Cleaning robot and method and device for detecting condition of cleaning robot

Abstract

The invention provides a cleaning robot and a method and device for detecting the condition of the cleaning robot. The method comprises the following steps: receiving working information reported by the cleaning robot, wherein the working information comprises a working gear when the cleaning robot is in a working state and a negative pressure value of a dust collection cabin; for each working gear, determining a first negative pressure mean value of the working gear in the period according to the plurality of negative pressure values of the working gear in the period; if at least one target working gear exists, first alarm operation is executed, and the target working gears are working gears with one or at least two continuous first negative pressure mean values larger than the corresponding first preset negative pressure threshold value. According to the invention, interference factors causing single negative pressure value change can be eliminated, and the first negative pressure mean value which can better represent the condition of the dust collection component can be obtained; the method can accurately judge that the dust collection component is full, so that a user is reminded to clean or replace the dust collection component in time.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular, relates to a cleaning robot and a method and device for detecting the status of the cleaning robot. Background Art

[0002] At present, cleaning robots form negative pressure in their internal cabins, and use the flow of air to suck dirt such as dust and hair into the dust collection parts to achieve a cleaning effect. As the working time of the dust collection parts increases, the dust collection parts become fuller and the available volume decreases, and the dust collection effect gradually decreases. When the dust collection parts are full, the user needs to be reminded to clean or replace them in time.

[0003] The existing detection method is to remind users to clean or replace regularly according to working hours or daily. However, this method is not easy to grasp the maintenance cycle. If the time is too short, it will easily waste human resources. If the time is too long, it will be dirty for a certain period of time. Summary of the invention

[0004] The embodiments of the present application provide a cleaning robot and a method and device for detecting the status of the cleaning robot, which can solve the problem of poor grasp of the maintenance cycle.

[0005] In a first aspect, an embodiment of the present application provides a cleaning robot, comprising: a main body and a dust collecting component, a negative pressure device, and a negative pressure sensor disposed in the main body;

[0006] The main body is provided with a dust collecting chamber, and the dust collecting chamber is provided with a first opening and a second opening, the first opening is connected to the outside of the main body, and the second opening is connected to the negative pressure device, the dust collecting component is arranged in the dust collecting chamber, and the dust collecting component cover is arranged at the first opening, the negative pressure sensor is arranged in the main body and outside the dust collecting chamber, and the negative pressure sensor is used to collect the negative pressure value of the dust collecting chamber.

[0007] In one embodiment, the negative pressure sensor is connected to the dust collecting chamber through a collection tube, and an end of the collection tube connected to the dust collecting chamber is arranged on a side away from the first opening.

[0008] In one embodiment, the cleaning robot further includes a control panel, wherein the control panel is disposed in the main body and outside the dust collecting chamber, and the negative pressure sensor is disposed on the control panel.

[0009] In one embodiment, the negative pressure device is located at the top of the dust collecting chamber, and the control panel is arranged on the outside of the dust collecting chamber and corresponds to the bottom of the dust collecting chamber.

[0010] In a second aspect, an embodiment of the present application provides a method for detecting a cleaning robot condition, comprising:

[0011] Receiving working information reported by the cleaning robot as described in any one of the first aspects above, the working information including the working gear and the negative pressure value of the dust collection chamber when the cleaning robot is in a working state;

[0012] For each of the working gears, determining a first negative pressure average of the working gear in the cycle according to a plurality of negative pressure values ​​of the working gear in the cycle;

[0013] If there is at least one target working gear, a first alarm operation is performed, wherein the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold, and the first alarm operation is used to remind that the dust collection component is full.

[0014] In one embodiment, the method further comprises:

[0015] For each of the target working gears, if the dust collecting component cleaning information reported by the cleaning robot is received, the corresponding historical negative pressure average is obtained, and the historical negative pressure average includes at least one of the first negative pressure averages that is greater than the first preset negative pressure threshold;

[0016] According to the historical negative pressure average of each of the target working gears, the first preset negative pressure threshold of each of the target working gears is adjusted to obtain the adjusted preset negative pressure threshold of each of the target working gears.

[0017] In one embodiment, the method further comprises:

[0018] After receiving the dust collecting component cleaning information reported by the cleaning robot, if the working information is received, the negative pressure value is compared with the second preset negative pressure threshold corresponding to the working gear to obtain a comparison result;

[0019] If the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, a second alarm operation is performed, and the second alarm operation is used to remind foreign matter blockage.

[0020] In one embodiment, the method further comprises:

[0021] Displaying the first negative pressure average value of each cycle of each working gear in chronological order through a line graph;

[0022] The line chart is sent to an external device.

[0023] In a third aspect, an embodiment of the present application provides a device for detecting a cleaning robot condition, comprising:

[0024] A communication module, configured to receive working information reported by the cleaning robot as described in any one of the first aspects above, wherein the working information includes a working gear and a negative pressure value of a dust collection chamber when the cleaning robot is in a working state;

[0025] A processing module, for determining, for each of the working gears, a first negative pressure average of the working gear in the cycle according to a plurality of negative pressure values ​​of the working gear in the cycle;

[0026] It is also used to execute a first alarm operation if there is at least one target working gear, and the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold, and the first alarm operation is used to remind that the dust collection component is full.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method as described in any one of the above-mentioned second aspects is implemented.

[0028] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0029] The embodiment of the present application receives working information reported by the cleaning robot, where the working information includes the working gear and the negative pressure value of the dust collecting chamber when the cleaning robot is in a working state; for each working gear, the first negative pressure average of the working gear within the cycle is determined according to multiple negative pressure values ​​of the working gear within the cycle; if there is at least one target working gear, a first alarm operation is performed, and the target working gear is a working gear in which there are one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold. The first alarm operation is used to remind that the dust collecting component is full, and can eliminate interference factors that cause single negative pressure value changes, and obtain a first negative pressure average that can better characterize the condition of the dust collecting component; when there is at least one cycle of the first negative pressure average greater than the corresponding first preset negative pressure threshold, it can accurately determine that the inside of the dust collecting component is full, so that the user is promptly reminded to clean or replace the dust collecting component.

[0030] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a first flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the first structure of a cleaning robot provided by an embodiment of the present application;

[0034] Figure 3 This is a second structural schematic diagram of a cleaning robot provided by an embodiment of the present application;

[0035] Figure 4 This is a second flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application;

[0036] Figure 5 This is a third flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application;

[0037] Figure 6 This is an example diagram of a line graph provided by an embodiment of the present application;

[0038] Figure 7 It is a structural schematic diagram of a device for detecting the status of a cleaning robot provided in an embodiment of the present application;

[0039] Among them, 10. main body, 20. dust collecting chamber, 21. first opening, 30. negative pressure device, 40. suction duct, 50. channel, 60. control panel. DETAILED DESCRIPTION

[0040] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0041] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0042] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0043] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0044] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0045] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0046] The embodiment of the present application provides a method for detecting the status of a robot, which can solve the problem that the existing detection method is easily affected by various factors and easily misjudged that the dust collection component is full.

[0047] In application, the method can be specifically executed by a detection device, which can be implemented by software and / or hardware and can be configured on a server.

[0048] Figure 1 This is a first flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application. Figure 1 As shown, the method specifically comprises the following steps:

[0049] S11: receiving working information reported by the cleaning robot.

[0050] Among them, the working information includes the working gear and the negative pressure value of the dust collection chamber when the cleaning robot is in a working state.

[0051] In application, the cleaning robot of this embodiment includes: a main body and a dust collecting component, a negative pressure device, and a negative pressure sensor arranged in the main body.

[0052] Figure 21 is a schematic diagram of the first structure of a cleaning robot provided by an embodiment of the present application. Figure 2 As shown, the main body 10 is provided with a dust collecting chamber 20, and the dust collecting chamber 20 is provided with a first opening 21 and a second opening (not shown in the figure), the first opening is connected to the outside of the main body, and the second opening is connected to the negative pressure device 30, the dust collecting component (not shown in the figure) is arranged in the dust collecting chamber 20, and the dust collecting component cover is arranged in the first opening 21, and the negative pressure sensor (not shown in the figure) is arranged in the main body 10 and outside the dust collecting chamber 20, and the negative pressure sensor is used to collect the negative pressure value of the dust collecting chamber 20.

[0053] In use, the dust collecting chamber 20 is connected to the outside of the main body 10 through the first opening 21, and is connected to the negative pressure device 30 through the second opening. The dust collecting component is not completely sealed, and is provided with a dust collecting opening, which is covered on the first opening 21 through the dust collecting opening. The negative pressure device 30 continuously removes the air inside the cleaning robot through the second opening. After the air is removed, since the external atmospheric pressure is higher than the internal air pressure, a negative pressure is formed inside the dust collecting chamber 20 (i.e., the space outside the dust collecting component). Then the air outside the main body 10 will enter the interior of the cleaning robot through the suction duct 40, and then enter the dust collecting chamber 20 through the first opening 21 to restore the air pressure balance. Through the aforementioned process, a gas flow link is formed inside the cleaning robot, and the dust collecting component collects dust, hair and other dirt with the help of the flow of air.

[0054] The negative pressure device 30 may be a fan. The dust collecting component may be a dust bag or a dust box. The dust bag is a bagged artificial fabric supported by non-woven fabric and has an opening. Based on the air permeability principle of the dust bag, a basis is provided for forming a gas flow link inside the cleaning robot. Specifically, the dust bag is not completely sealed, and air flow is ensured through the tiny air holes of the dust bag. At the same time, in order to prevent dust from leaking out and causing secondary pollution, the size of the air holes will not be too large.

[0055] The dust collecting chamber of the cleaning robot is connected to the negative pressure device through a second opening. The negative pressure sensor is arranged in the main body and outside the dust collecting chamber. The negative pressure sensor and the dust collecting chamber are in different physical spaces, which reduces the interference and vibration of the negative pressure sensor by the wind in the dust collecting chamber, improves the accuracy of air pressure measurement and reduces the failure rate.

[0056] In one possible implementation, Figure 3 2 is a schematic diagram of the second structure of the cleaning robot provided by an embodiment of the present application. Figure 3 As shown, the negative pressure sensor is connected to the dust collecting chamber 20 through a collection pipe, and one end of the collection pipe connected to the dust collecting chamber is arranged on a side away from the first opening 21.

[0057] The collection tube may be a hose or a conduction tube, but is not limited thereto.

[0058] In application, the negative pressure sensor is connected to the dust collecting chamber 20 through the collection tube, that is, the collection tube connected to the negative pressure sensor will enter the dust collecting chamber, and the collection tube is connected to the dust collecting chamber 20. Correspondingly, a channel 50 is provided on the dust collecting chamber, one end of the collection tube is placed in the channel 50 of the chamber, and the other end of the collection tube is installed on the negative pressure sensor.

[0059] The passage 50 of the dust collecting chamber 20 is disposed at a side away from the first opening 21 , so that an end of the collection tube in communication with the dust collecting chamber is away from a side of the first opening 21 .

[0060] The negative pressure sensor is connected to the dust collecting chamber through a collection tube so that the negative pressure sensor can collect the negative pressure value of the dust collecting chamber; the end of the collection tube that is connected to the dust collecting chamber is arranged on a side away from the first opening so that the collection tube is away from the dust collecting channel, thereby reducing the possibility of failure due to clogging by dirt due to long-term use.

[0061] In one possible implementation, please continue to refer to Figure 2 and Figure 3 The cleaning robot further includes a control panel 60, which is disposed in the main body 10 and outside the dust collecting chamber 20, and a negative pressure sensor is disposed on the control panel.

[0062] In application, the negative pressure sensor is disposed on the control board 60 , and the negative pressure sensor is connected to the central processing unit of the control board 60 .

[0063] The control panel is arranged inside the main body and outside the dust collecting chamber, so that the control panel and the dust collecting chamber are in different physical spaces, thereby reducing the interference and vibration of the wind in the chamber on the control panel and the negative pressure sensor, and further improving the air pressure measurement accuracy and hardware life; the negative pressure sensor is arranged on the control panel, which facilitates the integrated layout of electronic components and makes the internal space layout of the robot more compact.

[0064] In one possible implementation, please continue to refer to Figure 2 The negative pressure device 30 is located at the top of the dust collecting chamber 20 , and the control panel 60 is arranged on the outside of the dust collecting chamber and corresponds to the bottom of the dust collecting chamber 20 .

[0065] In application, the negative pressure device 30 is located at the top of the dust collecting chamber 20, that is, the negative pressure device 30 is located in the upper area of ​​the main body 10; and the control panel 60 is arranged on the outside of the dust collecting chamber 20 and corresponds to the bottom of the dust collecting chamber 20, that is, the control panel 60 is installed at the bottom of the main body 10, so that the control panel 60 and the negative pressure sensor are in different physical spaces from the negative pressure device 30 and the dust collecting chamber 20, and the control panel and the negative pressure sensor are located away from the negative pressure device.

[0066] By locating the negative pressure device at the top of the dust collecting chamber and the control panel on the outside of the dust collecting chamber and corresponding to the bottom of the dust collecting chamber, the influence of the wind in the chamber on the control panel and the negative pressure sensor can be further reduced, and the influence of the working vibration of the negative pressure device on the control panel and the negative pressure sensor can be reduced, thereby further improving the air pressure measurement accuracy and hardware life.

[0067] Specifically, based on the above-mentioned cleaning robot, the negative pressure sensor of the cleaning robot collects the negative pressure value of the dust collection chamber through the collection tube. After receiving the negative pressure value collected by the negative pressure sensor, the control board reports the negative pressure value and the working gear of the cleaning robot at this time to the server. The server receives the working information reported by the cleaning robot.

[0068] S12: For each working gear, determine a first negative pressure average value of the working gear within the cycle according to multiple negative pressure values ​​of the working gear within the cycle.

[0069] In use, as the dust collecting components work with the cleaning robot, dust will adhere to the surface. Due to the influence of dust, the air flow link formed by the dust collecting components is blocked, the suction capacity of the cleaning robot becomes relatively weak, and the negative pressure of the link increases.

[0070] In fact, there are many factors that affect the change of negative pressure. For example, the negative pressure value may be different when the same suction force acts on different floors, or the blockage of the air inlet duct may cause the negative pressure value to increase, or the HEPA may fall off when working on a long-haired carpet, causing the negative pressure to increase, or the back cover of the machine is not installed properly, or the air outlet is blocked, causing the negative pressure to be too low. At the same time, the increase in negative pressure caused by the fullness of non-dust collecting parts may return to normal later. For example, if the negative pressure increases due to pipe blockage, the cleaning robot will clear the blockage through self-cleaning after completing the task, so that the negative pressure is reduced and returns to normal.

[0071] If the condition of the dust collecting parts is judged based on a single, short-term increase in negative pressure, it is easy to misjudge other factors as the dust collecting parts being full. By determining the average negative pressure of the working gear within the cycle, the short-term fluctuating negative pressure value can be smoothed and filtered, making the data closer to the real situation, so as to eliminate other interference factors and make the average negative pressure within the cycle reflect the condition of the dust collecting parts.

[0072] When the cleaning robot is in working state, it will receive different cleaning tasks and perform tasks on different floors, so the cleaning robot may use different working gears to perform cleaning tasks. Due to different working gears, the working intensity of the negative pressure device is different, and the corresponding negative pressure values ​​of each working gear are different, so each working gear handles the corresponding negative pressure value separately.

[0073] The period may be determined in hours or days.

[0074] S13: If there is at least one target working gear, execute a first warning operation.

[0075] Among them, the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold, and the first alarm operation is used to remind that the dust collection component is full.

[0076] In the application, the server compares the first negative pressure average with the corresponding first preset negative pressure threshold for each working gear.

[0077] When there is a first negative pressure average value greater than the corresponding first preset negative pressure threshold value under the working gear, it means that the negative pressure value is large during the cycle, the negative pressure in the dust collecting chamber has been high, the dust collecting component is full, and the dust collecting component needs to be cleaned or replaced.

[0078] When there are at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold value under the working gear, it means that the negative pressure in the dust collecting chamber has been high, and the trend of multiple first negative pressure averages is increasing. Other interference factors can be clearly excluded, and it can be more accurately judged that the dust collecting component is full and causes the negative pressure to increase, further reducing the situation where other interference factors cause negative pressure fluctuations and misjudge that the dust collecting component is full.

[0079] The first alarm operation may specifically be sending information to the user terminal to remind the user that the dust collecting component is full. In order to ensure the completion of the cleaning task, unless the alarm state is cleared, the cleaning robot will generally maintain the alarm state but will not stop executing the task. When the cleaning robot maintains the alarm state, it will periodically send information to the user terminal.

[0080] The first preset negative pressure threshold reflects the situation that the dust collecting component is full, that is, the first preset negative pressure threshold is a negative pressure value that seriously affects the cleaning effect. Therefore, the threshold needs to be reasonably adjusted to ensure customer experience.

[0081] In a possible implementation, the first preset negative pressure threshold may be determined according to a negative pressure value that is manually confirmed to be full of the dust collecting component. Correspondingly, the method further includes:

[0082] S21: For each target working gear, if the dust collecting component cleaning information reported by the cleaning robot is received, the corresponding historical negative pressure average is obtained.

[0083] The historical negative pressure averages include at least one first negative pressure average that is greater than a first preset negative pressure threshold.

[0084] In the application, the negative pressure value of each target working gear is different, and each target working gear is processed separately. For each target working gear, the dust collecting component cleaning information reported by the cleaning robot is received, indicating that the dust collecting component is actually full. At this time, the corresponding negative pressure average value clearly indicates that the dust collecting component is full, and the first negative pressure average value is obtained as data for adjusting the first preset negative pressure threshold.

[0085] The dust collecting component cleaning information may be generated after the cleaning robot fails to detect dirt on the dust collecting component, or may be obtained after the user cleans or replaces the dust collecting component and the cleaning robot inputs information representing the processed information.

[0086] S22: adjusting the first preset negative pressure threshold of each target working gear according to the historical negative pressure average of each target working gear to obtain the adjusted preset negative pressure threshold of each target working gear.

[0087] In the application, when the historical negative pressure average includes multiple first negative pressure averages, the multiple first negative pressure averages can be averaged to obtain the corresponding average value. The average value is set as the first preset negative pressure threshold. Or when the average value is less than the first preset negative pressure threshold, the first preset negative pressure threshold is reduced. Or when the average value is greater than the first preset negative pressure threshold, the first preset negative pressure threshold is increased. The specific amount of reduction or increase can be reasonably determined according to the application scenario.

[0088] For example, the preset negative pressure thresholds after adjustment for each working gear are shown in the following table:

[0089] Working position (kPa) First gear Second gear Third gear Four gears Adjusted preset negative pressure threshold 2.0 2.5 3.5 4.0

[0090] It is understandable that by utilizing the advantages of the server such as large computing power, high capacity, easy observation, and good interactive logic, more data can be stored, so that the first negative pressure average can be determined based on multiple negative pressure values ​​within the cycle of the working gear, and the condition of the dust collecting component can be determined based on the first negative pressure average, so as to more accurately judge the condition of the dust collecting component.

[0091] The server can also directly remind users that the dust collection parts are full, and can promptly remind users to clean or replace the dust collection parts. Users need to be reminded to clean or replace the dust collection parts in a timely manner because the increase in negative pressure affects the cleaning efficiency. Specifically, when the negative pressure increases, the air volume per unit time is large, which reduces the suction force and affects the cleaning efficiency, and the fan suction force needs to be increased; or the air volume remains unchanged in a short period of time but the air volume decreases, which reduces the actual suction force, affecting the cleaning efficiency, and the fan suction force needs to be increased.

[0092] The solution of this embodiment can accurately determine that the dust collecting component is full and issue an alarm in time to remind the user. It can also solve the problem of difficulty in setting maintenance cycles and unreasonable maintenance deadlines causing waste of human resources caused by the detection method of regularly reminding the user to clean.

[0093] The solution of this embodiment determines the condition of the dust collecting components according to the first negative pressure average of each working gear, and can also solve the problem that the degree of dirtiness of the targets to be cleaned is different and it is difficult to accurately measure the condition of the dust collecting components according to time due to the detection method of reminding the user to clean in combination with the running time of the cleaning component.

[0094] This embodiment receives working information reported by the cleaning robot, where the working information includes the negative pressure value of the working gear and the dust collecting chamber when the cleaning robot is in a working state; for each working gear, the first negative pressure average of the working gear within the cycle is determined according to multiple negative pressure values ​​of the working gear within the cycle; if there is at least one target working gear, a first alarm operation is performed, and the target working gear is a working gear in which there are one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold. The first alarm operation is used to remind that the dust collecting component is full, and can eliminate interference factors that cause single negative pressure value changes, and obtain a first negative pressure average that can better characterize the condition of the dust collecting component; when there is at least one cycle of the first negative pressure average greater than the corresponding first preset negative pressure threshold, it can accurately determine that the inside of the dust collecting component is full, so that the user is promptly reminded to clean or replace the dust collecting component.

[0095] In one embodiment, step S12 includes:

[0096] S121: removing abnormal negative pressure values ​​from multiple negative pressure values ​​of the working gear to obtain a normal negative pressure value.

[0097] Among them, the abnormal negative pressure value is the negative pressure value with the largest value, the smallest value, or the negative pressure value whose difference with the second negative pressure average is greater than the preset difference, and the second negative pressure average is determined based on all negative pressure values ​​in the cycle.

[0098] In the application, the server filters the reported data and removes abnormal negative pressure values ​​to make the calculated negative pressure average closer to the actual situation. The negative pressure values ​​with the largest and smallest values ​​are determined as abnormal negative pressure values, or the negative pressure value with a large difference from the second negative pressure average is determined as an abnormal negative pressure value.

[0099] Specifically, for each working gear, the second negative pressure average is determined according to all negative pressure values ​​in the cycle. Each negative pressure value in the cycle is subjected to difference processing with the second negative pressure average to obtain the difference between each negative pressure value and the second negative pressure average. If the difference is greater than the preset difference, the corresponding negative pressure value is determined to be an abnormal negative pressure value.

[0100] S122: Determine a first negative pressure average of the working gear according to a plurality of normal negative pressure values ​​of the working gear within a cycle.

[0101] In the application, the server averages multiple normal negative pressure values ​​within a period to obtain an average value, and determines the average value as the first negative pressure average value.

[0102] This embodiment obtains a normal negative pressure value by removing abnormal negative pressure values ​​from multiple negative pressure values ​​of the working gear, and determines the first negative pressure average of the working gear based on multiple normal negative pressure values ​​within the cycle of the working gear, so that the first negative pressure average is closer to the actual situation, and a negative pressure condition that more accurately characterizes the condition of the dust collecting component is obtained.

[0103] In one embodiment, Figure 4 1 is a second flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application. Figure 4 As shown, the method further includes:

[0104] S14: After receiving the dust collecting component cleaning information reported by the cleaning robot, if working information is received, the negative pressure value is compared with the second preset negative pressure threshold corresponding to the working gear to obtain a comparison result.

[0105] In the application, after receiving the alarm, the user can clean or replace the dust collecting parts of the cleaning robot at any time. After the user cleans or replaces the dust collecting parts, the server receives the reported dust collecting parts cleaning information. The server will enter the step of determining whether the dust collecting parts abnormality has been resolved. When the server receives the reported working information, it compares the negative pressure value in the working information with the second preset negative pressure threshold corresponding to the working gear in the working information.

[0106] The second preset negative pressure threshold is the same as or different from the first preset negative pressure threshold.

[0107] S15: If the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, a second alarm operation is performed.

[0108] The second alarm operation is used to remind of foreign matter blockage.

[0109] In the application, when the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, it means that the air inlet duct of the cleaning robot may be blocked and the user needs to check and clean it, and the server executes the second alarm operation.

[0110] When the comparison result is that the negative pressure value is less than or equal to the second preset negative pressure threshold, it means that the negative pressure inside the cleaning robot is in a normal state and can perform tasks as usual.

[0111] The second alarm operation may specifically be sending information to the user terminal to remind the user that the cleaning robot is blocked by foreign objects. In order to ensure the completion of the cleaning task, unless the alarm state is cleared, the cleaning robot will generally maintain the alarm state but will not stop executing the task. When the cleaning robot maintains the alarm state, it will periodically send information to the user terminal.

[0112] After receiving the dust collection component cleaning information reported by the cleaning robot, this embodiment compares the negative pressure value with the second preset negative pressure threshold corresponding to the working gear to obtain a comparison result if the working information is received; if the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, the second alarm operation is executed. The second alarm operation is used to remind of foreign body blockage, and can promptly discover other factors that cause increased negative pressure, and then promptly remind the user to deal with it to ensure the completion of the cleaning task.

[0113] In one embodiment, Figure 5 FIG. 2 is a third flow chart of a method for detecting the status of a cleaning robot provided in an embodiment of the present application. Figure 5 As shown, the method further includes:

[0114] S16: Displaying the first negative pressure average value of each cycle of each working gear in chronological order through a line graph.

[0115] In the application, for each first negative pressure average value, the first negative pressure average value is displayed in a graph according to time and value, and then two adjacent first negative pressure average values ​​belonging to the same working gear are connected to obtain a broken line graph.

[0116] S17: Send the line graph to the external device.

[0117] The external device may be an electronic device used by researchers or users.

[0118] Figure 6 is an example of a line graph provided by an embodiment of the present application. Figure 6 As shown, the cycle is one day, the horizontal axis is the number of days, and the vertical axis is the negative pressure value. The broken line numbered 1 is the broken line of the first gear, the broken line numbered 2 is the broken line of the second gear, and the broken line numbered 3 is the broken line of the third gear.

[0119] This embodiment displays the first negative pressure average of each cycle of each working gear in chronological order through a line graph, and sends the line graph to an external device. It can display a large amount of real data from the site, which is convenient for R&D personnel to confirm whether the first preset negative pressure threshold setting of each working gear is reasonable based on the cleaning efficiency; and it is convenient for users to understand the cleaning effect of the cleaning robot.

[0120] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0121] Corresponding to the method described in the above embodiment, for the sake of convenience of explanation, only the part related to the embodiment of the present application is shown.

[0122] In one embodiment, Figure 7 FIG. 1 is a schematic diagram of a device for detecting the status of a cleaning robot provided in an embodiment of the present application. Figure 7 As shown, the device comprises:

[0123] The communication module 70 is used to receive the working information reported by the cleaning robot described in the above embodiments, wherein the working information includes the working gear position and the negative pressure value of the dust collection chamber when the cleaning robot is in the working state;

[0124] A processing module 71 is used to determine, for each working gear, a first negative pressure average value of the working gear within the cycle according to multiple negative pressure values ​​of the working gear within the cycle;

[0125] It is also used to execute the first alarm operation if there is at least one target working gear, and the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold. The first alarm operation is used to remind that the dust collection component is full.

[0126] In one embodiment, the processing module is also used to obtain the corresponding historical negative pressure average for each target working gear if the dust collection component cleaning information reported by the cleaning robot is received, and the historical negative pressure average includes at least one first negative pressure average that is greater than the first preset negative pressure threshold; according to the historical negative pressure average of each target working gear, the first preset negative pressure threshold of each target working gear is adjusted to obtain the adjusted preset negative pressure threshold of each target working gear.

[0127] In one embodiment, the processing module is further used to compare the negative pressure value with the second preset negative pressure threshold corresponding to the working gear to obtain a comparison result after receiving the dust collection component cleaning information reported by the cleaning robot, if the working information is received;

[0128] If the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, a second alarm operation is executed, and the second alarm operation is used to remind foreign matter blockage.

[0129] In one embodiment, the processing module is further used to display the first negative pressure average value of each cycle of each working gear in chronological order through a line graph; and send the line graph to an external device.

[0130] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0131] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0132] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0133] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0134] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some cases, the computer-readable medium cannot be an electric carrier signal and a telecommunication signal.

[0135] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0137] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: A main body and a dust collecting component, a negative pressure device, and a negative pressure sensor arranged in the main body; The main body is provided with a dust collecting chamber, and the dust collecting chamber is provided with a first opening and a second opening, the first opening is connected to the outside of the main body, and the second opening is connected to the negative pressure device, the dust collecting component is arranged in the dust collecting chamber, and the dust collecting component cover is arranged at the first opening, the negative pressure sensor is arranged in the main body and outside the dust collecting chamber, and the negative pressure sensor is used to collect the negative pressure value of the dust collecting chamber.

2. The cleaning robot according to claim 1, characterized in that: The negative pressure sensor is communicated with the dust collecting chamber through a collection tube, and one end of the collection tube that is communicated with the dust collecting chamber is arranged on a side away from the first opening.

3. The cleaning robot according to claim 1 or 2, characterized in that: It also includes a control panel, which is arranged in the main body and outside the dust collecting chamber, and the negative pressure sensor is arranged on the control panel.

4. The cleaning robot according to claim 3, characterized in that: The negative pressure device is located at the top of the dust collecting chamber, and the control panel is arranged on the outside of the dust collecting chamber and corresponds to the bottom of the dust collecting chamber.

5. A method for detecting the status of a cleaning robot, characterized in that: include: Receiving working information reported by the cleaning robot according to any one of claims 1 to 4, wherein the working information includes a working gear and a negative pressure value of a dust collection chamber when the cleaning robot is in a working state; For each of the working gears, determining a first negative pressure average of the working gear in the cycle according to a plurality of negative pressure values ​​of the working gear in the cycle; If there is at least one target working gear, a first alarm operation is performed, wherein the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold, and the first alarm operation is used to remind that the dust collection component is full.

6. The method according to claim 5, characterized in that Also includes: For each of the target working gears, if the dust collecting component cleaning information reported by the cleaning robot is received, the corresponding historical negative pressure average is obtained, and the historical negative pressure average includes at least one of the first negative pressure averages that is greater than the first preset negative pressure threshold; According to the historical negative pressure average of each of the target working gears, the first preset negative pressure threshold of each of the target working gears is adjusted to obtain the adjusted preset negative pressure threshold of each of the target working gears.

7. The method according to claim 5 or 6, characterized in that: Also includes: After receiving the dust collecting component cleaning information reported by the cleaning robot, if the working information is received, the negative pressure value is compared with the second preset negative pressure threshold corresponding to the working gear to obtain a comparison result; If the comparison result is that the negative pressure value is greater than the second preset negative pressure threshold, a second alarm operation is performed, and the second alarm operation is used to remind foreign matter blockage.

8. The method according to claim 7, characterized in that Also includes: Displaying the first negative pressure average value of each cycle of each working gear in chronological order through a line graph; The line chart is sent to an external device.

9. A device for detecting the status of a cleaning robot, characterized in that: include: A communication module, used to receive working information reported by the cleaning robot according to any one of claims 1 to 4, wherein the working information includes a working gear and a negative pressure value of a dust collection chamber when the cleaning robot is in a working state; A processing module, for determining, for each of the working gears, a first negative pressure average of the working gear in the cycle according to a plurality of negative pressure values ​​of the working gear in the cycle; It is also used to execute a first alarm operation if there is at least one target working gear, and the target working gear is a working gear in which there is one or at least two consecutive first negative pressure averages greater than the corresponding first preset negative pressure threshold, and the first alarm operation is used to remind that the dust collection component is full.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 5 to 8 is implemented.

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