Sweeping robot base station state monitoring method and system based on Internet of Things

Abstract

The invention relates to the technical field of monitoring, in particular to a sweeping robot base station state monitoring method and system based on the Internet of Things, and the method comprises the following steps: obtaining a serial number and state field dislocation segment, determining a serial number and state field structure separation segment, analyzing a field connection relation, positioning a base station to respond to a disconnection structure block, a path control disjunction node set is extracted according to the matching condition of control and response fields, a non-continuous feedback structure group is screened in combination with communication frame segment coherence, and a monitoring segment structure capable of recognizing the state of a base station is constructed according to an action sequence. According to the method, the state information structure abnormity can be segmented by extracting the serial number jump and the field dislocation segment, the feedback interruption position is identified through the front-back relation of the field, and the feedback range is defined by combining the control and state field matching condition; the feedback distortion paragraph is positioned and the disjunction position is traced and controlled by means of the connection feature of the frame segment in the communication record, so that the structure reduction capability of the state information and the contrast analysis efficiency of the feedback content are improved.

Description

Technical Field

[0001] This invention relates to the field of monitoring technology, and in particular to a method and system for monitoring the status of robot vacuum cleaner base stations based on the Internet of Things. Background Technology

[0002] The field of monitoring technology involves the continuous collection, analysis, and management of the operating status and parameters of equipment and systems. Its core aspects include sensor-based information acquisition, data transmission via remote communication, status assessment by a centralized management platform, and alarms and recording of abnormal states. Within this field, monitoring technology is widely used in industrial control, power systems, transportation, smart homes, and robotic systems, characterized by real-time data processing, automated handling, and rapid response. Traditional monitoring of robotic vacuum cleaner base station status relies on periodic manual inspections or simple timer logic to determine the base station's operational status. This primarily depends on manual inspections or local signal detection of key indicators such as power supply status, battery level, and network connectivity. It lacks data linkage with remote communication platforms and typically uses offline recording and querying, along with reporting status data at preset intervals, to complete status collection and preliminary diagnosis.

[0003] Existing technologies rely on static periodic mechanisms to collect status data, lacking the ability to perceive the real-time linkage between number evolution and field structure. When abnormal situations such as field jumps or discontinuous data structures occur during path execution, it is impossible to accurately identify the breakpoints in status feedback. Furthermore, the communication chain feedback content lacks a continuity judgment standard based on the order of numbered fields, which can easily lead to field misalignment and status disconnection in situations of unstable links or feedback delays. This results in a blurred correspondence between status records and control nodes, leading to problems such as execution judgment deviations, chaotic feedback responses, and difficulties in troubleshooting link anomalies. Summary of the Invention

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide a method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things; To achieve the above objectives, the present invention adopts the following technical solution: a method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things, comprising the following steps: S1: Obtain the receipt number and status field returned by the base station in the execution path of the sweeping robot, read the number order and field position, identify number jumps, field offsets and field breakage number segments, extract segments with misaligned number fields, and obtain the number and status field structure separation segments. S2: Based on the number segment in the number and status field structure separation segment, extract the segment start field and the previous segment end field, analyze whether the fields show action connection, identify the number segment corresponding to the field sequence breakpoint, and obtain the base station response disconnect structure block; S3: Based on the control node list corresponding to the numbering segment of the base station response decoupling structure block, extract the control field and response field group, determine whether there is a control number where the field mapping is invalid, and obtain the path control decoupling node set; S4: Based on the control number in the path control disconnection node set, read the content of the feedback frame in the communication chain, filter the frame segments that are not connected before and after the feedback field, and obtain the discontinuous feedback structure group. S5: Based on the numbered segments in the discontinuous feedback structure group, extract the control field and the status field, analyze the action sequence between the fields, and obtain the identifiable base station status monitoring segment structure.

[0005] As a further embodiment of the present invention, the numbering and status field structure separation segment includes a numbering jump segment, a field position change segment, and a field interruption segment; the base station response disconnection structure block includes a segment start field, a segment end field, and a field interruption point; the path control disconnection node set includes a control node number, an action control field anomaly item, and a response status field missing item; the discontinuous feedback structure group includes a receipt gap segment, a feedback frame discontinuity segment, and a segment of frames with no connection before and after; and the identifiable base station status monitoring segment structure includes an action structure sequence, a status field matching relationship, and a field sequence connection feature.

[0006] As a further aspect of the present invention, the misaligned number field segment refers to a data segment in the receipt data returned by the base station in the execution path of the sweeping robot where the positional relationship between the number field and the corresponding status field is disordered or mismatched. The control field refers to the field in the control node that guides the robot's actions.

[0007] As a further aspect of the present invention, the field mapping failure control number refers to the number of the control field and the response status field where a mapping relationship cannot be established. The unconnected frame segments are frame data segments in the communication link that lack a normal logical connection between the feedback field and the frame data segment before and after it.

[0008] As a further aspect of the present invention, the specific steps of S1 are as follows: S101: Obtain the action receipt number and status field returned by the base station in the execution path of the sweeping robot, read the number order and field position, identify the jump position, field position change and field interruption corresponding number segment in the number sequence, and obtain the abnormal index segment of the number field. S102: Based on the abnormal index segment of the number field, extract the field order in the number segment, identify the field sequence connection breakpoint, and locate whether the breakpoint and the number jump occur in the same number interval to obtain the field interval break mapping segment; S103: Based on the field interval break mapping segment, read the front and back distribution of the field in the numbering sequence, identify the deviation position of the field in the numbering segment and the numbering range corresponding to the structural separation phenomenon, and obtain the numbering and state field structural separation segment.

[0009] As a further aspect of the present invention, the specific steps of S2 are as follows: S201: Based on the numbering segment in the numbering and status field structure separation segment, extract the segment head field and the previous segment tail field of each numbering segment, determine whether there is a sequential jump and direction reversal in the arrangement relationship of the fields in the path action sequence, and obtain the field sequence offset segment; S202: Based on the field sequence offset segment, read the start and end positions of the corresponding field in the path action sequence, identify whether there is a discontinuous field region between the continuous judgment fields, locate the structural interval between the number and the discontinuous field, and obtain the path field interruption mapping segment. S203: Based on the numbering interval in the path field interruption mapping segment, detect the mapping number range of the field in the action sequence, identify the position where the missing field in the range is consistent with the numbering of the path break sequence, and obtain the base station response disconnection structure block.

[0010] As a further aspect of the present invention, the specific steps of S3 are as follows: S301: Based on the numbering segment in the base station response disconnection structure block, extract the path control node list under the numbering segment, and retrieve the action control field corresponding to each control node to obtain the control field mapping structure set; S302: Based on the control field mapping structure set, extract the action control field corresponding to the control node, call the field set in the response status field group, compare the position number and action type of the action field and response field bidirectionally, remove field pairs that cannot be matched, and obtain the field matching anomaly index set; S303: Based on the position numbers of the field matching failures in the field matching anomaly index set, determine whether the numbers appear in the control node sequence, and remove the node numbers with missing associated fields and mapping failures to obtain the path control disconnected node set.

[0011] As a further aspect of the present invention, the specific steps of S4 are as follows: S401: Based on the control number in the path control disconnection node set, extract the communication record field of the corresponding number in the communication link, and rearrange the field position order according to the order of the control numbers to obtain the communication field sequence set; S402: Based on the adjacent field numbers in the communication field sequence set, analyze the spacing and continuous distribution of the fields, identify the locations where there are breaks and number jumps between the fields, and obtain the communication chain break number set; S403: Based on the field content before and after each number position in the communication chain disconnection number set, compare the sequence of structural information before and after the field boundary, extract the field segments whose structure cannot maintain continuity, and obtain the non-continuous feedback structure group.

[0012] As a further aspect of the present invention, the specific steps of S5 are as follows: S501: Based on the numbering segment in the non-continuous feedback structure group, according to the position of the corresponding numbering segment in the response control chain, retrieve the control field before the position and the state field after the position, and expand the control field before the position and the state field after the position into a continuous field sequence according to the position direction, determine the connection status of the field position relationship in the sequence, and obtain the field position matching segment. S502: Based on the field sequence matching segment, extract the action meaning and state meaning of each field in the segment, judge the corresponding action meaning and state meaning, and determine the set of positions where the action meaning and state meaning are continuously corresponding in the sequence to obtain the action-state connection chain segment. S503: Based on the action state connection chain segment, retrieve the predecessor and successor fields of adjacent fields in the segment, determine the connection between the action structure and state structure of the predecessor and successor fields, and extract the fields that can form a continuous action structure and state field correspondence from the determination to obtain the identifiable base station state monitoring segment structure.

[0013] A robot vacuum cleaner base station status monitoring system based on the Internet of Things (IoT) includes: The number field separation and recognition module obtains the receipt number and status field returned by the base station in the execution path of the sweeping robot, reads the number order and field position, identifies number jumps, field offsets and field breaks in number segments, extracts segments with misaligned number fields, and obtains the number and status field structure separation segments. The response chain disconnection detection module extracts the first field of the segment and the last field of the previous segment from the numbered and status field structure separation fragment, analyzes whether the fields show action connection, identifies the numbered segment corresponding to the field sequence breakpoint, and obtains the base station response disconnection structure block. The control field mapping verification module extracts the control field and response field group based on the path control node list in the number segment corresponding to the base station response disconnection structure block, determines whether there is a control number where the field mapping is invalid, and obtains the path control disconnection node set. The communication feedback structure comparison module reads the content of the feedback frame in the communication chain based on the control number in the path control disconnection node set, filters the frame segments that are not connected before and after the feedback field, and obtains the discontinuous feedback structure group. The monitoring status chain segment extraction module extracts control fields and status fields based on the numbered segments in the discontinuous feedback structure group, analyzes the action sequence between the fields, and obtains an identifiable base station status monitoring segment structure.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by extracting number jumps and field misalignment segments, the abnormal structure of status information can be segmented for processing. The feedback interruption position can be identified by the relationship between the fields before and after. The feedback range can be defined by combining the matching situation of control and status fields. By using the connection features of frame segments in the communication record, the feedback distortion segment can be located and the control disconnection position can be traced, thereby improving the ability to restore the structure of status information and the efficiency of comparative analysis of feedback content. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the steps of the present invention; Figure 2 This is a detailed schematic diagram of S1 of the present invention; Figure 3 This is a detailed schematic diagram of S2 of the present invention; Figure 4 This is a detailed schematic diagram of S3 of the present invention; Figure 5 This is a detailed schematic diagram of S4 of the present invention; Figure 6 This is a detailed schematic diagram of S5 of the present invention; Figure 7 This is a system module diagram of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0018] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0019] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent.

[0020] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] Please see Figure 1 This invention provides a method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things, including the following steps: S1: Obtain the action receipt number and corresponding status field returned by the base station in the execution path of the sweeping robot. Read the number and corresponding field position according to the number order. Identify number segments that have number jumps, field position changes and field interruptions during the number reading process. Extract the segments that show signs of separation in the number segment structure to obtain the number and status field structure separation segments. S2: Based on the numbering segment in the segment separated from the numbering and status field structure, extract the first field of the segment and the last field of the previous segment, compare the relationship between the two ends of the field in the path action sequence, determine whether there is a connection interruption between the fields, and then extract the corresponding numbering segment according to the position of the interruption to obtain the base station response disconnection structure block. S3: Based on the list of path control nodes in the numbering segment corresponding to the base station response disconnection structure block, extract the action control field of each control node, compare it with the corresponding response status field group, filter the control node numbers whose action control fields cannot form a corresponding relationship with the response status fields, and obtain the path control disconnection node set. S4: Based on the control number in the path control disconnection node set, extract the communication record field in the communication link, compare the relationship between the communication record field and the number segment, determine whether there is a acknowledgment gap in the communication record and the lack of correlation between the acknowledgment field and the acknowledgment field, extract the feedback frame segment that cannot form a continuous connection in the communication link, and obtain the discontinuous feedback structure group. S5: Based on the numbered segments in the discontinuous feedback structure group, find the corresponding number in the preceding control field and the following status field in the response control chain, read the field content and the relationship between the field order, filter the segments with connection characteristics between the field order, extract the correspondence between the continuous action structure and the status field in the segment, and obtain the identifiable base station status monitoring segment structure.

[0023] The numbering and status field structure separation segment includes numbering jump segment, field position change segment, and field interruption segment. The base station response disconnection structure block includes segment start field, segment end field, and field interruption point. The path control disconnection node set includes control node number, action control field anomaly item, and response status field missing item. The discontinuous feedback structure group includes receipt gap segment, feedback frame discontinuity segment, and unrelated frame segment. The identifiable base station status monitoring segment structure includes action structure sequence, status field matching relationship, and field sequence connection feature.

[0024] Please see Figure 2 The specific steps of S1 are as follows: S101: Obtain the action receipt number and status field returned by the base station in the execution path of the sweeping robot, read the number order and field position, identify the jump position, field position change and field interruption corresponding number segment in the number sequence, and obtain the abnormal index segment of the number field. First, the serial number and status field value of each data record are extracted from the acknowledgment data generated by the robot vacuum during task execution. This process requires real-time parsing of the data frames uploaded by the robot, extracting the acknowledgment number field used to identify the execution order and the corresponding action status field. Each number must correspond to a unique status field value; for example, in a task cycle, the numbers are sequentially 101, 102, 103, etc. The status field may represent action states such as "cleaning," "standby," and "return." Based on this, the process of reading the serial number order requires ascending comparison to determine whether the acknowledgment number maintains an increasing format. If the current number is less than the previous number, it is considered a number jump. Then, the position of the status field in the data frame is used to locate each record one by one. If the field position corresponding to a certain number is different from the previous number, such as number 10... If the status field appears in the seventh position of the data frame at time 4 and in the fifth position at time 105, it can be determined that the field position has changed. In addition, if the status field corresponding to a certain number is missing in a consecutive numbered record, it is identified as a field interruption. For example, if only 106 and 109 have status fields in the records from 106 to 109, then the fields corresponding to 107 and 108 are interrupted. The jump position in the numbering sequence needs to be determined by the difference between consecutive numbers. For example, if number 115 appears after number 112, then records 112 to 115 are a jump segment. The change of field position can be determined by the relative position offset value of the field to see if the offset exceeds the set benchmark. If the benchmark offset is 1 bit, then exceeding 1 bit is considered a position change. Field interruption is identified by whether the status field is empty or filled with a default value such as "null". Finally, the abnormal index segment of the numbering field is obtained.

[0025] S102: Based on the abnormal index segment of the number field, extract the field order in the number segment, identify the breakpoints connecting the field sequences, and locate whether the breakpoints and number jumps occur in the same number interval to obtain the field interval break mapping segment; First, read the data record corresponding to each number in the abnormal number segment. Locate the position of the status field in each record and determine the field's order within the data record using the index value. For example, if field 112 is in position 6, 113 is in position 6, and 114 is in position 4, the field order is 6, 6, 4. Compare the field order values ​​of adjacent numbers. If there are discontinuous jumps in the order value, such as from 6 to 4 or from 7 to 9, record this jump point as a breakpoint. If the difference in field order is greater than or equal to the field order baseline deviation threshold, it is determined to be a connection breakpoint. This threshold is set to 2, meaning a change in field position of two or more constitutes a breakpoint. The field order deviation can be judged by subtracting the absolute value of the previous number's field position from the current field position. For example, if number 112 is in position 6 and number 113 is in position 4, the difference is 2, which equals the threshold, constituting a breakpoint. Continue to check if all number pairs have the same deviation, extract all breakpoint numbers, forming a set of breakpoints in the field sequence, and then... For each breakpoint number, we check if it is simultaneously located in a previously identified jump segment within the abnormal number segment of the field. For example, if numbers 112 to 115 are a jump segment, and breakpoint numbers 113 and 114 are also jump segments, it means that the breakpoints and jump segments appear in the same number interval. The judgment method is to perform interval matching on the breakpoint numbers. If the number value is greater than or equal to the start number of the jump segment and less than or equal to the end number of the jump segment, it is considered to be in the same number interval. In this process, the number jump segment is defined as a number sequence segment with a number increment not equal to 1. For example, the difference between numbers 112 and 115 is 3, which is identified as a jump. The field breakpoint set is the set of field position jump numbers obtained by filtering through the above deviation threshold. Through the number interval matching method, a number interval mapping of breakpoints and jumps co-occurring is generated. For example, if breakpoint numbers 113 and 114 are simultaneously located in the jump segment 112 to 115, the mapping segment is [112-115]. Through the above method, the field sequence extraction, breakpoint identification, and number interval matching processes in all abnormal number segments are completed in sequence, and finally, the field interval break mapping segment is obtained.

[0026] S103: Based on the field interval break mapping segment, read the front and back distribution of the field in the numbering sequence, identify the deviation position of the field in the numbering segment and the numbering range corresponding to the structural separation phenomenon, and obtain the numbering and state field structural separation segment. First, the data is traversed sequentially according to the number range corresponding to the fracture mapping segment. For each number, the position index of the corresponding state field in the data record is extracted, and a sequence set consisting of all field positions within the number segment is constructed. For example, if the number segment is 201 to 210, the corresponding field positions are 6, 6, 7, 8, 5, 6, 6, 9, 5, 6, generating the field position sequence [6, 6, 7, 8, 5, 6, 6, 9, 5, 6]. Based on this, the field positions of adjacent numbers are compared to determine whether the field remains stable or fluctuates significantly within a continuous segment. A stable segment is defined as a field position deviation of no more than 1, and a fluctuating segment is defined as a field position deviation greater than 1. The deviation value is the absolute difference between the current position and the previous position. If a field position appears three times consecutively within a deviation value exceeding 2, the segment is marked as a field structure deviation segment. For example, in the above sequence, from position 7 to 9, the field positions are 7, 8, and 5, with differences from the previous position 6 of 1, 2, and 1, satisfying the fluctuation condition. The offset trend is then assessed. If the offset direction changes alternately, it is marked as a structural deviation segment. Starting from the departure point, continue searching until the field position returns to the baseline value before the deviation or is within ±1 of that value. This is the end point of the structural deviation, and the number range is recorded. For example, numbers 203 to 207 are identified as a field structural deviation segment. Next, check whether there is obvious concentration or dispersion in the distribution of fields before and after the number segment. Concentration is defined as the field position appearing frequently within a specific index range, and dispersion is defined as the field position covering more than 50% of the total field length. For example, if the maximum field position is 9 and the minimum is 5, the coverage range is 5. If the field positions in a certain number segment are distributed at five positions: 5, 6, 7, 8, and 9, and are not concentrated in any two positions, it is judged as a dispersion of the field distribution before and after the deviation. Then, compare the number interval of the identified structural deviation segment with the number interval of the field distribution dispersion segment to determine whether they overlap. If the starting number of the interval is less than or equal to the starting number of another segment and the ending number is greater than or equal to the ending number of another segment, it is judged as an overlapping segment. This number segment is marked as a state field structural separation segment, and finally, the number and state field structural separation segment are obtained.

[0027] Please see Figure 3 The specific steps of S2 are as follows: S201: Based on the numbering and status field structure separation segment, extract the segment head field and the previous segment tail field of each numbering segment, determine whether there is a sequential jump and direction reversal in the arrangement relationship of the fields in the path action sequence, and obtain the field sequence offset segment; First, the system is segmented according to the number range corresponding to each structural segment. The beginning field of each segment and the end field of the preceding segment are extracted. For example, if the first segment's number range is 301 to 305 and the second segment is 306 to 309, the state field corresponding to number 301 and the field corresponding to number 305 are extracted as the beginning and end fields, respectively. Next, for the extracted end field and the beginning field of the next segment, their original order in the path action sequence is retrieved, based on the robot's path instruction set. For example, the instruction set might be [start, forward, left turn, backward, right turn, pause, return]. Each state field maps to an action code. Assuming the end field is "right turn" corresponding to code 5 and the beginning field is "forward" corresponding to code 2, the original sequence index 5 and index 2 are compared. Code 2 is checked against code 5. If it is less, the action execution direction has reversed; if it is greater and the difference is large... If the value is equal to 2, it indicates that there is a sequential jump in the action. The judgment of sequential jump is based on the continuous path logic. The difference between adjacent code indices in the path action sequence is within ±1, which is considered normal order. If the end of the segment is "backward" (code 3) and the beginning of the segment is "start" (code 0), the difference is 3, which is judged as a sequential jump. At the same time, the judgment of whether the direction is reversed needs to be combined with the action direction vector mapping. For example, the forward vector is (1, 0) and the backward vector is (-1, 0). The direction reversal is defined as the action pair with a vector dot product less than 0. For example, the vector dot product corresponding to "forward" to "backward" is -1, which is confirmed as a reversal. If the end of the segment is "pause" and the beginning of the segment is "turn right", the direction vector is (0, 0) to (0, 1), and the dot product is 0, which is not judged as a reversal. The field extraction and arrangement relationship judgment are performed on all structural separation segments in turn. All numbered segments that meet the conditions of sequential jump or direction reversal are marked to form the field sequence offset segment, and finally the field sequence offset segment is obtained.

[0028] S202: Based on the field sequence offset segment, read the start and end positions of the corresponding field in the path action sequence, identify whether there are discontinuous field areas between continuous judgment fields, locate the structural interval between the number and the discontinuous field, and obtain the path field interruption mapping segment; First, based on the offset segment number range, read the start and end positions of the fields in the path action sequence. For example, numbers 401 to 405 correspond to the fields "Left Turn," "Pause," "Start," "Right Turn," and "Forward." The known path action sequence is [Start, Forward, Left Turn, Right Turn, Pause, Return]. Based on this, obtain the index position of each field in the sequence: Left Turn is 2, Pause is 4, Start is 0, Right Turn is 3, and Forward is 1. Arrange these indices in ascending order of value as [0, 1, 2, 3, 4] to reflect their actual appearance order in the path. Then, perform a continuity check on the sorted sequence. If the difference between adjacent indices is greater than 1, it indicates that a field in the corresponding interval has not appeared as expected, resulting in a field interruption. This is checked by comparing whether the missing action is... The system determines whether a field in the current numbered segment is truly missing. If it is missing, it locates the standard action number. For example, if the missing field is "forward" and its standard number is 402, but 402 does not exist in the numbered segment, then 402 is considered a numbering breakpoint and other intervals are checked. For each missing field, the system records the detached node of the action sequence index and the number sequence and establishes a mapping relationship between the field and the number, thus forming a structural interval. For example, if the missing number interval 402 to 404 is obtained in the numbered segment 401 to 405, then the structural interval is [402–404]. Finally, the system repeats the steps of field extraction, action sequence location, continuity judgment, structural interval generation, and field-number mapping for all offset segments to finally obtain the path field interruption mapping segment.

[0029] S203: Based on the numbering interval in the path field interruption mapping segment, detect the mapping number range of the field in the action sequence, identify the position of the missing field in the range and the position of the numbering consistency with the path break sequence, and obtain the base station response disconnection structure block; First, extract the start and end numbers corresponding to each mapping segment. For example, if the number range is 501 to 508, read the mapping positions of all fields within this range in the path action sequence. Extract field content such as "start," "forward," "pause," and "turn right." Retrieve the corresponding index positions of these fields in the standard path action sequence [start, forward, turn left, turn right, go back, pause, return]. For example, if "start" is 0, "turn right" is 3, and "pause" is 5, then the field number mapping sequence is [0, 1, null, 3, null, null, 5, n]. The null position indicates that the corresponding field is missing or cannot be mapped to the action field in the standard path sequence. The process continues recording missing field positions, extracting all null indices as a set of missing positions. In this example, the missing positions are 503, 505, 506, and 508. A number consistency check is performed on this set, determining whether these missing numbers match the broken chain numbers recorded in the path broken chain sequence. The path broken chain sequence refers to the set of instruction numbers that the robot has not completed or skipped, for example, a broken chain sequence of [502, 505, 506, 508]. For [3, 505, 508], a set cross-comparison operation is performed. The sets of missing fields are compared one by one with the broken sequence numbers, and the positions of number consistency are recorded. These are the numbers that appear simultaneously in both sets, such as 503, 505, and 508. During this process, the accuracy of the number consistency judgment must be ensured. The absolute comparison of number values ​​is used to determine whether two numbers are completely identical, rather than simply judging by adjacent or approximate positions. This confirms whether each missing field truly corresponds to an action that has not been executed. If a match is successful, the number is marked as a node where the missing field and the broken action chain coincide. Subsequently, the process continues according to the number sequence. The sequence merges consecutive or adjacent nodes with overlapping numbers. The continuity of the numbers is determined by the difference between the numbers being equal to 1. For example, if numbers 503 and 504 are not missing but 505 is missing again, the interval is marked as 503 to 505 and recorded as a disconnected segment. Similarly, if fields are missing from 505 to 508 and are consistent with the broken link numbers, the disconnected segment is recorded as 505 to 508. In this way, all field interruption mapping segments are checked segment by segment to form a number consistency comparison table. Finally, the set of number ranges formed by merging all numbers with the path broken link field positions is obtained, resulting in the base station response disconnected structure block.

[0030] Please see Figure 4 The specific steps of S3 are as follows: S301: Based on the numbering segment in the base station response disconnection structure block, extract the list of path control nodes under the numbering segment, and retrieve the action control field corresponding to each control node to obtain the control field mapping structure set; First, perform a number range parsing operation on each number segment to extract all number records within the segment. For each number value, retrieve its corresponding path control node from the original control data. For example, numbers 601 to 605 correspond to path points P1, P2, P3, P4, and P5 respectively, so the control node list for this number segment is constructed as [P1, P2, P3, P4, P5]. Each node is used to identify the position information and control logic of the robot vacuum cleaner when executing path control commands at that number point. Next, access each control node sequentially and extract its action control field from the node structure. This field is the control identifier used to trigger specific actions. This field can be "forward," "turn left," "pause," "return," etc. Taking node P2 corresponding to number 602 as an example, the control field is "turn left," and the field corresponding to P3 corresponding to number 603 is "forward," so the control field list is formed as [turn left, forward, pause, turn right, return]. When performing this field extraction operation, it is necessary to proceed by number. The process begins by ensuring that the logical order of the field list matches the numbered segments. Then, a mapping relationship is established between the field list and the standard field set for path actions. The standard field set is defined as the complete set of control fields, such as [start, forward, left turn, right turn, back, pause, return]. The mapping process involves index matching of each control field with the standard field set, extracting its standard sequence position and field code value, and further forming mapping structure entries. For example, the field "forward" has an index of 1 in the standard set and a mapping code of A01; the field "return" has an index of 6 and a mapping code of A06. The control field mapping structure set entries are constructed as {number 603: field forward, code A01}, {number 605: field return, code A06}, etc. When a field cannot match any entry in the standard set, it is marked as an abnormal field and placed in the mapping abnormal set. Finally, a bidirectional index relationship is established between the fields of all numbered control nodes and the standard action fields to obtain the control field mapping structure set.

[0031] S302: Based on the control field mapping structure set, extract the action control field corresponding to the control node, call the field set in the response status field group, compare the position number and action type of the action field and response field bidirectionally, remove field pairs that cannot be matched, and obtain the field matching anomaly index set; First, extract the action control field and its corresponding number for each control node from the structure set. For example, number 701 corresponds to the field "Forward", number 702 corresponds to "Right Turn", and number 703 corresponds to "Pause". This forms a mapping table between the control field sequence and the number. Simultaneously, call the field set from the preset response status field group. This field group originates from the action status fields recorded in the actual feedback data. For example, the status field group is [Start, Forward, Left Turn, Right Turn, Backward, Pause, Return]. Each field has a unique position number within the group, such as "Forward" as index 1, "Right Turn" as index 3, and "Pause" as index 5. Next, perform a bidirectional comparison operation. The first direction starts from the control field and searches for a field with the same name in the status field group. If a control field cannot find a corresponding field in the status field group, the control field and its number are directly removed. For example, if the control field is "Side Move", and "Side Move" does not exist in the status field group, the number is removed, and its corresponding item is not included in the matching structure. The second direction starts from the status field group, reads all appearing fields, and searches whether the control field sequence has a complete match. If a match exists... For fields that match, their position indices are further compared. For example, the control field "turn right" has an index of 1 in the control list and an index of 3 in the status field group. Since the indices are inconsistent, it is marked as an abnormal match. The action type is then read to determine if they are the same type of action. The action type is defined as the path control category. For example, "turn left" and "turn right" belong to the direction adjustment category, and "start" and "pause" belong to the status control category. If the control field type and the response field type are different, such as the control field being "start" and the response field being "turn left", it is still marked as an abnormal match even if the indices match. The corresponding number of all abnormal matching fields is recorded to form an abnormal field number set. During the comparison process, the elimination rules are based on three criteria: inconsistent field name, inconsistent field position index, and inconsistent action type. If any one of the three criteria is met, the field pair is considered an unmatchable pair. Each pair of fields records four parameters in the comparison: number, field, index, and type. Finally, a field matching abnormal index set is constructed based on the elimination results. This set consists of the numbers of all fields that are judged as abnormal, resulting in the final field matching abnormal index set.

[0032] S303: Based on the position number of the field matching failure in the field matching anomaly index set, determine whether the number appears in the control node sequence, and remove the node numbers with missing associated fields and mapping failures to obtain the path control disconnection node set; First, all numbers in the anomaly index set are read item by item. Each number is compared with the control node sequence to determine if it actually exists in the control node sequence. The control node sequence consists of the correspondence between numbers and nodes extracted in the previous steps. For example, if the sequence numbers are [801, 802, 803, 804, 805] and the anomaly number set is [802, 804, 807], the existence of the number is determined by comparing the numbers with their equivalent values. If numbers 802 and 804 appear in the control node sequence, they are marked as detectable. If number 807 does not exist in the sequence, it is marked as an invalid number and removed from subsequent processing. Then, the fields corresponding to the detectable numbers are checked for missing field or mapping failure records. Missing fields originate from missing field markers in the path field interruption mapping segment, while mapping failures originate from field comparison failure records in the control field mapping. The matching is determined using three parameters: field name, field type, and field index. For example, if field 802 is a "left turn" type error in the mapping failure set, and field 804 is marked as missing without a corresponding response field, both meet the associated field anomaly conditions. A removal operation is performed, removing numbers 802 and 804 from the control node sequence. The removal action uses the number index as the location basis, deleting the corresponding number from the node sequence table, and they no longer participate in constructing new control node path structures. The above judgment and removal process continues for all numbers in the abnormal number set. After each removal, the remaining numbers are rechecked for duplicate field anomaly markers. If they exist, removal continues until no new anomalies are added to the number set. During this process, to ensure the accuracy of the removal judgment, a threshold is defined for the field anomaly criterion. Field missing is defined as... The criteria for rejection are that the segment value is empty or the record is null. Field mapping failure is valid if any one of the three criteria is true: field name mismatch, field position index conflict, or inconsistent field action type. When there are value rules in the field action type division, the difference between the type codes in the action set is greater than 1 as the basis for cross-class judgment. For example, if the type code for "forward" is 1 and the type code for "pause" is 4, and the difference is 3 which is greater than 1, it is judged as a cross-class action, which belongs to the type inconsistency and is rejected. All the numbers after filtering are converged into the set of remaining usable node numbers, which is the path control disconnect node set.

[0033] Please see Figure 5 The specific steps of S4 are as follows: S401: Based on the control number in the set of disconnected nodes in path control, extract the communication record field of the corresponding number in the communication link, and rearrange the field position order according to the order of the control numbers to obtain the communication field sequence set; First, each control number in the node set is sorted in ascending order to form a sequence. For example, if the numbers are [902, 905, 903, 904], they are adjusted to [902, 903, 904, 905]. Then, the communication record fields corresponding to each number are extracted sequentially from the communication link records. The communication link records refer to the data exchange records between the robot vacuum and the base station via wireless or wired means. Each record corresponds to a control number and contains multiple fields, such as command code, status code, timestamp, transmission identifier, and data validity bits. For number 902, its communication fields may be [cmd_A1, status_OK, flag_01, time_XX], and for number 903, the corresponding fields are [cmd_A2, status_NULL, flag_00, time_YY]. The control number is used as the main index during field extraction. The corresponding communication record is quickly retrieved by matching the number field in the record. Only core control-related fields are retained, while redundant fields are discarded. Action control field groups and response status field groups are obtained through field filtering operations to construct an initial communication field set. Next, a field order adjustment operation is performed, reordering the extracted fields in ascending order of control number to ensure consistency between the field sequence and the control execution logic. For example, field sequence number 902 is placed first, followed by 903, and so on, generating a structured communication field sequence group. If a number is missing in the communication record, that position is marked as an empty field with "null" as a placeholder, ensuring a one-to-one correspondence between the field sequence index and the control number. This sequence group is then encapsulated into a set structure, with each number corresponding to a field sequence item, maintaining sequential continuity and consistent number mapping within the set. Annotation operations are performed on abnormal field positions, indicating missing field content, abnormal field data (such as status_NULL), or non-standard format. Further comparison, discrimination, and verification operations are performed on this field sequence set to provide basic data support, ultimately yielding the communication field sequence set.

[0034] S402: Based on the adjacent field numbers in the communication field sequence set, analyze the spacing and continuous distribution of the fields, identify the locations of breaks and number jumps between fields, and obtain the communication chain break number set; First, all field sequences in the communication field sequence set are read sequentially by number and extracted into a numbered list. For example, if the communication field sequence set is numbered [1001, 1002, 1005, 1006, 1009], it can be seen that there are different differences between adjacent numbers. Then, the difference between adjacent numbers is calculated by subtracting the previous number from the next number to obtain the interval value. For example, 1002-1001 is 1, 1005-1002 is 3, 1006-1005 is 1, and 1009-1006 is 3. The interval value is used to determine whether the numbers are continuous. An interval value of 1 is considered continuous, and an interval value greater than 1 is considered a break in the numbering. To distinguish different degrees of breakage, based on the inherent characteristic that the average numbering step size in communication records is 1, an interval value ≤ 2 (i.e., within two steps) is considered a slight break interval caused by a slight deviation, and an interval value ≥ 3 is considered a severe break interval exceeding the normal fluctuation range. This avoids the inconsistency between "2 to 3" in the original definition. After interval analysis, the validity status of the communication field corresponding to each number is read. Validity is determined by whether the field content is empty, null, or contains anomaly markers (such as flag_00). For example, if the field record for number 1005 is [cmd_A3, status_NULL], it indicates an abnormal status field and should be marked as invalid. This is combined with interval information to determine the type of break in the chain: if the number jump is accompanied by a field invalidation, it is marked as a strong break in the chain (e.g., if field 1005 is abnormal and the interval with the preceding number is 3, it is a strong break in the chain); if the number jumps but the field content is complete and valid, it is marked as a weak break in the chain (e.g., if field 1009 is valid but the interval with the preceding number is 3, it is a weak break in the chain). In further node comparison, the number interval, field validity, and field type change are jointly judged. The field type is based on the magnitude of the instruction type encoding change. For example, if the current field type encoding is 3 and the next field is 0, the encoding difference is 3, which is greater than 1, indicating a cross-class jump and should be marked as a structural break in the chain. Then, all the numbers determined to be disconnected or skipped are summarized. Strongly disconnected nodes and weakly disconnected nodes are arranged in ascending order of number, and merged into disconnected number segments based on whether they are consecutive (difference of 1). For example, if both 1005 and 1006 have field abnormalities or skips, they are merged into the segment [1005–1006]. If 1009 is an independent disconnection, it is recorded as a single-point disconnection number 1009. By repeatedly performing number reading, interval judgment, field validity judgment, and type change comparison, the final set of communication link disconnection numbers is obtained.

[0035] S403: Based on the field content before and after each number position in the communication chain disconnection number set, the structural information sequence before and after the field boundary is compared and connected, and the field segments whose structure cannot maintain connection are extracted to obtain the non-continuous feedback structure group. First, the breakpoint number set is traversed in ascending order. Each number is used as the breakpoint center number, and the communication field content corresponding to its preceding and following numbers is read. For example, if the breakpoint number set is [1203, 1207], and the preceding number of number 1203 is 1202 and the following number is 1204, then the communication field records of these three numbers are extracted sequentially. For example, the field for 1202 is [cmd_A1, status_OK], the field for 1203 is [cmd_A3, status_NULL], and the field for 1204 is [cmd_A4, status_OK]. In the field connection comparison, the field name, field action type, and field code sequence are used as the comparison criteria. Field name comparison is based on complete consistency. For the purpose of comparison, field type matching is considered to be within the normal range of type code difference not exceeding 1. Field code sequence matching is considered to be consecutive sequence if the difference between adjacent field codes is 1. In specific execution, if field number 1202 is encoded as 1, field number 1203 is encoded as 3, and field number 1204 is encoded as 4, then the difference between 1202 and 1203 is 2, which is greater than 1, and is considered that the connection cannot be maintained. The difference between 1203 and 1204 is 1, which is within the acceptable range of connection. However, since the previous segment has been broken and field number 1203 has a status_NULL exception, 1203 is marked as the starting point of the structural disconnected field segment. Then, the validity of the content of the fields before and after number 1203 is read. The presence of null values, abnormal statuses, and invalid instruction markers in the fields is used as the criterion. If the field contains null values, abnormal statuses, or invalid instruction markers, the connection is broken. If a field contains null values, it is determined that the field cannot form a continuous structure and is marked as a structural breakpoint. Simultaneously, a consistency check is performed on the subsequent numbered field, determining continuity by whether the field's action type belongs to the same action class. For example, field type 3 for 1203 represents a turning action, while field type 4 for 1204 represents a positional pause. The difference between these two types is greater than 1, constituting a cross-class jump, and the connection is marked as failed. Subsequently, a field segment range is constructed centered on number 1203, expanding the two numbered intervals by a difference of 1 into local structural segments, such as [1202–1204]. Within each segment, it is checked whether any fields meet the continuity requirement. If the number of consecutive fields is less than 2, the entire segment is considered an unconnectable segment, and a segment recording operation is performed, marking the segment as unconnectable. This is recorded as a non-contiguous segment. The same steps are then performed on segment 1207, extracting fields from segments 1206, 1207, and 1208. For example, segment 1206 is [cmd_A2, status_OK], segment 1207 is [cmd_A5, status_NULL], and segment 1208 is [cmd_A6, status_OK]. The encoding difference between 1206 and 1207 is 3, and the difference between 1207 and 1208 is 1, but the content of segment 1207 is abnormal. Therefore, segment 1207 is used as the core breakpoint, forming a non-contiguous segment. The segment range [1206–1208] is then constructed using the numbers before and after it. After comparing continuity and field validity, this segment is recorded as a non-contiguous segment.Repeat the above field connection judgment, cross-class jump detection, and paragraph construction operations to group together all numbered segments that cannot maintain a connection structure, ultimately obtaining a non-continuous feedback structure group.

[0036] Please see Figure 6 The specific steps of S5 are as follows: S501: Based on the numbered segments in the non-continuous feedback structure group, according to the position of the corresponding numbered segment in the response control chain, retrieve the control field before the position and the state field after the position, and expand the control field before the position and the state field after the position into a continuous field sequence according to the position direction, determine the connection status of the field position relationship in the sequence, and obtain the field position matching segment. First, each numbered segment within the structure group is read segment by segment. The start and end numbers of each segment are used to determine its position in the response control chain. For example, in the discontinuous feedback structure group, there are numbered segments [1502–1504], and the response control chain numbering sequence is [1499, 1500, 1501, 1502, 1503, 1504, 1505]. Therefore, 1502 is in the 4th position and 1504 is in the 6th position. Based on the sequence, the extraction range of the preceding control fields and the following status fields in the link can be located. The preceding fields are read sequentially from the fields before the starting number of the segment, such as 1501 being the control field "Forward" and 1500 being the control field "Start", forming the preceding field sequence [Start, Forward]. The following fields are read sequentially from the fields after the last number of the segment, such as 1505 being the status field "Pause" and 1506 being "Return", forming the following status field sequence [Pause, Return]. The preceding control fields and subsequent status fields are then expanded and combined into a continuous field sequence according to the execution direction of the control chain, for example, [Start, Forward, Pause, Return]. To ensure the sequence conforms to the logical order of actions, the fields need to be reordered according to the action code sequence. For example, if the start code is 0, forward is 1, pause is 4, and return is 6, then the expansion is done by arranging the codes from smallest to largest. During this process, if the difference between adjacent field codes is greater than 1, it is determined as a sequence breakpoint. For example, the difference between forward code 1 and pause code 4 is 3, which is a significant jump and should be marked as a structural disjoint point. To unify the connection rules, the absolute difference between adjacent field codes is used as the connection judgment benchmark: difference = 1 is judged as continuous connection; difference = 2 is judged as a slightly discontinuous segment (within the acceptable range of slight deviation); difference ≥ 3 is judged as a severely broken segment (exceeding the normal fluctuation range and considered as a significant jump). Based on this, a sequence alignment judgment table is generated by comparing each item of the preceding control fields and the following status fields. Continuity checks are then performed on all segments in the judgment table, including whether the field names maintain semantic coherence and whether there are cross-class jumps in the action type codes. For example, if the forward type code is 1 and the pause type code is 4, the difference of 3 not only constitutes a severe break but also a cross-class jump, and should be directly marked as an unconnectable segment. Finally, all numbered segments of unconnectable segments are merged and organized to obtain the field sequence matching segments.

[0037] S502: Based on the field sequence matching segment, extract the action meaning and state meaning of each field in the segment, judge the corresponding action meaning and state meaning, judge and remove the set of positions where the action meaning and state meaning are continuously corresponding in the sequence, and obtain the action-state connection chain segment. First, the content of each field in the segment is read. The action meaning and state meaning of each field are broken down according to their own field type identifier. The action meaning refers to the physical action, direction, or positional change that the robot should perform under the instruction of that field. For example, the action meaning of the action field "forward" is linear advancement along the path, and the action meaning of the action field "turn left" is angular offset. The state meaning refers to the execution status text fed back by the base station after the action is performed, such as "completed," "waiting," or "interrupted." After reading the action and state meanings of the fields, an action-state mapping table is established for each field. For example, the field "forward" and the state "completed" are paired together, and the field "paused" and the state "waiting" are paired together. For each pair, a corresponding judgment operation is performed, checking whether the meaning of the action and the meaning of the state are in the same logical structure. This judgment is made by comparing the action category number with the state category number. Action category numbers are categorized by action type (e.g., forward is 1, turning is 2, pause is 3, return is 4). State category numbers are defined by the state feedback content (e.g., completed is 1, waiting is 2, interrupted is 3). The difference between the numbers is used to determine the correspondence: a difference of 0 indicates a consistent action-state relationship; a difference of 1 to 2 indicates a weak association; and a difference greater than or equal to 3 indicates a mismatch. During this process, field pairs with a difference greater than or equal to 3 are removed. For example, the action category of the field "Forward" is 1, the status category "Interrupted" is 3, and the difference is 2, which is a weak association and can be retained. The action category of the field "Turn Left" is 2, the status category "Return" is 4, and the difference is 2, which can also be retained. However, if the field "Pause" is 3, the status category "Completed" is 1, and the difference is 2, it is still retained. But if the field "Return" is 4 and the status category "Interrupted" is 3, and the difference is 1, then the corresponding relationship is maintained. The continuity judgment is continued on the order. The judgment operation is to sort the field order by field code and then compare the difference between the action category number and the status category number of adjacent fields one by one to see if they are within the acceptable range. For example, the segment sequence is [Start (0), Forward (1), Pause (3), Return (4)], and its action category sequence is [0, 1]. [3, 4], the state category sequence is [0, 1, 2, 4], the difference between adjacent action categories is 1, 2, 1, the difference between adjacent state categories is 1, 1, 2, if the difference between adjacent positions is between 1 and 2, it is determined that they can be continuously corresponded. If the difference exceeds 2, the field position is removed from the field sequence. For example, the difference of 1 between starting and moving forward can correspond, the difference of 2 between moving forward and pausing can also correspond, and the difference of 1 between pausing and returning can also correspond. Then the whole sequence is a continuous correspondence set. For example, if the field sequence of a certain segment is [forward (1), backward (4), pause (3)], the difference between action categories is 3, then the "backward" field position is removed. Finally, after performing the above action meaning and state meaning correspondence judgment, difference comparison, and continuity filtering operation on all segments,Aggregate all the retained consecutive field positions to obtain the action-state connection chain fragment.

[0038] S503: Based on the action state connection chain segment, retrieve the predecessor and successor fields of adjacent fields in the segment, determine the connection between the action structure and state structure of the predecessor and successor fields, and extract the fields that can form a continuous action structure and state field correspondence from the judgment to obtain the identifiable base station state monitoring segment structure. First, the sequence of field segments is traversed field by field. Each field in the sequence is taken as a core node, and the positions of its predecessor and successor fields are retrieved. For example, in the sequence [Start, Forward, Left Turn, Pause, Return], the predecessor field of "Forward" is "Start," and the successor field is "Left Turn." Predecessor-successor reading operations are performed on each field sequentially. When reading the content, the action structure and state structure of the field need to be separated. The action structure is the action category number corresponding to the field, and the state structure is the state category number corresponding to the field. The action category number sequence is assigned sequentially by the action type, such as 0 for Start, 1 for Forward, 2 for Left Turn, 3 for Pause, and 4 for Return. The state category number is based on the meaning of the state. Assign values, such as 1 for completion, 2 for waiting, and 3 for interruption. Combine the action category number and state category number into a field structure pair. For example, the field "Forward" is action 1, state 1, and "Turn Left" is action 2, state 2. After reading the structure pair of the predecessor and successor fields, perform a connection judgment on them. The connection judgment is based on the change range of the predecessor and successor fields in the action structure and state structure. The change range of the action structure is the difference between the action category numbers of the two fields, and the change range of the state structure is the difference between the state category numbers of the two fields. When both differences are less than or equal to 1, it is considered a connectable field relationship. A difference of 2 is considered a weak connection, and a difference greater than or equal to 3 is considered an unconnectable field relationship. For example, the predecessor " The difference between "Start" (0,0) and its successor "Forward" (1,1) is 1, forming a connectable relationship. The difference between the action "Forward" (1,1) and its successor "Pause" (3,2) is 2, and the difference in state is 1, forming a weak connectable relationship. If the difference between the action "Turn Left" (2,2) and its successor "Return" (4,3) is 2, and the difference in state is 1, it can also be considered a weak connectable relationship. However, if the difference between the action "Pause" (3,2) and its successor "Forward" (1,1) is reversed (2 and 1 respectively), the reversed action direction is marked as an unconnectable field pair. Subsequently, unconnectable fields are removed from all field pairs, and connectable and weakly connected fields are recorded in the connectable relationship table. Then, all connections in the table are... The continuation field performs a continuous segment generation operation, which means that adjacent fields that meet the connection relationship are arranged in order, such as [start → forward → turn left] as a continuous structure. This continuous segment is recorded as a candidate monitoring structure segment. Continue to traverse all field pairs in the segment. When a weak connection field pair is encountered, it is determined whether merging is allowed based on whether the change of action category number and the change of status category number are synchronized. If the change direction of the two types of numbers is consistent and both are increasing, merging is allowed. For example, forward (1,1) → pause (3,2) has an increasing trend in both status and action, so it can be added as a continuous segment. If the trends are different, only the previous segment is kept without extension, and this field is used as the starting point of the new segment. Finally, the identifiable base station status monitoring segment structure is obtained.

[0039] Please see Figure 7 A system for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things (IoT), comprising: The number field separation and recognition module obtains the receipt number and status field returned by the base station in the execution path of the sweeping robot, reads the number order and field position, identifies number jumps, field offsets and field breaks in number segments, extracts segments with misaligned number fields, and obtains the number and status field structure separation segments. The response chain disconnection detection module extracts the first field of the segment and the last field of the previous segment from the numbered and status field structure separation fragments, analyzes whether the fields show action connection, identifies the numbered segment corresponding to the field sequence breakpoint, and obtains the base station response disconnection structure block. The control field mapping verification module extracts the control field and response field group based on the path control node list in the number segment corresponding to the base station response disconnection structure block, determines whether there is a control number where the field mapping is invalid, and obtains the path control disconnection node set. The communication feedback structure comparison module reads the content of feedback frames in the communication chain based on the control number of the path control disconnected node set, filters the frame segments that are not connected before and after the feedback field, and obtains the discontinuous feedback structure group. The monitoring status chain segment extraction module extracts control fields and status fields based on the numbered segments in the discontinuous feedback structure group, analyzes the action sequence between fields, and obtains an identifiable base station status monitoring segment structure.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things, characterized in that, Includes the following steps: S1: Obtain the receipt number and status field returned by the base station in the execution path of the sweeping robot, read the number order and field position, identify number jumps, field offsets and field breakage number segments, extract segments with misaligned number fields, and obtain the number and status field structure separation segments. S2: Based on the number segment in the number and status field structure separation segment, extract the segment start field and the previous segment end field, analyze whether the fields show action connection, identify the number segment corresponding to the field sequence breakpoint, and obtain the base station response disconnect structure block; S3: Based on the control node list corresponding to the numbering segment of the base station response decoupling structure block, extract the control field and response field group, determine whether there is a control number where the field mapping is invalid, and obtain the path control decoupling node set; S4: Based on the control number in the path control disconnection node set, read the content of the feedback frame in the communication chain, filter the frame segments that are not connected before and after the feedback field, and obtain the discontinuous feedback structure group. S5: Based on the numbered segments in the discontinuous feedback structure group, extract the control field and the status field, analyze the action sequence between the fields, and obtain the identifiable base station status monitoring segment structure.

2. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The numbering and status field structure separation segment includes a numbering jump segment, a field position change segment, and a field interruption segment. The base station response disconnection structure block includes a segment start field, a segment end field, and a field interruption point. The path control disconnection node set includes a control node number, action control field anomalies, and response status field missing items. The discontinuous feedback structure group includes a receipt gap segment, a feedback frame discontinuity segment, and unrelated frame segments. The identifiable base station status monitoring segment structure includes an action structure sequence, status field matching relationships, and field sequence connection features.

3. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The misaligned number field segment refers to a data segment in the receipt data returned by the base station during the execution path of the robotic vacuum cleaner where the positional relationship between the number field and the corresponding status field is disordered or mismatched. The control field refers to the field in the control node that guides the robot's actions.

4. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The field mapping failure control number refers to the number where a mapping relationship cannot be established between the control field and the response status field; The unconnected frame segments are frame data segments in the communication link that lack a normal logical connection between the feedback field and the frame data segment before and after it.

5. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The specific steps of S1 are as follows: S101: Obtain the action receipt number and status field returned by the base station in the execution path of the sweeping robot, read the number order and field position, identify the number segment corresponding to the jump position, field position change and field interruption in the number sequence, and obtain the abnormal index segment of the number field. S102: Based on the abnormal index segment of the number field, extract the field order in the number segment, identify the field sequence connection breakpoint, and locate whether the breakpoint and the number jump occur in the same number interval to obtain the field interval break mapping segment; S103: Based on the field interval break mapping segment, read the front and back distribution of the field in the numbering sequence, identify the deviation position of the field in the numbering segment and the numbering range corresponding to the structural separation phenomenon, and obtain the numbering and state field structural separation segment.

6. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The specific steps of S2 are as follows: S201: Based on the numbering segment in the numbering and status field structure separation segment, extract the segment head field and the previous segment tail field of each numbering segment, determine whether there is a sequential jump and direction reversal in the arrangement relationship of the fields in the path action sequence, and obtain the field sequence offset segment; S202: Based on the field sequence offset segment, read the start and end positions of the corresponding field in the path action sequence, identify whether there is a discontinuous field region between the continuous judgment fields, locate the structural interval between the number and the discontinuous field, and obtain the path field interruption mapping segment. S203: Based on the numbering interval in the path field interruption mapping segment, detect the mapping number range of the field in the action sequence, identify the position where the missing field in the range is consistent with the numbering of the path break sequence, and obtain the base station response disconnection structure block.

7. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The specific steps for S3 are as follows: S301: Based on the numbering segment in the base station response disconnection structure block, extract the path control node list under the numbering segment, and retrieve the action control field corresponding to each control node to obtain the control field mapping structure set; S302: Based on the control field mapping structure set, extract the action control field corresponding to the control node, call the field set in the response status field group, compare the position number and action type of the action field and response field bidirectionally, remove field pairs that cannot be matched, and obtain the field matching anomaly index set; S303: Based on the position numbers of the field matching failures in the field matching anomaly index set, determine whether the numbers appear in the control node sequence, and remove the node numbers with missing associated fields and mapping failures to obtain the path control disconnected node set.

8. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The specific steps of S4 are as follows: S401: Based on the control number in the path control disconnection node set, extract the communication record field of the corresponding number in the communication link, and rearrange the field position order according to the order of the control numbers to obtain the communication field sequence set; S402: Based on the adjacent field numbers in the communication field sequence set, analyze the spacing and continuous distribution of the fields, identify the locations where there are breaks and number jumps between the fields, and obtain the communication chain break number set; S403: Based on the field content before and after each number position in the communication chain disconnection number set, compare the sequence of structural information before and after the field boundary, extract the field segments whose structure cannot maintain continuity, and obtain the non-continuous feedback structure group.

9. The method for monitoring the status of a robot vacuum cleaner base station based on the Internet of Things according to claim 1, characterized in that, The specific steps of S5 are as follows: S501: Based on the numbering segment in the non-continuous feedback structure group, according to the position of the corresponding numbering segment in the response control chain, retrieve the control field before the position and the state field after the position, and expand the control field before the position and the state field after the position into a continuous field sequence according to the position direction, determine the connection status of the field position relationship in the sequence, and obtain the field position matching segment. S502: Based on the field sequence matching segment, extract the action meaning and state meaning of each field in the segment, judge the corresponding action meaning and state meaning, and determine the set of positions where the action meaning and state meaning are continuously corresponding in the sequence to obtain the action-state connection chain segment. S503: Based on the action state connection chain segment, retrieve the predecessor and successor fields of adjacent fields in the segment, determine the connection between the action structure and state structure of the predecessor and successor fields, and extract the fields that can form a continuous action structure and state field correspondence from the determination to obtain the identifiable base station state monitoring segment structure.

10. A status monitoring system for a robotic vacuum cleaner base station based on the Internet of Things, characterized in that, The system is used to implement the IoT-based robotic vacuum cleaner base station status monitoring method according to any one of claims 1-9, the system comprising: The number field separation and recognition module obtains the receipt number and status field returned by the base station in the execution path of the sweeping robot, reads the number order and field position, identifies number jumps, field offsets and field breaks in number segments, extracts segments with misaligned number fields, and obtains the number and status field structure separation segments. The response chain disconnection detection module extracts the first field of the segment and the last field of the previous segment from the numbered and status field structure separation fragment, analyzes whether the fields show action connection, identifies the numbered segment corresponding to the field sequence breakpoint, and obtains the base station response disconnection structure block. The control field mapping verification module extracts the control field and response field group based on the path control node list in the number segment corresponding to the base station response disconnection structure block, determines whether there is a control number where the field mapping is invalid, and obtains the path control disconnection node set. The communication feedback structure comparison module reads the content of the feedback frame in the communication chain based on the control number in the path control disconnection node set, filters the frame segments that are not connected before and after the feedback field, and obtains the discontinuous feedback structure group. The monitoring status chain segment extraction module extracts control fields and status fields based on the numbered segments in the discontinuous feedback structure group, analyzes the action sequence between the fields, and obtains an identifiable base station status monitoring segment structure.

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