Filter screen blockage detection method, sweeping robot and storage medium

Abstract

The invention discloses a filter screen blockage detection method, a sweeping robot and a storage medium, and the filter screen blockage detection method comprises the steps: adding one to the number of abnormal rotation times of a fan when it is determined that the fan of the sweeping robot is in a high-speed rotation state; calculating abnormal rotation duration according to the detection interval duration and the number of abnormal rotation times, and detecting whether the fan is in a high-speed rotation state or not every detection interval duration; and determining whether a filter screen of the sweeping robot is blocked or not according to the abnormal rotation duration. According to the method, the abnormal rotation duration of the fan of the sweeping robot is monitored, the filter screen of the sweeping robot is subjected to blockage detection according to the abnormal rotation duration, and the detection accuracy of blockage detection on the filter screen of the sweeping robot is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of sweeping robots, and in particular relates to a method for detecting filter clogging, a sweeping robot, and a storage medium. Background Art

[0002] In recent years, robot vacuums have rapidly gained popularity and adoption. However, as they operate over time, their filters gradually become clogged with dust, reducing suction and cleaning efficiency. Therefore, there's an urgent need to detect filter clogging in robot vacuums. Summary of the Invention

[0003] In view of this, embodiments of the present application provide a filter clogging detection method, a sweeping robot, and a storage medium to overcome the above problems of the prior art.

[0004] In a first aspect, an embodiment of the present application provides a method for detecting filter clogging, comprising:

[0005] When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one;

[0006] Calculating the abnormal rotation duration according to the detection interval and the number of abnormal rotations, and detecting whether the fan is in the high-speed rotation state once every detection interval;

[0007] Whether the filter of the sweeping robot is clogged is determined according to the abnormal rotation duration.

[0008] In some optional embodiments, when it is determined that the fan of the sweeping robot is in a high-speed rotation state, before increasing the number of abnormal rotations of the fan by one, the method for detecting filter clogging further includes:

[0009] Collecting the current speed of the fan according to the detection interval;

[0010] determining whether the fan is in the high-speed rotation state according to the current rotation speed;

[0011] When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one, including:

[0012] When it is determined according to the current rotation speed that the fan is in the high-speed rotation state, the number of abnormal rotations is increased by one.

[0013] In some optional embodiments, determining whether the fan is in the high-speed rotation state according to the current rotation speed includes:

[0014] If the current rotation speed is greater than or equal to the rotation speed threshold, determining that the fan is in the high-speed rotation state;

[0015] If the current rotation speed is less than the rotation speed threshold, it is determined that the fan is not in the high-speed rotation state.

[0016] In some optional embodiments, the filter blockage detection method further includes:

[0017] When it is determined according to the current rotation speed that the fan is not in the high-speed rotation state, determining whether the number of abnormal rotations is greater than or equal to 1;

[0018] When it is determined that the number of abnormal rotations is greater than or equal to 1, subtracting one from the number of abnormal rotations;

[0019] Return to the step of collecting the current rotation speed of the fan according to the detection interval duration.

[0020] In some optional embodiments, the filter blockage detection method further includes:

[0021] When it is determined that the number of abnormal rotations is equal to 0, the process returns to the step of collecting the current rotation speed of the fan according to the detection interval.

[0022] In some optional embodiments, the method for detecting filter clogging before collecting the current speed of the fan according to the detection interval duration further includes:

[0023] Determining whether the cleaning robot is moving on the floor;

[0024] The collecting the current rotation speed of the fan according to the detection interval duration includes:

[0025] When it is determined that the sweeping robot is moving on the floor, the current rotation speed of the fan is collected according to the detection interval duration.

[0026] In some optional embodiments, determining whether the cleaning robot is driving on the floor includes:

[0027] collecting the roller brush current of the sweeping robot;

[0028] When the roller brush current is less than or equal to a current threshold, determining that the sweeping robot is traveling on the floor;

[0029] When the roller brush current is greater than the current threshold, it is determined that the cleaning robot is traveling on a non-floor surface.

[0030] In some optional embodiments, determining whether the filter of the sweeping robot is clogged according to the abnormal rotation duration includes:

[0031] When the abnormal rotation duration is greater than or equal to a duration threshold, determining that the filter is clogged;

[0032] When the abnormal rotation duration is less than the duration threshold, it is determined that the filter is not clogged.

[0033] In a second aspect, an embodiment of the present application provides a filter clogging detection device, comprising:

[0034] an accumulation module, configured to increase the number of abnormal rotations of the fan by one when it is determined that the fan of the sweeping robot is in a high-speed rotation state;

[0035] a calculation module, configured to calculate the abnormal rotation duration according to the detection interval and the number of abnormal rotations, and detect whether the fan is in the high-speed rotation state once every detection interval;

[0036] The blockage determination module is used to determine whether the filter of the sweeping robot is blocked according to the abnormal rotation duration.

[0037] In a third aspect, an embodiment of the present application provides a sweeping robot, comprising a memory; one or more processors coupled to the memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the filter clogging detection method provided in the first aspect above.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program code is stored. The program code can be called by a processor to execute the filter clogging detection method provided in the first aspect above.

[0039] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer device, enables the computer device to execute the filter clogging detection method provided in the first aspect above.

[0040] The solution provided by the present application is that when it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotation times of the fan is increased by one, and the abnormal rotation duration is calculated based on the detection interval duration and the number of abnormal rotation times. The fan is detected once every detection interval to see whether it is in a high-speed rotation state, and based on the abnormal rotation duration, it is determined whether the fan filter is clogged. This realizes the monitoring of the abnormal rotation duration of the fan of the sweeping robot, and the blockage detection of the filter of the sweeping robot based on the abnormal rotation duration, thereby improving the detection accuracy of the blockage detection of the filter of the sweeping robot.

[0041] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0043] Figure 1 A schematic diagram of a scenario of a sweeping robot provided in an embodiment of the present application is shown.

[0044] Figure 2 A flow chart of a method for detecting filter clogging provided in an embodiment of the present application is shown.

[0045] Figure 3 Another flow chart of the filter clogging detection method provided in an embodiment of the present application is shown.

[0046] Figure 4 Another flow chart of the filter clogging detection method provided in an embodiment of the present application is shown.

[0047] Figure 5 A schematic diagram of a scenario flow of a method for detecting filter clogging provided in an embodiment of the present application is shown.

[0048] Figure 6 A structural block diagram of a filter clogging detection device provided in an embodiment of the present application is shown.

[0049] Figure 7 A functional block diagram of a sweeping robot provided in an embodiment of the present application is shown.

[0050] Figure 8A computer-readable storage medium provided in an embodiment of the present application is shown for storing or carrying program code for implementing a method for detecting filter clogging provided in an embodiment of the present application.

[0051] Figure 9 A computer program product provided in an embodiment of the present application is shown for storing or carrying program codes for implementing a filter clogging detection method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0053] It will be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0054] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0055] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0056] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0057] In recent years, robot vacuums have rapidly gained popularity and adoption. However, as they operate over time, their filters gradually become clogged with dust, reducing suction and cleaning efficiency. Therefore, there's an urgent need to detect filter clogging in robot vacuums.

[0058] In response to the above problems, the embodiments of the present application provide a filter clog detection method, a sweeping robot, and a storage medium. When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one, and the abnormal rotation duration is calculated based on the detection interval and the number of abnormal rotations. The fan is detected once every detection interval to see whether it is in a high-speed rotation state, and whether the fan filter is clogged is determined based on the abnormal rotation duration. This enables monitoring of the abnormal rotation duration of the fan of the sweeping robot, and detection of filter clogs on the sweeping robot filter based on the abnormal rotation duration, thereby improving the detection accuracy of filter clog detection on the sweeping robot filter.

[0059] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot.

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0061] See also Figure 1 , which shows a schematic diagram of an application scenario of the sweeping robot 100 provided in an embodiment of the present application. The sweeping robot 100 may include a shell, a fan, a filter and a controller. The fan, the filter and the controller can be installed in the shell, and the shell can provide installation support for the fan, the filter and the controller.

[0062] The material of the shell can be any one of plastic, metal or composite material, etc., which is not limited here.

[0063] The fan can be used to generate suction to suck in dust and debris on the floor. The filter is fitted with the air inlet of the fan and can be used to filter the dust and debris sucked into the interior of the sweeping robot 100.

[0064] The controller can be communicatively connected to the fan, and the controller can be used to control the fan to operate.

[0065] The controller can be any one of a microcontroller unit (MCU), a central processing unit (CPU), a combinatorial logic controller (CLC), a complex programmable logic device (CPLD) or a field programmable gate array (FPGA), etc., and is not limited here.

[0066] See also Figure 2 , which shows a flow chart of a method for detecting filter blockage provided by an embodiment of the present application. In a specific embodiment, the method for detecting filter blockage can be applied to Figure 1 The controller in the sweeping robot 100 shown in FIG. 1 is taken as an example below. Figure 2 The process shown in FIG. 1 is described in detail. The method for detecting filter blockage may include the following steps 110 to 130 .

[0067] Step 110: When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one.

[0068] In an embodiment of the present application, when the controller determines that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan can be increased by one.

[0069] The high-speed rotation state may be used to indicate that the rotation speed of the fan exceeds the rated rotation speed of the fan, wherein the number of abnormal rotations is a natural number.

[0070] Step 120: Calculate the abnormal rotation duration according to the detection interval duration and the number of abnormal rotations.

[0071] In the embodiment of the present application, the controller can calculate the abnormal rotation duration according to Formula 1 based on the detection interval duration and the number of abnormal rotations.

[0072] Formula 1 is: abnormal rotation duration = detection interval duration × abnormal rotation number.

[0073] The controller may detect whether the fan is in a high-speed rotation state every detection interval.

[0074] As an example, the detection interval may be 500 milliseconds, 1 second, or 200 milliseconds, etc., which is not limited here.

[0075] Step 130: Determine whether the filter of the sweeping robot is clogged based on the abnormal rotation duration.

[0076] In an embodiment of the present application, the controller can determine whether the filter of the sweeping robot is clogged based on the abnormal rotation duration, thereby monitoring the abnormal rotation duration of the fan of the sweeping robot and detecting the blockage of the filter of the sweeping robot based on the abnormal rotation duration, thereby improving the detection accuracy of the blockage detection of the filter of the sweeping robot.

[0077] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot.

[0078] If the duration of abnormal rotation is greater than or equal to the duration threshold, the filter is determined to be clogged; if the duration is less than the duration threshold, the filter is determined to be unblocked. Since a clogged filter increases the fan's rotation speed, monitoring the duration of abnormal fan rotation to determine filter blockage can prevent false filter blockage judgments caused by temporary increases in fan speed due to obstruction during vacuuming by the robot vacuum, thereby improving the accuracy of filter blockage detection.

[0079] Among them, the time threshold can be used to characterize the minimum abnormal rotation time of the fan of the sweeping robot due to abnormal rotation of the filter due to filter blockage. The time threshold can be a time preset by the user, or it can be a time automatically generated by the controller based on the process of multiple filter blockage detections, etc., which is not limited here.

[0080] In some embodiments, when the controller determines that the filter of the sweeping robot is clogged based on the duration of abnormal rotation, it can generate and send a clog prompt message to the client associated with the sweeping robot, so that the user can process the filter of the sweeping robot according to the clog prompt message, which is conducive to improving the user experience during the filter clog detection process.

[0081] The congestion prompt information may be at least any one of text prompt information, sound prompt information, or light prompt information, and is not limited here.

[0082] The client can be a mobile client (for example, a car client, a PDA (Personal Digital Assistant) client, a tablet PC (Tablet Personal Computer, Tablet PC) client, a laptop client, etc.), or a fixed client (a desktop computer client, a smart panel client, etc.).

[0083] The client can be connected to the controller via a network and exchange data with the controller via the network. The network can be any one of a ZigBee network, a Bluetooth (BT) network, a Wireless Fidelity (Wi-Fi) network, a Thread network, a Long Range Radio (LoRa) network, a Low-Power Wide-Area Network (LPWAN), an infrared network, a Narrow Band Internet of Things (NB-IoT), a Controller Area Network (CAN), a Digital Living Network Alliance (DLNA) network, a Wide Area Network (WAN), a Local Area Network (LAN), a Metropolitan Area Network (MAN), or a Wireless Personal Area Network (WPAN), etc., without limitation herein.

[0084] In some embodiments, when the controller determines that the filter of the sweeping robot is not clogged based on the duration of abnormal rotation, it can return to step 110 to continuously detect blockage of the filter, and can promptly detect whether the filter is clogged, which is conducive to improving the user experience during the filter blockage detection process.

[0085] The solution provided by the present application is that when it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotation times of the fan is increased by one, and the abnormal rotation duration is calculated based on the detection interval duration and the number of abnormal rotation times. The fan is detected once every detection interval to see whether it is in a high-speed rotation state, and based on the abnormal rotation duration, it is determined whether the fan filter is clogged. This realizes the monitoring of the abnormal rotation duration of the fan of the sweeping robot, and the blockage detection of the filter of the sweeping robot based on the abnormal rotation duration, thereby improving the detection accuracy of the blockage detection of the filter of the sweeping robot.

[0086] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot.

[0087] See also Figure 3, which shows a flow chart of a method for detecting filter blockage provided by another embodiment of the present application. In a specific embodiment, the method for detecting filter blockage can be applied to Figure 1 The controller in the sweeping robot 100 shown in FIG. 1 is taken as an example below. Figure 3 The process shown in FIG. 1 is described in detail. The method for detecting filter blockage may include the following steps 210 to 250.

[0088] Step 210: Collect the current speed of the fan according to the detection interval.

[0089] In this embodiment, the sweeping robot may further include a rotation speed sensor, which may be installed relative to the fan. The rotation speed sensor may be communicatively connected to the controller, and the controller may be used to control the rotation speed sensor to collect the rotation speed of the fan.

[0090] The controller can send a speed collection instruction to the speed sensor at interval detection time. The speed sensor receives and responds to the speed collection instruction, collects the fan speed, obtains the current speed, and sends the current speed to the controller. The controller receives the current speed returned by the speed sensor.

[0091] Among them, the controller can start timing from the power-on moment, and send the speed collection instruction to the speed sensor at interval detection interval length, or it can start timing from the last time the speed collection instruction was sent to the speed sensor, and send the speed collection instruction to the speed sensor at interval detection interval length, etc., which is not limited here.

[0092] The speed sensor may be any one of a magnetoelectric speed sensor, a Hall-type speed sensor, a photoelectric speed sensor, a capacitive speed sensor, or an eddy-current speed sensor, etc., and is not limited here.

[0093] Step 220: Determine whether the fan is in a high-speed rotation state according to the current rotation speed.

[0094] In this embodiment, the controller can determine whether the fan is in a high-speed rotation state based on the current rotation speed. Since the fan rotation speed is proportional to the current, the fan will be blocked when the filter is clogged, the fan current will increase, and the fan rotation speed will also increase accordingly. The fan rotation state is detected based on the fan speed, which improves the detection accuracy of the fan rotation state.

[0095] If the current rotation speed is greater than or equal to the rotation speed threshold, it is determined that the fan is in a high-speed rotation state; if the current rotation speed is less than the rotation speed threshold, it is determined that the fan is not in a high-speed rotation state.

[0096] The speed threshold value can be used to represent the minimum rotation speed of the fan in a high-speed rotation state. The rotation state of the fan is judged according to the current speed and the speed threshold value, thereby improving the accuracy of judging the rotation state of the fan.

[0097] The rotation speed threshold may be a rotation speed preset by the user, or a rotation speed automatically generated by the controller according to a process of performing blockage detection on the filter screen multiple times, and is not limited here.

[0098] Step 230: When it is determined based on the current rotation speed that the fan is in a high-speed rotation state, the number of abnormal rotations is increased by one.

[0099] Step 240: Calculate the abnormal rotation duration according to the detection interval duration and the number of abnormal rotations.

[0100] Step 250: Determine whether the filter of the sweeping robot is clogged based on the abnormal rotation duration.

[0101] In this embodiment, step 230, step 240 and step 250 may refer to the contents of the corresponding steps in the aforementioned embodiment, and will not be repeated here.

[0102] In some embodiments, when the controller determines that the fan is not in a high-speed rotation state based on the current speed, it determines whether the number of abnormal rotations is greater than or equal to 1, and when it is determined that the number of abnormal rotations is greater than or equal to 1, the number of abnormal rotations is reduced by one, and returns to step 210 and subsequent steps, thereby continuously detecting blockage of the filter and timely discovering whether the filter is blocked, which is conducive to improving the user experience during the process of detecting blockage of the filter.

[0103] Moreover, it is difficult to avoid fluctuations in the fan speed during operation. When the fan's rotation state is monitored to be normal, the number of abnormal rotations is reduced by one, which can eliminate the false detection of filter blockage due to fluctuations in the fan speed, and is conducive to further improving the detection accuracy of filter blockage detection of the sweeping robot.

[0104] In some embodiments, when the controller determines that the fan is not in a high-speed rotation state based on the current speed, it determines whether the number of abnormal rotations is greater than or equal to 1, and when it is determined that the number of abnormal rotations is equal to 0, it returns to execute step 210 and subsequent steps, thereby continuously detecting blockage of the filter when the rotation state of the fan is monitored to be normal and no fluctuation in the fan speed is detected. Whether the filter is blocked can be discovered in time, which is beneficial to improving the user experience during the process of detecting blockage of the filter.

[0105] The solution provided in this embodiment collects the current speed of the fan according to the detection interval duration, and determines whether the fan is in a high-speed rotation state based on the current speed. When the fan is determined to be in a high-speed rotation state based on the current speed, the number of abnormal rotations is increased by one, and the abnormal rotation duration is calculated based on the detection interval duration and the number of abnormal rotations. Based on the abnormal rotation duration, it is determined whether the filter of the sweeping robot is clogged, thereby realizing the detection of the fan rotation state based on the fan speed and improving the detection accuracy of the fan rotation state.

[0106] See also Figure 4 , which shows a flow chart of a method for detecting filter blockage provided by another embodiment of the present application. In a specific embodiment, the method for detecting filter blockage can be applied to Figure 1 The controller in the sweeping robot 100 shown in FIG. 1 is taken as an example below. Figure 4 The process shown in FIG. 1 is described in detail. The method for detecting filter blockage may include the following steps 310 to 360.

[0107] Step 310: Determine whether the cleaning robot is driving on the floor.

[0108] In this embodiment, the sweeping robot may further include a roller brush and a current sensor. The current sensor may be installed relative to the roller brush. The current sensor may be communicatively connected to a controller. The controller may be used to control the current sensor to collect current from the roller brush.

[0109] The controller can send a current collection instruction to the current sensor. The current sensor receives and responds to the current collection instruction, collects current from the roller brush, obtains the roller brush current, and sends the roller brush current to the controller. The controller receives the roller brush current returned by the current sensor and determines whether the sweeping robot is driving on the floor based on the roller brush current. Since the friction of the sweeping robot when driving on the floor is small, the corresponding roller brush current is small. The driving environment of the sweeping robot is detected based on the detected roller brush current, thereby improving the detection accuracy of the driving environment of the sweeping robot.

[0110] When the roller brush current is less than or equal to the current threshold, it is determined that the sweeping robot is traveling on the floor; when the roller brush current is greater than the current threshold, it is determined that the sweeping robot is traveling on a non-floor surface.

[0111] Among them, the current threshold can be used to characterize the maximum roller brush current of the sweeping robot when it is driving on the floor. The current threshold can be a current pre-set by the user, or a current automatically generated by the controller based on the process of multiple filter blockage detections, etc., which is not limited here.

[0112] Step 320: When it is determined that the sweeping robot is moving on the floor, the current speed of the fan is collected according to the detection interval.

[0113] Step 330: Determine whether the fan is in a high-speed rotation state according to the current rotation speed.

[0114] Step 340: When it is determined based on the current rotation speed that the fan is in a high-speed rotation state, the number of abnormal rotations is increased by one.

[0115] Step 350: Calculate the abnormal rotation duration according to the detection interval duration and the number of abnormal rotations.

[0116] Step 360: Determine whether the filter of the sweeping robot is clogged based on the abnormal rotation duration.

[0117] In this embodiment, steps 320 , 330 , 340 , 350 and 360 may refer to the contents of the corresponding steps in the aforementioned embodiments, and will not be repeated here.

[0118] In one application scenario, such as Figure 5 As shown, the method for detecting filter clogging may include the following steps 401 to 410.

[0119] Step 401: Control the fan of the sweeping robot to operate at a constant voltage.

[0120] The controller may adjust the average value of the fan's input voltage by controlling the pulse width of a pulse width modulation (PWM) signal of the fan, thereby controlling the fan to operate at a constant voltage.

[0121] Step 402: Determine whether the sweeping robot is moving on the floor.

[0122] When it is determined that the sweeping robot is moving on the floor, step 403 is executed;

[0123] When it is determined that the cleaning robot is driving on a non-floor surface, step 410 is executed.

[0124] Step 403: Determine whether the fan is in a high-speed rotation state.

[0125] When it is determined that the fan is in a high-speed rotation state, step 404 is executed;

[0126] When it is determined that the fan is not in a high-speed rotation state, step 408 is executed;

[0127] Step 404: Increase the number of abnormal rotations by one.

[0128] Step 405: Calculate the abnormal rotation duration according to the detection interval duration and the number of abnormal rotations.

[0129] Step 406: Determine whether the abnormal rotation duration is greater than or equal to a duration threshold.

[0130] When it is determined that the abnormal rotation duration is greater than or equal to the duration threshold, step 407 is executed;

[0131] When it is determined that the abnormal rotation duration is less than the duration threshold, the process returns to step 401 .

[0132] Step 407: Generate and send a congestion prompt message to the client associated with the sweeping robot.

[0133] Step 408: Determine whether the number of abnormal rotations is greater than or equal to 1.

[0134] When it is determined that the number of abnormal rotations is greater than or equal to 1, step 409 is executed;

[0135] When it is determined that the number of abnormal rotations is equal to 0, the process returns to step 401 .

[0136] Step 409: Subtract one from the number of abnormal rotations, and return to step 401.

[0137] Step 410: End.

[0138] The solution provided in this embodiment determines whether the sweeping robot is driving on the floor, and when it is determined that the sweeping robot is driving on the floor, collects the current speed of the fan according to the detection interval duration, and determines whether the fan is in a high-speed rotation state based on the current speed, and when it is determined that the fan is in a high-speed rotation state based on the current speed, adds one to the number of abnormal rotations, and calculates the abnormal rotation duration based on the detection interval duration and the number of abnormal rotations, and determines whether the filter of the sweeping robot is clogged based on the abnormal rotation duration. This implements filter blockage detection based on the abnormal rotation duration of the fan when the sweeping robot is detected driving on the floor, further improving the detection accuracy of filter blockage detection of the sweeping robot.

[0139] See also Figure 6 , which shows a filter clogging detection device 500 provided by an embodiment of the present application. In a specific embodiment, the filter clogging detection device 500 can be applied to Figure 1 The controller in the sweeping robot 100 shown in FIG. 1 is taken as an example below. Figure 6 The filter clogging detection device 500 shown in FIG. 5 is described in detail. The filter clogging detection device 500 may include an accumulation module 510 , a calculation module 520 and a clogging determination module 530 .

[0140] The accumulation module 510 can be used to add one to the number of abnormal rotations of the fan when it is determined that the fan of the sweeping robot is in a high-speed rotation state; the calculation module 520 can be used to calculate the abnormal rotation duration based on the detection interval and the number of abnormal rotations, and detect whether the fan is in a high-speed rotation state once every detection interval; the blockage determination module 530 can be used to determine whether the filter of the sweeping robot is blocked based on the abnormal rotation duration.

[0141] In some embodiments, the filter clogging detection device 500 may further include a collection module and a rotation speed determination module.

[0142] The acquisition module can be used to collect the current speed of the fan according to the detection interval before the accumulation module 510 adds one to the number of abnormal rotations of the fan when it is determined that the fan of the sweeping robot is in a high-speed rotation state; the speed determination module can be used to determine whether the fan is in a high-speed rotation state based on the current speed.

[0143] In some embodiments, the accumulation module 510 may include an accumulation unit.

[0144] The accumulating unit may be configured to increase the number of abnormal rotations by one when it is determined based on the current rotation speed that the fan is in a high-speed rotation state.

[0145] In some implementations, the rotation speed determination module may include a first determination unit and a second determination unit.

[0146] The first determination unit may be configured to determine that the fan is in a high-speed rotation state if the current rotation speed is greater than or equal to a rotation speed threshold; the second determination unit may be configured to determine that the fan is not in a high-speed rotation state if the current rotation speed is less than the rotation speed threshold.

[0147] In some embodiments, the filter clogging detection device 500 may further include a times determination module, a cumulative reduction module, and a first return module.

[0148] The number determination module can be used to determine whether the number of abnormal rotations is greater than or equal to 1 when it is determined that the fan is not in a high-speed rotation state based on the current rotation speed; the cumulative decrement module can be used to subtract one from the number of abnormal rotations when it is determined that the number of abnormal rotations is greater than or equal to 1; the first return module can be used to return to the step of collecting the current rotation speed of the fan according to the detection interval duration.

[0149] In some embodiments, the filter clogging detection device 500 may further include a second return module.

[0150] The second returning module may be configured to return to the step of collecting the current rotation speed of the fan according to the detection interval when it is determined that the number of abnormal rotations is equal to 0.

[0151] In some embodiments, the filter clogging detection device 500 may further include a driving determination module.

[0152] The driving determination module can be used to determine whether the sweeping robot is driving on the floor before the collection module collects the current speed of the fan according to the detection interval.

[0153] In some embodiments, the acquisition module may include a first acquisition unit.

[0154] The first collecting unit may be configured to collect the current rotation speed of the fan according to a detection interval when it is determined that the sweeping robot is moving on the floor.

[0155] In some embodiments, the travel determination module may include a second collection unit, a third determination unit, and a fourth determination unit.

[0156] The second collection unit can be used to collect the roller brush current of the sweeping robot; the third determination unit can be used to determine that the sweeping robot is driving on the floor when the roller brush current is less than or equal to the current threshold; the fourth determination unit can be used to determine that the sweeping robot is driving on a non-floor when the roller brush current is greater than the current threshold.

[0157] In some implementations, the congestion determination module 530 may include a fifth determination unit and a sixth determination unit.

[0158] The fifth determining unit may be used to determine that the filter is clogged when the abnormal rotation duration is greater than or equal to the duration threshold; the sixth determining unit may be used to determine that the filter is not clogged when the abnormal rotation duration is less than the duration threshold.

[0159] The solution provided in this embodiment is that when it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotation times of the fan is increased by one, and the abnormal rotation duration is calculated based on the detection interval duration and the number of abnormal rotation times. Whether the fan is in a high-speed rotation state is detected once every detection interval duration, and whether the fan filter is blocked is determined based on the abnormal rotation duration. This realizes the monitoring of the abnormal rotation duration of the fan of the sweeping robot and the blockage detection of the filter of the sweeping robot based on the abnormal rotation duration, thereby improving the detection accuracy of the blockage detection of the filter of the sweeping robot.

[0160] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot.

[0161] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to in detail. For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiments. Any processing method described in the method embodiment can be implemented by the corresponding processing module in the device embodiment, and will not be repeated in detail in the device embodiment.

[0162] In addition, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module. The above-mentioned integrated modules may be implemented in the form of hardware or software functional modules.

[0163] See also Figure 7 , which shows a functional block diagram of a sweeping robot 600 provided by an embodiment of the present application. The sweeping robot 600 may include one or more of the following components: a memory 610, a processor 620, and one or more applications, wherein the one or more applications may be stored in the memory 610 and configured to be executed by the one or more processors 620, and the one or more applications are configured to execute the method described in the aforementioned method embodiment.

[0164] The memory 610 may include a random access memory (RAM) or a read-only memory (ROM). The memory 610 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 610 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as determining whether the vehicle is in a high-speed rotation state, adding one, calculating the duration of abnormal rotation, detecting whether the vehicle is in a high-speed rotation state, determining whether the vehicle is blocked, collecting the current speed, determining whether the vehicle is in a high-speed rotation state, determining whether the vehicle is not in a high-speed rotation state, determining whether the number of abnormal rotations is greater than or equal to 1, determining whether the number of abnormal rotations is greater than or equal to 1, subtracting one, returning to execution, determining whether the number of abnormal rotations is equal to 0, determining whether the vehicle is traveling on the floor, determining whether the vehicle is traveling on the floor, collecting the roller brush current, determining whether the vehicle is traveling on a non-floor surface, and determining that the filter is not blocked, etc.), instructions for implementing the following various method embodiments, etc. The storage data area can also store data created by the sweeping robot 600 during use (such as the sweeping robot, fan, high-speed rotation status, abnormal rotation times, detection interval duration, abnormal rotation duration, filter, current speed, speed threshold, floor, roller brush current, current threshold and duration threshold), etc.

[0165] The processor 620 may include one or more processing cores. The processor 620 utilizes various interfaces and circuits to connect the various components within the robot vacuum 600. It executes instructions, programs, code sets, or instruction sets stored in the memory 610, as well as accesses data stored in the memory 610, to perform various functions of the robot vacuum 600 and process data. Optionally, the processor 620 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 620 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 620 and may be implemented separately via a communication chip.

[0166] Please refer to Figure 8 , which shows a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 700 stores program code 710, which can be called by a processor to execute the method described in the above method embodiment.

[0167] The computer-readable storage medium 700 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 700 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 700 has storage space for program code 710 for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program code 710 can be compressed, for example, in a suitable form.

[0168] Please refer to Figure 9, which shows a block diagram of the structure of a computer program product 800 provided in an embodiment of the present application. The computer program product 800 includes a computer program / instructions 810, which is stored in a computer-readable storage medium of a computer device. When the computer program product 800 is executed on the computer device, the computer device's processor reads the computer program / instructions 810 from the computer-readable storage medium and executes the computer program / instructions 810, causing the computer device to perform the method described in the above method embodiment.

[0169] The solution provided in this embodiment is that when it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotation times of the fan is increased by one, and the abnormal rotation duration is calculated based on the detection interval duration and the number of abnormal rotation times. Whether the fan is in a high-speed rotation state is detected once every detection interval duration, and whether the fan filter is blocked is determined based on the abnormal rotation duration. This realizes the monitoring of the abnormal rotation duration of the fan of the sweeping robot and the blockage detection of the filter of the sweeping robot based on the abnormal rotation duration, thereby improving the detection accuracy of the blockage detection of the filter of the sweeping robot.

[0170] Moreover, by monitoring the abnormal rotation duration of the fan, the filter can be detected for blockage, and there is no need to configure the sweeping robot with an additional air pressure sensor for blockage detection, which helps to reduce the cost of the sweeping robot.

[0171] Finally, it should be noted that the above embodiments 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, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting filter clogging, characterized in that: include: When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one; Calculating the abnormal rotation duration according to the detection interval and the number of abnormal rotations, and detecting whether the fan is in the high-speed rotation state once every detection interval; Whether the filter of the sweeping robot is clogged is determined according to the abnormal rotation duration.

2. The detection method according to claim 1, characterized in that When it is determined that the fan of the sweeping robot is in a high-speed rotation state, before increasing the number of abnormal rotations of the fan by one, the detection method further includes: Collecting the current speed of the fan according to the detection interval; determining whether the fan is in the high-speed rotation state according to the current rotation speed; When it is determined that the fan of the sweeping robot is in a high-speed rotation state, the number of abnormal rotations of the fan is increased by one, including: When it is determined according to the current rotation speed that the fan is in the high-speed rotation state, the number of abnormal rotations is increased by one.

3. The detection method according to claim 2, characterized in that The determining, according to the current rotation speed, whether the fan is in the high-speed rotation state includes: If the current rotation speed is greater than or equal to the rotation speed threshold, determining that the fan is in the high-speed rotation state; If the current rotation speed is less than the rotation speed threshold, it is determined that the fan is not in the high-speed rotation state.

4. The detection method according to claim 2, characterized in that Also includes: When it is determined according to the current rotation speed that the fan is not in the high-speed rotation state, determining whether the number of abnormal rotations is greater than or equal to 1; When it is determined that the number of abnormal rotations is greater than or equal to 1, subtracting one from the number of abnormal rotations; Return to the step of collecting the current rotation speed of the fan according to the detection interval duration.

5. The detection method according to claim 4, characterized in that Also includes: When it is determined that the number of abnormal rotations is equal to 0, the process returns to the step of collecting the current rotation speed of the fan according to the detection interval.

6. The detection method according to claim 2, characterized in that Before collecting the current rotation speed of the fan according to the detection interval, the detection method further includes: Determining whether the cleaning robot is moving on the floor; The collecting the current rotation speed of the fan according to the detection interval duration includes: When it is determined that the sweeping robot is moving on the floor, the current rotation speed of the fan is collected according to the detection interval duration.

7. The detection method according to claim 6, characterized in that The determining whether the cleaning robot is moving on the floor includes: collecting the roller brush current of the sweeping robot; When the roller brush current is less than or equal to a current threshold, determining that the sweeping robot is traveling on the floor; When the roller brush current is greater than the current threshold, it is determined that the cleaning robot is traveling on a non-floor surface.

8. The detection method according to any one of claims 1 to 7, characterized in that The determining, based on the abnormal rotation duration, whether the filter of the sweeping robot is clogged includes: When the abnormal rotation duration is greater than or equal to a duration threshold, determining that the filter is clogged; When the abnormal rotation duration is less than the duration threshold, it is determined that the filter is not clogged.

9. A sweeping robot, characterized in that: include: Memory; one or more processors coupled to the memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the detection method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the detection method according to any one of claims 1 to 8.

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