is required.

[0072] By setting a specified wear condition that is more relaxed than the target wear condition, it can be ensured that in the case of current detection abnormality, the cleaning component that is excessively worn can be detected.

[0073] In an embodiment, when the robot performs step (1), the robot can start a plurality of cleaning components of the robot when the robot is in the base station and is ready to perform a cleaning task, and determine the average current of the motor corresponding to at least one cleaning component after starting the plurality of cleaning components.

[0074] In this case, when detecting the average current of the motor corresponding to the cleaning component, the robot is in the base station and has not started to perform the cleaning task, so the average current will not be affected by the dirt of the cleaning component. In addition, the difference in motor current caused by the ground material, shape, obstacles and the like is avoided. The average current obtained by detection can more objectively reflect the wear condition of the cleaning component, and the reliability of the wear detection is improved.

[0075] In an embodiment, the robot can detect the wear degree of the cleaning component after performing each cleaning task. After the robot performs the cleaning task and returns to the base station, the historical working condition of each cleaning component of the robot can be updated.

[0076] The robot can perform self-cleaning on the cleaning components carried by the robot, and determine the average current of the motor corresponding to at least one cleaning component after the self-cleaning starts the cleaning component. The robot can detect the average current of the motor corresponding to the cleaning component within a period of time (for example: 10 seconds) before the self-cleaning ends.

[0077] During the self-cleaning process, the cleaning component needs to be controlled to rotate by the motor corresponding to the cleaning component, and before the self-cleaning ends, the cleaning component is in a clean state to avoid the influence of dirt on current detection. At this time, the motor still controls the rotation of the cleaning component, so the average current of the motor at this time can be used in the wear degree detection process.

[0078] In an embodiment, the robot can periodically determine the average current of the motor corresponding to each cleaning component after starting the cleaning component during the execution of the cleaning task. In this case, during the execution of the cleaning task, the wear degree of the cleaning component can be detected based on the obtained average current, so that the cleaning component that needs to be replaced can be determined in time.

[0079] In an embodiment, after any cleaning component of the robot is replaced, the historical working condition of the replaced cleaning component can be cleared, so that the historical working condition of the replaced cleaning component can be updated subsequently, and the wear degree of the cleaning component can be judged based on the historical working condition.

[0080] In an embodiment, the robot can start the replaced cleaning component and determine the average current of the replaced cleaning component after the first start, as the current reference value of the motor corresponding to the replaced cleaning component. Since the replaced cleaning component has no wear at the first start, in this case, the average current can be used as the reference basis for subsequent wear detection.

[0081] In an embodiment, the robot can update the historical working condition of each cleaning component after each execution of the cleaning task. For example, the robot can update the cumulative working time of each cleaning component according to the working time of the cleaning task completed this time. Alternatively, the robot can add one to the cleaning times of each cleaning component. By updating the historical working condition of each cleaning component in time, the wear degree of the cleaning component can be detected based on the historical working condition subsequently.

[0082] The overall process of the wear degree detection scheme of the cleaning component is described in the following embodiments:

[0083] Referring to Figure 3 The overall process of the wear degree detection method of the cleaning component provided by an embodiment of the present application is shown in the following Figure 3As shown, when the robot is in the base station ready to perform a cleaning task, it can activate cleaning components such as the mop, side brush, and roller brush, and detect the average current of the motors corresponding to each cleaning component after startup. After activating the cleaning components, it can determine whether the robot is working for the first time; in other words, it can determine whether each cleaning component is being started for the first time.

[0084] On the one hand, if so, the average current of the motor corresponding to the cleaning component after the initial startup can be used as the reference current value for the motor corresponding to the cleaning component. Furthermore, the robot can begin performing cleaning tasks and, after completing the tasks, record the cumulative working time corresponding to each cleaning component as historical working data.

[0085] On the other hand, if not, the robot can determine the average current of the motor corresponding to each cleaning component and judge whether the current attenuation (change) between the average current and the motor's current reference value exceeds the current change threshold. If not, the robot can start performing the cleaning task and, after completing the cleaning task, record the cumulative working time corresponding to each cleaning component as historical working data. If yes, it can determine whether the cumulative working time of each cleaning component exceeds a first time threshold.

[0086] In one scenario, if the cumulative working time of each cleaning component does not exceed the first time threshold, the robot can begin to perform the cleaning task. After completing the cleaning task, the robot records the cumulative working time of each cleaning component as historical working data.

[0087] In another scenario, if the cumulative working time of a cleaning component exceeds a first time threshold, a wear warning message can be output via a voice output device or user terminal application. After the user confirms and replaces the excessively worn cleaning component, the robot can activate the replaced cleaning component, using the average current of the motor corresponding to the replaced cleaning component after the initial activation as a current reference value, and resetting the cumulative working time of the replaced cleaning component to zero. Furthermore, the robot can begin performing the cleaning task, and after completing the task, record the cumulative working time of each cleaning component as historical data.

[0088] See Figure 4 This is a schematic diagram of the overall process of a method for detecting the wear level of a cleaning component according to an embodiment of this application. Figure 4 Examples and Figure 3 The embodiments are largely the same, the difference being that when the current attenuation does not exceed the current change threshold, it can be determined whether the cumulative working time of each cleaning component exceeds the second time threshold. Figure 4 Threshold 2).

[0089] In one scenario, if the cumulative working time of each cleaning component does not exceed the second time threshold, the robot can begin to perform the cleaning task. After completing the cleaning task, the robot records the cumulative working time of each cleaning component as historical working data.

[0090] In another scenario, if the cumulative working time of a cleaning component exceeds the second time threshold, a wear warning message can be output via a voice output device or user terminal application. After the user confirms and replaces the excessively worn cleaning component, the robot can activate the replaced cleaning component and use the average current of the motor corresponding to the replaced cleaning component after the initial activation as the current reference value. Furthermore, the robot can begin performing the cleaning task and, upon completion, record the cumulative working time of each cleaning component as historical working data.

[0091] See Figure 5 This is a schematic diagram of the overall process of a method for detecting the wear level of a cleaning component according to an embodiment of this application. Figure 5 Examples and Figure 3 The embodiments are largely the same, the difference being that... Figure 5 In this embodiment, wear detection of the cleaning component is performed when the robot returns to the base station after completing the cleaning task. The robot can collect the average current of the motor corresponding to the cleaning component before the self-cleaning is completed, and then use the average current to determine the wear degree of the cleaning component.

[0092] See Figure 6 This is a schematic diagram of the overall process of a method for detecting the wear level of a cleaning component according to an embodiment of this application. Figure 6 As shown, Figure 6 Examples and Figure 3 The embodiments are largely the same, the difference being that... Figure 6 The embodiment continuously detects the average current of the motor corresponding to each cleaning component during the cleaning task, and then uses the average current to determine the wear level of the cleaning component.

[0093] See Figure 7 This is a schematic diagram of the overall process of a method for detecting the wear level of a cleaning component according to an embodiment of this application. Figure 7 Examples and Figure 3 The embodiments are largely the same, the difference being that... Figure 7 In this embodiment, the number of cleaning cycles is used as historical working conditions. If the current attenuation of the motor corresponding to any cleaning component exceeds the current change threshold, it can be determined whether the number of cleaning cycles of that cleaning component exceeds the first count threshold.

[0094] In one case, if the cleaning times of the cleaning component does not exceed the first threshold, the robot can start to perform the cleaning task and update the cleaning times of the cleaning component after completing the cleaning task.

[0095] In another case, if the cleaning times of the cleaning component exceeds the first threshold, the robot can output a wear prompt information through the voice output device or the user terminal application. After the user confirms and replaces the excessively worn cleaning component, the robot can start the replaced cleaning component, take the average value of the current of the motor corresponding to the replaced cleaning component as the current reference value, and clear the cleaning times of the cleaning component. Further, the robot can start to perform the cleaning task and update the cleaning times of the cleaning component after completing the cleaning task.

[0096] Figure 8 is a block diagram of a wear degree detection device of a cleaning component according to an embodiment of the present application, as shown in the figure, the device can include: Figure 8

[0097] The determining module 810 is configured to determine the average value of the current of the motor corresponding to at least one cleaning component after starting the cleaning component;

[0098] The first judging module 820 is configured to determine the current attenuation of the motor corresponding to the cleaning component according to the average value of the current of the motor corresponding to the cleaning component and the current reference value, and judge whether the current attenuation exceeds the preset current change threshold;

[0099] The second judging module 830 is configured to judge whether the historical working condition of the cleaning component meets the target wear condition if the current attenuation of the motor corresponding to the cleaning component exceeds the current change threshold of the motor corresponding to the cleaning component;

[0100] The output module 840 is configured to output the target wear prompt information if the target wear condition is met.

[0101] The functions and effects of each module in the above device are realized in the implementation process of the corresponding steps in the above cleaning component wear degree detection method, which will not be repeated here.

[0102] ​In several embodiments provided in the present application, the disclosed apparatus and method can also be implemented in other manners. The embodiments described above are only schematic. For example, the flowcharts and block diagrams in the embodiments of the present application illustrate the possible implementation ways of the apparatus, methods and computer program products according to the present application. In this regard, the flowcharts and block diagrams in the embodiments of the present application can represent a possible implementation way of the device, methods and computer program products according to the present application. In some alternative implementations, the functions noted in the flowcharts or block diagrams can occur in a sequence different from that noted in the flowcharts or block diagrams. For example, two sequentially numbered steps in the flowcharts or block diagrams can actually be executed concurrently or in the reverse order. Depending on the implementation, the functions can be executed in a different order. It should also be noted that each block in the flowcharts or block diagrams and combinations of blocks in the flowcharts or block diagrams can be implemented by dedicated hardware-based systems that perform the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0103] In addition, each functional module in the embodiments of the present application can be integrated together to form a separate part, or each module can exist independently, or two or more modules can be integrated to form a separate part.

[0104] If the functions are implemented in the form of software function modules and sold or used as an independent product, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or partly or the part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk.

Claims

1. A method for detecting the wear degree of cleaning components, applied to a robot, the robot being equipped with several cleaning components, characterized in that, include: (1) After the cleaning component is started, determine the average current of the motor corresponding to at least one cleaning component within a specified time period after the cleaning component is started; (2) For the at least one cleaning component, determine the current attenuation amount based on the average current value and current reference value of the motor corresponding to the cleaning component, and determine whether the current attenuation amount exceeds the preset current change threshold. (3) If the current attenuation of the motor corresponding to the at least one cleaning component exceeds the current change threshold of the corresponding motor, determine whether the historical working conditions of the cleaning component meet the target wear condition. (4) If satisfied, output target wear warning information; Wherein, the current attenuation is equal to the current reference value minus the current average value; the current reference value is the average current of the motor corresponding to the cleaning component when the cleaning component is not worn.

2. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The historical operating history of the cleaning component is its cumulative historical operating time; the target wear condition is when the cumulative historical operating time exceeds a preset first time threshold; and / or, The historical working status of the cleaning component is the number of historical cleaning cycles, and the target wear condition is when the number of historical cleaning cycles exceeds a preset first-time threshold.

3. The method for detecting the wear degree of cleaning components according to claim 2, characterized in that, After determining whether the current attenuation exceeds a preset current change threshold, the method further includes: If the current attenuation of any cleaning component does not exceed the current change threshold of its corresponding motor, determine whether the historical working conditions of the cleaning component meet the specified wear conditions; wherein, the specified wear conditions are that the cumulative working time exceeds a preset second time threshold, the second time threshold is greater than the first time threshold; and / or, the specified wear conditions are that the number of cleanings exceeds a preset second number threshold, the second number threshold is greater than the first number threshold; If the historical working conditions meet the specified wear conditions, output the specified wear warning information.

4. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The method further includes: After activating the cleaning component, determine whether the cleaning component is being activated for the first time; If so, the average current of the motor corresponding to the cleaning component after the first start-up shall be used as the current reference value of the motor corresponding to the cleaning component; If not, determine the average current of the motor corresponding to each cleaning component, and then proceed to step (2).

5. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The method further includes determining the average current of the motor corresponding to at least one cleaning component after activating the cleaning component, wherein the current is determined after activating the cleaning component. When the robot is in the base station and ready to perform a cleaning task, several cleaning components of the robot are activated, and the average current of the motor corresponding to at least one cleaning component is determined after the several cleaning components are activated.

6. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The method further includes determining the average current of the motor corresponding to at least one cleaning component after activating the cleaning component, wherein the current is determined after activating the cleaning component. After the robot completes the cleaning task and returns to the base station, update the historical working information of each cleaning component of the robot. The plurality of cleaning components are self-cleaned, and before the self-cleaning ends, the average current of the motor corresponding to at least one cleaning component is determined after the self-cleaning is started.

7. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The step of determining the average current of the motor corresponding to each cleaning component after starting the cleaning component includes: During the process of the robot activating the cleaning components to perform the cleaning task, the average current of the motor corresponding to each cleaning component is periodically determined.

8. The method for detecting the wear degree of cleaning components according to claim 1, characterized in that, The method further includes: When any cleaning component of the robot is replaced, the historical working status of the replaced cleaning component is reset to zero.

9. The method for detecting the wear degree of a cleaning component according to claim 8, characterized in that, The method further includes: Start the replaced cleaning component and determine the average current value corresponding to the replaced cleaning component after the first start, which is used as the current reference value of the motor corresponding to the replaced cleaning component.

10. The method for detecting the wear degree of a cleaning component according to claim 1, characterized in that, The method further includes: After performing a cleaning task, update the historical working information of each cleaning component.

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