Self-moving robot system and method for detecting anomalies within a base station

Abstract

The application provides a self-moving robot system and a method for detecting abnormalities in a base station. The self-moving robot system comprises a self-moving robot and a base station, and the base station comprises a shell, a receiving cavity for the self-moving robot to enter and at least partially accommodate the self-moving robot. The self-moving robot comprises a body, a walking assembly for supporting the body and driving the self-moving robot to move in a working area, a control assembly for controlling the walking assembly to move and return to the base station, and an identification assembly installed on the body. When the self-moving robot returns to the base station, the identification assembly identifies whether there is an abnormality in the receiving cavity. If there is an abnormality, the control assembly controls the self-moving robot to stop returning to the base station. The application configures the self-moving robot with the identification assembly. When the robot returns to the base station, the identification assembly identifies whether there is an abnormality in the receiving cavity of the base station, and then controls whether to continue docking, thereby improving the system reliability and the user experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent device technology, and in particular to a self-moving robot system and a method for detecting anomalies within a base station. Background Technology

[0002] With the development of science and technology, intelligent self-moving robots have become widely known. Because self-moving robots can automatically execute pre-set tasks without human intervention, they are widely used in industrial applications and home products. Industrial applications include robots performing various functions; home product applications include self-moving robots such as lawnmowers, vacuum cleaners, and cleaning machines. These intelligent self-moving robots greatly save people's time and bring great convenience to both industrial production and home life.

[0003] Typically, autonomous mobile robots are equipped with infrared sensors, which guide them to achieve precise docking with base stations. The base station then enables operations such as charging the robot and replacing accessories. However, current docking procedures for autonomous mobile robots cannot detect base station anomalies. That is, even when there are foreign objects inside the base station or the base station is malfunctioning, the autonomous mobile robot continues to dock based on the infrared sensor feedback. Therefore, if the base station malfunctions, following the normal docking procedure may result in damage to both the autonomous mobile robot and the base station. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a self-moving robot and a method for detecting anomalies within a base station.

[0005] To achieve one of the aforementioned objectives, one embodiment of the present invention provides a self-moving robot system, comprising a self-moving robot and a base station.

[0006] The base station includes: a casing;

[0007] A receiving cavity is provided for the self-moving robot to drive into and to at least partially accommodate the self-moving robot.

[0008] The self-moving robot includes: a body;

[0009] A walking component supports the body and propels the self-moving robot to move within the work area;

[0010] The control component controls the movement and operation of the walking component, and its return to the base station.

[0011] An identification component is installed on the body. When the self-moving robot returns to the base station, the identification component identifies whether there is an abnormality in the containment cavity. If there is an abnormality, the control component controls the self-moving robot to stop returning to the base station.

[0012] As a further improvement of one embodiment of the present invention, the identification component includes a vision component; the vision component acquires image information of the base station along a plane perpendicular to the entrance of the receiving cavity when the self-moving robot is a first preset distance away from the entrance of the receiving cavity, as first real-time identification information; the control component pre-stores first standard identification information of the base station, and the control component compares the first real-time identification information with the first standard identification information. When the first real-time identification information is inconsistent with the first standard identification information, it is determined that the base station is abnormal.

[0013] As a further improvement of one embodiment of the present invention, the first standard identification information includes image information of the side of the base station where the entrance of the receiving cavity is located, when there are no obstacles at the entrance of the receiving cavity and inside the receiving cavity.

[0014] As a further improvement of one embodiment of the present invention, the receiving cavity is formed on the outer shell with a unique entrance for the self-moving robot to enter and exit the receiving cavity; the distance d between the lower edge of the entrance and the ground is 3mm≤d≤10mm; the width w of the entrance is 260mm≤w≤350mm; and the height h of the entrance is 120mm≤h≤150mm.

[0015] As a further improvement of one embodiment of the present invention, the first preset distance is 0.5 meters.

[0016] As a further improvement of one embodiment of the present invention, after the self-mobile robot returns to the base station, the identification component collects the second real-time identification information of the base station;

[0017] The control component pre-stores the second standard identification information of the base station. The second standard identification information includes image information when there is no abnormality in the containment cavity. The control component compares the second real-time identification information with the second standard identification information. When the second real-time identification information is inconsistent with the second standard identification information, it is determined that there is an abnormality in the base station. The control component then controls the self-moving robot to stop the preset working operation.

[0018] As a further improvement of one embodiment of the present invention, the recognition component includes a panoramic camera, and the second real-time recognition information is a panoramic image of the inner wall of the reception cavity synthesized from image information collected by the image component during the process of the self-moving robot entering the reception cavity.

[0019] As a further improvement of one embodiment of the present invention, the self-moving robot includes a mopping assembly with replaceable mop pads.

[0020] The base station includes a mop replacement assembly for replacing the mop cloth of the mopping assembly. The mop replacement assembly is movably disposed within the base station and includes a storage state and an operating state. In the storage state, the mop replacement assembly is housed above the receiving cavity. In the operating state, the mop replacement assembly is at least partially moved into the receiving cavity to replace the mop cloth of the mopping assembly.

[0021] In the second real-time identification information, when any part of the mop replacement component is inside the receiving cavity, the control component determines that the base station is abnormal.

[0022] As a further improvement to one embodiment of the present invention, the self-moving robot includes a rechargeable battery assembly.

[0023] The base station includes a charging component for charging the battery assembly. The charging component is movably disposed within the base station and includes a charging state and a non-charging state. In the non-charging state, the charging component is housed below the receiving cavity. In the charging state, the charging component is at least partially moved into the receiving cavity to charge the battery assembly.

[0024] In the second real-time identification information, when the charging component is not in the charging state, the control component determines that the base station is abnormal.

[0025] As a further improvement of one embodiment of the present invention, the self-moving robot includes a water storage component;

[0026] The base station includes a water injection component for adding water to the water storage component. The water injection component is movably disposed within the base station and includes a standby state and a water injection state. In the standby state, the water injection component is housed outside the receiving cavity. In the water injection state, the water injection component is at least partially moved into the receiving cavity to inject water into the water storage component.

[0027] In the second real-time identification information, when any part of the water injection component is inside the containment cavity, the control component determines that the base station is abnormal.

[0028] As a further improvement of one embodiment of the present invention, the water injection assembly includes a water tank, which is housed above the receiving cavity;

[0029] In the second real-time identification information, when the water tank leaks liquid into the containment cavity, the control component determines that the base station is abnormal.

[0030] As a further improvement of one embodiment of the present invention, the recognition component is a camera, and the central axis of the camera forms an acute angle α with the plane where the ground is located, and 5°≤α≤10°.

[0031] As a further improvement of one embodiment of the present invention, the self-moving robot includes an alarm component. When the base station is abnormal, the control component controls the alarm component to transmit an abnormal signal to the outside world.

[0032] As a further improvement of one embodiment of the present invention, the self-moving robot includes an obstacle removal component. When the base station is abnormal, the control component controls the obstacle removal component to remove obstacles in a pre-set manner.

[0033] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a method for detecting anomalies within a base station using a self-moving robot system, comprising: controlling the self-moving robot to return to the base station; receiving identification information collected by an identification component; determining whether an anomaly exists within the containment cavity of the base station based on the identification information; and if an anomaly exists, controlling the self-moving robot to stop returning.

[0034] As a further improvement of one embodiment of the present invention, when the self-moving robot is at a first preset distance from the entrance of the receiving cavity, it collects image information of the base station along a plane perpendicular to the entrance as first real-time identification information; the first real-time identification information is compared with the first standard identification information stored in advance, and when the first real-time identification information is inconsistent with the first standard identification information, it is determined that the base station is abnormal.

[0035] As a further improvement of one embodiment of the present invention, the first standard identification information includes image information of the side of the base station where the entrance of the receiving cavity is located, when there are no obstacles at the entrance of the receiving cavity and inside the receiving cavity.

[0036] As a further improvement of one embodiment of the present invention, the receiving cavity is provided on the outer shell as the only entrance for the self-moving robot to enter and exit the receiving cavity; the distance d between the lower edge of the entrance and the ground is 3mm≤d≤10mm; the width w of the entrance is 260mm≤w≤350mm; the height h of the entrance is 120mm≤h≤150mm.

[0037] As a further improvement of one embodiment of the present invention, the first preset distance is set to 0.5 meters.

[0038] As a further improvement of one embodiment of the present invention, after the self-moving robot returns to the base station, the second real-time identification information of the base station is collected through the identification component;

[0039] The second instant identification information is compared with the pre-stored second standard identification information, which includes image information when there is no abnormality in the containment cavity. When the second instant identification information is inconsistent with the second standard identification information, it is determined that there is an abnormality in the base station, and the self-moving robot is controlled to stop the preset working operation.

[0040] As a further improvement of one embodiment of the present invention, the self-moving robot is controlled to acquire panoramic images of the inner wall of the receiving cavity.

[0041] As a further improvement of one embodiment of the present invention, the second real-time identification information is used to identify whether any part of the mop replacement component exists in the receiving cavity. When any part of the mop replacement component is present in the receiving cavity, it is determined that the base station is abnormal.

[0042] As a further improvement of one embodiment of the present invention, the charging component in the containment cavity is identified by the second real-time identification information. When the charging component is not in a charging state, it is determined that the base station is abnormal.

[0043] As a further improvement of one embodiment of the present invention, the second real-time identification information is used to identify whether the water injection component in the containment cavity is in a standby state. When any part of the water injection component is in the containment cavity, it is determined that the base station is abnormal.

[0044] As a further improvement of one embodiment of the present invention, the second real-time identification information is used to identify whether there is water leakage in the containment cavity. When there is water leakage in the containment cavity, it is determined that the base station is abnormal.

[0045] As a further improvement of one embodiment of the present invention, when the base station is abnormal, the self-moving robot is controlled to transmit an abnormal signal to the outside world.

[0046] As a further improvement of one embodiment of the present invention, when the base station is abnormal, the self-moving robot is controlled to remove obstacles in a pre-set manner.

[0047] As a further improvement of one embodiment of the present invention, when the base station is abnormal, the first real-time identification information and / or the second real-time identification information are uploaded to the application.

[0048] As can be seen from the above, the self-moving robot and its method for detecting anomalies within a base station provided by this invention, by configuring an identification component for the self-moving robot, allows the identification component to identify the entrance to the base station's containment cavity and whether there are any anomalies within the containment cavity when the self-moving robot returns to the base station, thereby controlling whether the self-moving robot continues to dock with the base station; when the self-moving robot enters the base station, the identification component identifies whether there are any anomalies within the entrance to the base station's containment cavity, thereby controlling whether the self-moving robot continues to perform pre-set tasks; thus, when the self-moving robot docks with the base station, it can avoid situations where return failure, malfunction, or even damage to the self-moving robot or the base station is caused by unexpected special objects left inside the base station, thereby improving the reliability, safety, and working efficiency of the self-moving robot and increasing user satisfaction with the self-moving robot. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of a self-moving robot system provided in one embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the identification component of a self-moving robot system provided in one embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of one side of the base station of the self-moving robot system provided in one embodiment of the present invention, which has the entrance of the receiving cavity.

[0053] Figure 4 This is a schematic diagram of the internal structure of the base station of the self-moving robot system provided in one embodiment of the present invention;

[0054] Figure 5 This is a schematic diagram of the self-moving robot system provided in one embodiment of the present invention at a first preset distance from the entrance of the base station's receiving cavity;

[0055] Figure 6 This is a schematic diagram of the self-moving robot system provided in one embodiment of the present invention entering the receiving cavity of a base station.

[0056] Figure 7a , Figure 7b This is a schematic diagram of the base station of the self-moving robot system provided in one embodiment of the present invention under normal conditions;

[0057] Figure 8a , Figure 8b This is a schematic diagram showing an abnormality in the mop replacement component of the base station of the self-moving robot system provided in one embodiment of the present invention.

[0058] Figure 9a , Figure 9b This is a schematic diagram showing an abnormality in the charging component of the base station of the self-moving robot system provided in one embodiment of the present invention;

[0059] Figure 10a , Figure 10b This is a schematic diagram showing an abnormality in the water injection component of the base station of the self-moving robot system provided in one embodiment of the present invention;

[0060] Figure 11a , Figure 11b This is a schematic diagram showing an anomaly in the water tank of the base station of the self-moving robot system provided in one embodiment of the present invention;

[0061] Figure 12 This is a flowchart illustrating a method for detecting anomalies within a base station using a self-moving robot system according to an embodiment of the present invention.

[0062] Figure 13 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions and advantages of the present invention clearer, the present disclosure will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0064] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0065] The robot of this invention can be a service robot, a cleaning robot, a sweeping robot, etc., which automatically walks in the work area and performs work. This invention will be specifically introduced using a cleaning robot for cleaning work as an example.

[0066] Please see Figure 1 The mobile robot 100 moves freely within the work area to perform its work. When it needs to be charged, or when it needs to add consumables, remove waste, or replace consumables, it initiates a return procedure and returns to the base station 200.

[0067] The self-moving robot 100 includes: a body 10, a walking component 20, a control component (not shown), and an identification component 30 disposed on the body 10.

[0068] The walking component 20 supports the body and drives the self-moving robot to move within the working area, for example, enabling the self-moving robot to perform driving actions such as forward and backward straight movement, turning in place, and circular movement.

[0069] The control component controls the movement of the walking component and its return to the base station 200 of the self-moving robot. Additionally, the control component plans the walking direction and route of the mobile robot, stores external parameters acquired by the robot, processes and analyzes the acquired parameters, and specifically controls the self-moving robot based on the processing and analysis results. The control component may be, for example, an MCU or a DSP.

[0070] The identification component 30 is installed on the body 10. When the self-moving robot returns to the base station 200, the identification component 30 identifies whether there is any abnormality at the entrance of the receiving cavity 210 and inside the entrance of the receiving cavity 210. If there is an abnormality, the control component controls the self-moving robot to stop returning to the base station 200.

[0071] In a preferred embodiment of the present invention, the recognition component 30 includes a vision component; the vision component is a monocular camera. If it is necessary to obtain depth information of the obstacle, the vision component can be a binocular camera, or a monocular camera combined with a structured light sensor, or a monocular camera combined with a TOF sensor. The present invention does not limit the specific type of the vision component.

[0072] Specifically, the vision component uses a camera to convert the target to be detected into an image signal, which is then transmitted to a dedicated control component. Based on pixel distribution and information such as brightness and color, the signal is converted into a digital signal. The control component performs various calculations on these signals to extract the target's features, such as area, quantity, position, and length. Then, based on preset tolerances and other conditions, it outputs results, including size, angle, number, pass / fail, presence / absence, etc. Here, the acquired image is compared with a standard image, and automatic recognition is achieved by judging whether the two images are consistent.

[0073] Please see also Figure 2 This is a schematic diagram of the identification component 30 provided in one embodiment of the present invention. The identification component 30 is disposed on the outer side of the body 10 of the self-moving robot 100. Preferably, the identification component 30 is disposed on the front impact plate 101 disposed in the forward direction of the self-moving robot 100, so that the identification component does not require a separate shell design, is smaller in size, has lower cost, and always faces the direction in which the self-moving robot 100 walks when returning to the base station.

[0074] The identification component 30 includes at least one camera 301. In one embodiment, the identification component is at least one independently configured camera used to detect anomalies within the base station provided by the present invention. In an optional embodiment, the identification component 30 can be implemented using existing vision components configured on the self-moving robot 100, such as fence recognition vision components, obstacle recognition vision components, etc.

[0075] The camera 301 has a central axis. To better identify image information inside the entrance of the receiving cavity and on the upper surface inside the receiving cavity, preferably, the central axis of the camera 301 is positioned slightly away from the ground plane. Preferably, when the self-moving robot 100 is stationary on the ground plane, the central axis of the camera 301 forms an acute angle α with the ground plane, and 5°≤α≤10°.

[0076] Please see also Figure 3 This is a schematic diagram of one side of the base station of the self-moving robot provided in an embodiment of the present invention, which has the entrance of the receiving cavity.

[0077] The base station 200 is provided with a receiving cavity 210 for the self-moving robot 100 to drive into and at least partially accommodate the self-moving robot.

[0078] The receiving cavity 210 has an entrance formed on the outer surface of the base station 200, through which the self-propelled robot can selectively drive into or out of the receiving cavity. Preferably, the outer shell of the base station 200 is a sealed space, and the entrance of the receiving cavity is the only entrance and exit on the outer shell of the base station 200 for the self-propelled robot 100 to enter and exit. The distance between the lower edge of the entrance of the receiving cavity 210 and the ground is d, and 3mm≤d≤10mm; the width of the entrance is w, and 260mm≤w≤350mm; the height of the entrance is h, and 120mm≤h≤150mm. This allows the self-propelled robot to more easily enter the receiving cavity 210 through the entrance while maintaining the compactness of the base station base.

[0079] The receiving cavity 210 is provided with a charging component 211 for replenishing the energy of the self-moving robot 100. The charging component 211 includes electrode terminals for docking with the self-moving robot 100, and replenishes the power of the self-moving robot 100 through the electrode terminals.

[0080] Specifically, the self-moving robot 100 is a cleaning robot, including a battery assembly, a water storage assembly, and a cleaning assembly, wherein the cleaning assembly is at least one of a vacuuming assembly and a mopping assembly.

[0081] Accordingly, the base station is provided with at least one of the following: a charging component for charging the battery component, a dust collection component for collecting dust from the vacuuming component, a water filling component for adding water to the water storage component, and a mop replacement component for replacing the mop cloth of the mopping component.

[0082] Please see also Figure 4This is a schematic diagram of the internal structure of a base station for a self-moving robot according to an embodiment of the present invention. The base station, corresponding to the cleaning function implemented by the cleaning components of the self-moving robot, includes a mop replacement component and a water injection component for adding water to the self-moving robot. Specifically, for mop replacement, a mop replacement component is also provided above the interior of the receiving cavity 210. The mop replacement component includes a mop removal mechanism 212, a mop mounting mechanism 213, and a mop transport mechanism 214. When the self-moving robot 100 cannot continue working due to an excessively dirty mop, the self-moving robot 100 returns to the base station, enters the receiving cavity 210, and performs a mop replacement operation. The mop removal mechanism 212 works with the self-moving robot 100 to remove the mop pad from the self-moving robot 100, and the removed mop pad is transported to the old mop recycling component 215 via the mop transport mechanism 214, where the old mop is removed using a mop hook. Then, the paper roll on the mop installation mechanism 213 rotates to release a new mop and install it, ensuring that the self-moving robot 100 can continue to work. For automatic water filling, after the self-moving robot returns to the base station 200, it connects its water inlet to the automatic water inlet on the base station 200 to achieve automatic water filling. The above-mentioned mop replacement and water filling processes are existing technologies, and their steps can be modified based on existing technology. They are only described briefly here and will not be elaborated further.

[0083] Of course, based on the different functional designs of the self-moving robot 100, other functions can also be set in the housing cavity 210 to serve the normal operation of the self-moving robot 100, such as collecting dust, etc., which will not be listed here.

[0084] It is evident that the base station, serving as a service provider for the self-moving robot 100, plays a crucial role in the normal operation of the self-moving robot. However, the entrance to the containment cavity makes it easy for small objects such as toys to accidentally enter the containment cavity, and due to the limitations on the height of the containment cavity from the ground and the size of the opening, it is difficult for users to detect any abnormalities inside the containment cavity.

[0085] When there is an abnormality in the containment chamber, such as a child's toy or a small animal entering the chamber, it will obstruct the charging device 211. If the self-mobilizing robot 100 returns to the base station to charge at this time, it will not be able to charge normally. For example, during the mop replacement process, if the old mop fails to be transported to the old mop storage area and gets stuck on the transport track or falls and covers the charging device 211, it will affect the subsequent operation of the self-mobilizing robot to varying degrees. It may even cause injury to small animals or damage to the self-mobilizing robot and the base station. This greatly affects the working efficiency of the self-mobilizing robot and reduces the user experience.

[0086] Based on this, an embodiment of the present invention provides a self-moving robot that identifies the entrance to the base station's containment cavity and whether any abnormalities exist within the containment cavity through an identification component. Please refer to [link to relevant documentation]. Figure 5 The identification component of the self-moving robot 100 collects image information of the base station as first real-time identification information along a plane perpendicular to the entrance of the receiving cavity 210 when the self-moving robot is a first preset distance L1 away from the entrance of the receiving cavity 210. The control component pre-stores the first standard identification information of the base station 200. The control component compares the first real-time identification information with the first standard identification information. When the first real-time identification information is inconsistent with the first standard identification information, it determines that the base station is abnormal.

[0087] The first standard identification information includes image information of the side of the base station where the entrance of the receiving cavity is located, when there are no obstacles at the entrance of the receiving cavity and inside the receiving cavity.

[0088] The first standard identification information is pre-set in the control component of the self-moving robot and is used as the basis for determining whether the base station is operating normally. Optionally, the first standard identification information is image information of the base station under normal operation, taken by the self-moving robot from a first preset distance away from the base station.

[0089] In one specific embodiment, the mobile robot 100 acquires real-time images as first real-time recognition information and transmits the first real-time recognition information to the control component. The control component preprocesses the image, including denoising, smoothing, and transformation operations to enhance important features in the image. Important features are extracted from the image and compared with important features in the first standard recognition information. If the important features in the first real-time recognition information match the important features in the first standard recognition information, it is determined that the base station is not abnormal. If the important features extracted from the first real-time recognition information are more or fewer than the important features in the first standard recognition information, it is determined that there is an object that should not be present in the base station, or that the equipment in the base station is abnormal, and the robot should not continue to return to the base station. In one specific embodiment, the first standard recognition information includes one or more pre-set image information. Optionally, the first standard recognition information can also be obtained by using neural network technology to perform machine learning on multiple image information to establish a data model, thereby improving the efficiency or accuracy of real-time image information recognition. Of course, those skilled in the art will recognize that other image recognition and comparison technologies can also be applied to this invention, which will not be detailed here.

[0090] The first preset distance can be set specifically as needed. In a specific example of the present invention, the first preset distance is 0.5 meters.

[0091] When the base station 200 is operating normally, its containment cavity 210 is free of abnormalities and foreign objects, and can dock normally with the self-moving robot 100 to perform operations such as charging the self-moving robot 100.

[0092] Correspondingly, after the self-mobile robot 100 returns to the base station 200, the identification component collects the second real-time identification information of the base station 200.

[0093] The control component pre-stores the second standard identification information of the base station 200. The second standard identification information includes image information when there are no abnormalities in the receiving cavity 210, that is, image information when there are no faults inside the receiving cavity 210, the internal components are operating normally, and there are no obstacles inside. When the base station 200 is operating normally, the components in its receiving cavity 210 that perform charging, dust collection, water filling, and mop replacement functions are free from abnormalities, jamming, and misalignment. After normal docking with the self-moving robot 100, it can then provide the self-moving robot 100 with automatic charging, dust collection, water filling, mop replacement, and other operations.

[0094] Please see Figure 7a , Figure 7b The base station 200 is equipped with a mop replacement assembly 216, a docking charging assembly 211, a docking water injection assembly 217, a water tank assembly 218, and a mop recycling assembly 215. The mop replacement assembly 216 is movably disposed within the base station 200 and has a storage state and an operating state. When the mop replacement assembly 216 is in the storage state, all components of the mop replacement assembly 216 are completely housed within the upper space of the receiving cavity 210. When the self-propelled robot 100 needs to replace the mop, it drives into the receiving cavity 210, the mop replacement assembly 216 switches to the operating state, moves to at least partially enter the receiving cavity 210, and cooperates with the mopping assembly on the self-propelled robot 100 to perform the mop replacement. After the replacement is completed, the mop replacement assembly 216 moves out of the receiving cavity 210, switches to the storage state, and recycles the removed mop into the mop recycling assembly 215.

[0095] In some cases, the mop replacement component 216 may malfunction; please refer to [further details]. Figure 8a , Figure 8b As shown, the mop replacement component 216 may become stuck due to various reasons, such as incomplete mop retraction, preventing it from switching back to the storage state and potentially leaving it partially or completely inside the receiving cavity 210. In this case, if the self-mobilizing robot 100 returns to the receiving cavity 210, it may prevent the pre-set mop replacement or charging operations from being performed correctly, and could even cause damage to the self-mobilizing robot 100 or the base station 200.

[0096] During its return journey to the base station 200, the self-reliant mobile robot 100 collects first and / or second real-time identification information and compares the information with first and / or second standard identification information to determine whether the mop replacement component 216 is in a normal storage state. If some components of the mop replacement component 216 are found to be retained in the receiving cavity 210, the base station 200 is deemed to be malfunctioning, and the robot stops returning or stops executing the pre-set mop replacement operation. Furthermore, the robot notifies the user of the malfunction, for example, by sending an image of the malfunctioning base station 200 to the user's installed application via the network, providing feedback and instructing the user to troubleshoot the problem.

[0097] The docking charging component 211 is at least partially movably disposed in the lower part of the receiving cavity 210, and has a charging state and a non-charging state. When the docking charging component 211 is in the non-charging state, the electrode plates of the docking charging component 211 are completely received in the lower space of the receiving cavity 210, and the charging terminal of the self-mobilizing robot 100 is not electrically connected to the electrode plates of the docking charging component 211. When the self-mobilizing robot 100 needs to be charged, it moves into the receiving cavity 210, the docking charging component 211 switches to the charging state, the electrode plates of the docking charging component 211 pop out into the receiving cavity 210, and electrically connect with the charging terminal on the self-mobilizing robot 100 to perform charging. After the charging operation is completed, the docking charging component 211 switches to the non-charging state, and the electrode plates of the docking charging component 211 are received in the lower space of the receiving cavity 210.

[0098] In some cases, the docking charging component 211 may malfunction; please refer to [further details]. Figure 9a , Figure 9b As shown, the docking charging component 211 may be unable to eject properly and at least partially enter the receiving cavity 210 to the charging state due to various reasons, such as being covered by a fallen mop or by foreign objects entering the receiving cavity 210. In this case, if the self-moving robot 100 returns to the receiving cavity 210, the pre-set charging operation will not be able to be performed normally, affecting the working effect of the self-moving robot 100.

[0099] During its return journey to the base station 200, the autonomous mobile robot 100 collects first and / or second real-time identification information and compares the information with first and / or second standard identification information to determine whether the docking charging component 211 is in a normal charging state. If the docking charging component 211 is partially covered and cannot contact the charging terminal of the autonomous mobile robot 100, the base station 200 is deemed to be malfunctioning, and the robot stops returning or stops executing the pre-set charging operation. Furthermore, the malfunction of the base station 200 is notified to the user, for example, by sending an image of the malfunction to the user's installed application via the network, providing feedback and instructing the user to troubleshoot the problem.

[0100] The docking water injection component 217 is movably disposed within the base station 200, including a standby state and a water injection state; in the standby state, the docking water injection component 217 is housed outside the housing cavity; when the self-mobile robot 100 returns and fully enters the housing cavity 210, the docking water injection component 217 enters the water injection state, and the water injection component moves at least partially into the housing cavity 210, docking with the water injection inlet of the self-mobile robot 100 to inject water into the water storage component of the self-mobile robot 100.

[0101] In some cases, the water injection assembly 217 may malfunction; please refer to [further details]. Figure 10a , Figure 10b As shown, the docking water injection component 217 may get stuck in the water injection state for some reason, preventing it from switching normally between the standby state and the water injection state. In this case, if the self-moving robot 100 returns to the receiving cavity 210, it will be unable to dock properly, further affecting the self-moving robot 100's mop replacement, charging, and water injection operations.

[0102] During the return process of the self-mobile robot 100 to the base station 200, it collects first real-time identification information and / or second real-time identification information, and compares the information in the first real-time identification information and / or second real-time identification information with first standard identification information and / or second standard identification information to determine whether the docking water injection component 217 is in a normal standby state. If the docking water injection component 217 is in a water injection state during the return process of the self-mobile robot 100, that is, at least partially inside the receiving cavity 210, then it is determined that the base station 200 is abnormal, and the return is stopped, or the pre-set water injection work is stopped. Furthermore, the abnormality of the base station 200 is notified to the user, for example, by sending an image of the base station abnormality to the user's installed application via the network for feedback, notifying the user to troubleshoot the fault.

[0103] The water tank assembly 218 is located on the upper part of the receiving cavity 210 and is used to store the liquid added to the self-moving robot. In some cases, the water tank assembly 218 is at risk of leakage; please refer to [further details]. Figure 11a , Figure 11b As shown, when the water tank assembly 218 leaks, water will spray or flow into the containment cavity 210. At this time, the base station 200 may be short-circuited or damaged due to the liquid leakage. If the mobile robot 100 returns to the base station, it may be splashed with liquid.

[0104] During its return journey to the base station 200, the self-propelled robot 100 collects first and / or second real-time identification information and compares the information with first and / or second standard identification information to determine if there is any leakage inside the containment cavity 210 or on its inner wall. If leakage is found, the base station 200 is deemed abnormal, and the robot stops returning or stops performing pre-set tasks such as changing the mop, charging, or adding water. Furthermore, the robot notifies the user of the base station 200's abnormality, for example, by sending an image of the abnormality to the user's installed application via the network, providing feedback and instructing the user to troubleshoot the problem.

[0105] In summary, the control component of the self-mobilizing robot 100 compares the second real-time identification information with the second standard identification information. When the second real-time identification information is inconsistent with the second standard identification information, it is determined that the base station 200 is abnormal, and the control component controls the self-mobilizing robot 100 to stop the preset working operation.

[0106] The preset operating procedure is at least one of charging, dust collection, water addition, and mop replacement.

[0107] Specifically, the recognition component includes a vision component, which includes a panoramic camera. The second real-time recognition information is a panoramic image of the inner wall of the containment cavity synthesized from image information collected by the image component during the process of the self-moving robot entering the containment cavity.

[0108] Optional, please see Figure 6 The vision component can be a wide-angle camera. The second real-time recognition information is acquired from an image obtained when the self-mobile robot enters the containment cavity. Optionally, the vision component is located on the top of the self-mobile robot, and the second real-time recognition information is an image taken of the upper surface inside the containment cavity of the base station when the distance L2 between the front end of the self-mobile robot and the inner wall of the base station is 0.2m.

[0109] Preferably, the self-moving robot 100 further includes an alarm component. When the base station malfunctions, the control component controls the alarm component to transmit an abnormal signal to the outside world. The abnormal signal can be transmitted in one or more ways, including sending sound or light signals, transmitting abnormal information to a remote receiver via communication, or sending collected image information via a network to a user-installed portable terminal application (APP).

[0110] In addition, a preset waiting time can be set. After transmitting an abnormal signal to the outside world, the robot will re-execute the previous comparison operation after the preset waiting time. The comparison operation is that the control component compares the first instant identification information with the first standard identification information or the control component compares the second instant identification information with the second standard identification information. Of course, the robot can also be driven to perform other tasks within the preset waiting time.

[0111] Preferably, the self-moving robot 100 further includes an obstacle removal component. When the base station 200 is malfunctioning, the control component controls the obstacle removal component to remove obstacles in a pre-set manner.

[0112] In summary, the self-moving robot system and its method for detecting anomalies within a base station provided by this invention, by configuring a recognition component for the self-moving robot, and by identifying whether there are any anomalies within the base station's containment cavity when the self-moving robot returns to the base station, controls whether the robot continues to dock with the base station and performs related operations after docking. This improves the docking accuracy between the robot and the base station, making the robot more convenient to use and increasing user satisfaction. Furthermore, the anomaly detection using the recognition component of this invention can directly utilize the robot's existing vision components, resulting in lower costs. Moreover, the robot's control of the recognition function based on its actual movement allows for more accurate control of the recognition timing.

[0113] Combination Figure 12 As shown, one embodiment of the present invention provides a method for detecting anomalies within a base station using a self-moving robot system, comprising: S1, controlling the self-moving robot to return to the base station; S2, receiving identification information collected by an identification component; S3, determining whether there is an anomaly within the containment cavity based on the identification information, and if an anomaly is found, controlling the self-moving robot to stop returning.

[0114] Furthermore, the self-propelled robot is controlled to walk to a pre-set position to collect image information including the containment cavity; the image information is compared with preset standard image information; and it is determined whether there is any abnormality in the containment cavity.

[0115] Specifically, the methods for detecting anomalies within the base station by the aforementioned self-moving robot system are all achieved through the cooperation of various robot components, which will not be elaborated further here.

[0116] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0117] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for detecting anomalies within a base station by a self-moving robot system as described in any of the above embodiments.

[0118] like Figure 13 As shown in the diagram, a more specific hardware structure of an electronic device provided by the present invention may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0119] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0120] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0121] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0122] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0123] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0124] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0125] The electronic devices described above are used to implement the method for detecting anomalies within a base station by the corresponding self-moving robot system in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0126] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the method for detecting anomalies within a base station by a self-moving robot system as described in any of the above embodiments.

[0127] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0128] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the method for detecting anomalies in a base station by the self-moving robot system as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0129] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0130] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A self-moving robot system, comprising a self-moving robot and a base station, characterized in that, The base station includes: a casing; A receiving cavity is provided for the self-moving robot to drive into and to at least partially accommodate the self-moving robot. The self-moving robot includes: a body; A walking component supports the body and propels the self-moving robot to move within the work area; The control component controls the movement and operation of the walking component, and its return to the base station. An identification component is installed on the body. When the self-moving robot returns to the base station, the identification component identifies whether there is an abnormality in the containment cavity. If there is an abnormality, the control component controls the self-moving robot to stop returning to the base station. After the self-mobilizing robot returns to the base station, the identification component collects the base station's second real-time identification information; The control component pre-stores the second standard identification information of the base station. The second standard identification information includes image information when there is no abnormality in the containment cavity. The control component compares the second real-time identification information with the second standard identification information. When the second real-time identification information is inconsistent with the second standard identification information, it is determined that there is an abnormality in the base station. The control component then controls the self-moving robot to stop the preset working operation.

2. The self-moving robot system according to claim 1, characterized in that, The identification component includes a vision component; when the self-moving robot is a first preset distance from the entrance of the receiving cavity, the vision component acquires image information of the base station along a plane perpendicular to the entrance as first real-time identification information; the control component pre-stores first standard identification information of the base station, and the control component compares the first real-time identification information with the first standard identification information. When the first real-time identification information is inconsistent with the first standard identification information, it is determined that the base station is abnormal.

3. The self-moving robot system according to claim 2, characterized in that, The first standard identification information includes image information of the side of the base station where the entrance of the receiving cavity is located, when there are no obstacles at the entrance of the receiving cavity and inside the receiving cavity.

4. The self-moving robot system according to claim 2, characterized in that, The receiving cavity has a single entrance formed on the outer shell for the self-moving robot to enter and exit the receiving cavity; the distance d between the lower edge of the entrance and the ground is 3mm≤d≤10mm; the width w of the entrance is 260mm≤w≤350mm; the height h of the entrance is 120mm≤h≤150mm.

5. The self-moving robot system according to claim 2, characterized in that, The first preset distance is 0.5 meters.

6. The self-moving robot system according to claim 1, characterized in that, The vision component includes a panoramic camera, and the second real-time recognition information is a panoramic image of the inner wall of the containment cavity synthesized from image information collected by the image component during the process of the self-moving robot entering the containment cavity.

7. The self-moving robot system according to claim 1, characterized in that, The self-moving robot includes a mopping assembly with replaceable mop pads; The base station includes a mop replacement assembly for replacing the mop cloth of the mopping assembly. The mop replacement assembly is movably disposed within the base station and includes a storage state and an operating state. In the storage state, the mop replacement assembly is housed above the receiving cavity. In the operating state, the mop replacement assembly is at least partially moved into the receiving cavity to replace the mop cloth of the mopping assembly. In the second real-time identification information, when any part of the mop replacement component is inside the receiving cavity, the control component determines that the base station is abnormal.

8. The self-moving robot system according to claim 1, characterized in that, The self-moving robot includes a rechargeable battery assembly; The base station includes a charging component for charging the battery assembly. The charging component is movably disposed within the base station and includes a charging state and a non-charging state. In the non-charging state, the charging component is housed below the receiving cavity. In the charging state, the charging component is at least partially moved into the receiving cavity to charge the battery assembly. In the second real-time identification information, when the charging component is not in the charging state, the control component determines that the base station is abnormal.

9. The self-moving robot system according to claim 1, characterized in that, The self-moving robot includes a water storage component; The base station includes a water injection component for adding water to the water storage component. The water injection component is movably disposed within the base station and includes a standby state and a water injection state. In standby mode, the water injection component is housed outside the receiving cavity; in water injection mode, the water injection component moves at least partially into the receiving cavity to inject water into the water storage component. In the second real-time identification information, when any part of the water injection component is inside the containment cavity, the control component determines that the base station is abnormal.

10. The self-moving robot system according to claim 9, characterized in that, The water injection assembly includes a water tank, which is housed above the receiving cavity; In the second real-time identification information, when the water tank leaks liquid into the containment cavity, the control component determines that the base station is abnormal.

11. The self-moving robot system according to claim 1, characterized in that, The recognition component is a camera, and the central axis of the camera forms an acute angle α with the plane where the ground is located, and 5°≤α≤10°.

12. The self-moving robot system according to claim 1, characterized in that, The self-moving robot includes an alarm component. When the base station is abnormal, the control component controls the alarm component to transmit an abnormal signal to the outside world.

13. The self-moving robot system according to claim 1, characterized in that, The self-moving robot includes an obstacle removal component. When the base station is malfunctioning, the control component controls the obstacle removal component to remove obstacles in a pre-set manner.

14. A method for detecting anomalies within a base station using a self-moving robot system, characterized in that, include: Control the self-moving robot to return to the base station; receive the identification information collected by the identification component; Based on the identification information, determine whether there is an abnormality in the containment cavity of the base station. If there is an abnormality, control the self-moving robot to stop returning. Wherein, after the self-mobilizing robot returns to the base station, the identification component collects the base station's second real-time identification information; The control component of the self-moving robot pre-stores the second standard identification information of the base station. The second standard identification information includes image information when there is no abnormality in the containment cavity. The control component compares the second real-time identification information with the second standard identification information. When the second real-time identification information is inconsistent with the second standard identification information, it is determined that there is an abnormality in the base station. The control component then controls the self-moving robot to stop the preset working operation.

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