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CN-115666352-B - Method for detecting a fault state in a cleaning robot

CN115666352BCN 115666352 BCN115666352 BCN 115666352BCN-115666352-B

Abstract

The invention relates to a method (V) for detecting a fault state (F) in a cleaning robot having a collection container for collecting dirt, according to which an average fill time period (1) of the collection container for dirt is determined when the cleaning robot is in operation, and according to which the presence of a fault state (F) is detected as soon as a single fill time period (2) deviates from the determined average fill time period (1) by more than a predetermined difference value (6).

Inventors

  • B. Bach
  • M. Multer
  • F. Schnitzer

Assignees

  • BSH家用电器有限公司

Dates

Publication Date
20260512
Application Date
20210608
Priority Date
20200622

Claims (17)

  1. 1. Method (V) for detecting a fault state (F) in a cleaning robot having a collecting container for collecting dirt, according to which method an average filling time period (1) of dirt by the collecting container is determined while the cleaning robot is in operation, and according to which method the presence of a fault state (F) is detected as soon as a single filling time period (2) deviates from the determined average filling time period (1) by more than a predetermined difference (6) from a predetermined and prescribed threshold value (3), characterized in that the fault state (F) is classified as having occurred as soon as the degree to which the single filling time period (2) falls below the determined average filling time period (1) exceeds the predetermined difference (6) such that below the threshold value (3).
  2. 2. Method (V) according to claim 1, characterized in that the one of the cleaning robots' run times (4) between emptying the collecting container and the next recognition of the collecting container reaching a predetermined maximum filling level, in which the cleaning robot cleans, is used as a single filling time period (2).
  3. 3. Method (V) according to claim 1 or 2, characterized in that the average filling time period (1) is calculated by taking an arithmetic average (5) of the single filling time periods (2).
  4. 4. Method (V) according to claim 1 or 2, characterized in that the difference (6) is defined as an absolute deviation from the average filling time period (1), wherein the absolute deviation has a predetermined time value.
  5. 5. The method (V) according to claim 4, characterized in that the absolute deviation has a value of 1 to 3 hours.
  6. 6. The method (V) according to claim 5, characterized in that the absolute deviation has a value of 2 hours.
  7. 7. Method (V) according to claim 1 or 2, characterized in that the difference (6) is specified as a relative deviation from the average filling time period (1), wherein the relative deviation corresponds to a multiple standard deviation of the considered single filling time period (2) for the average filling time period (1) with respect to the average filling time period (1).
  8. 8. Method (V) according to claim 7, characterized in that the relative deviation corresponds to three times the standard deviation of the single fill time period (2) considered for the average fill time period (1) with respect to the average fill time period (1).
  9. 9. Method (V) according to claim 1 or 2, characterized in that the cleaning robot is capable of operating in at least two different operating modes, wherein the average filling time period (1) is determined separately for each operating mode and a fault state (F) is identified therewith, wherein the operating modes differ.
  10. 10. The method (V) according to claim 9, characterized in that the cleaning robot is capable of operating in a cleaning mode.
  11. 11. The method (V) according to claim 9, characterized in that the operation mode differs in terms of the suction performance of the cleaning robot.
  12. 12. Method (V) according to claim 1 or 2, characterized in that the cleaning robot is capable of operating in at least two different operating modes, wherein the determination of an equivalent average filling duration (1) and an equivalent single filling duration (2) and the consequent identification of a fault state (F) are calculated on the basis of the determined average filling duration for each operating mode weighted with the time spent or the distance travelled or the area cleaned in the operating mode used.
  13. 13. The method (V) according to claim 12, characterized in that the cleaning robot is capable of operating in a cleaning mode.
  14. 14. The method (V) according to claim 1 or 2, characterized in that the cleaning robot creates a digital map of the area to be cleaned and the digital map is stored in a map memory, wherein it is identified whether the cleaning robot is cleaning an area that has been mapped, and that the average filling time period (1) is determined separately for each digital map and a fault state (F) is identified therewith.
  15. 15. Method (V) according to claim 1 or 2, characterized in that, in order to determine a single filling time period (2), the air pressure difference between the air inlet and the air outlet of the cleaning robot is monitored while the cleaning robot is operating.
  16. 16. Method (V) according to claim 1 or 2, characterized in that, for the case of recognition of the fault state (F), a fault message is generated, which is delivered to the user of the cleaning robot by means of an information device of the cleaning robot set up therefor and/or by means of a mobile terminal connected in a data transmission manner to the cleaning robot.
  17. 17. A cleaning robot having a collecting container for collecting dirt and having a control/regulating device which is set up/programmed for carrying out the method according to any one of claims 1 to 16.

Description

Method for detecting a fault state in a cleaning robot Technical Field The present invention relates to a method for detecting a fault state in a cleaning robot and a cleaning robot having a control/regulation device which is set up/programmed for carrying out the method. Background A conventional cleaning robot includes an air inlet duct through which polluted air sucked by the cleaning robot can flow. Furthermore, such cleaning robots often comprise a separator, usually realized as a filter, for separating dirt from air sucked in via the air inlet duct and contaminated. In addition, the conventional cleaning robot has an exhaust duct for exhausting air cleaned by means of the separator. Furthermore, the cleaning robot generally comprises a collecting container for collecting the separated dirt. In this case, the filling level of the collection container with respect to dirt is generally determined by monitoring the differential air pressure between the intake duct and the exhaust duct of the cleaning robot. If the air pressure difference increases sharply, it is determined that the maximum filling level of the collecting container has been reached. Typically, if it has been determined that there is a maximum filling level, an error message is displayed to the user of the cleaning robot, wherein the cleaning robot continues cleaning without interruption. It has often proved disadvantageous here that despite the display of the event message, the user actually notices a fault state only when the user checks the cleaning robot, as may occur, for example, due to a blockage of the air inlet duct, since the cleaning process continues uninterrupted. This may result in that the cleaning robot, as the cleaning process continues, no longer receives dirt, but instead "spreads" the dirt over the area still to be cleaned. Disclosure of Invention The object of the present invention is therefore to specify an improved method for detecting a fault state in a cleaning robot, in particular in order to eliminate the aforementioned disadvantages. It is also intended to provide a cleaning robot which is set up/programmed for performing such a method. These tasks are solved by the method according to the invention or by the cleaning robot according to the invention. The preferred embodiments are the subject of the following description. The basic idea of the invention is therefore to compare the average filling time of the collecting container of the cleaning robot with the single filling time of the collecting container when the cleaning robot is in operation in order in this way to identify the presence of a fault state of the cleaning robot if the single filling time deviates too much from the average filling time. Upon identification of a fault condition, the cleaning process may be interrupted. It is advantageously avoided, in particular in the event of a fault state due to a blockage of the air inlet duct, that the cleaning robot continues to travel over the area to be cleaned and in this way distributes dirt, in particular moist dirt, over the remaining area to be cleaned, without removing dirt from the area and cleaning the area in this way. Further, damage of the cleaning robot, which may be formed due to a fault state, can be prevented. Furthermore, the average fill time period depends on the average dirt level of the area to be cleaned, so that the cleaning robot learns how long it will last on average in its familiar environment before its collection container is filled. Therefore, even if the cleaning robot operates in an environment different from the standard environment, the failure state can be reliably recognized. The method according to the invention for detecting a fault state in a cleaning robot having a collection container for collecting dirt provides that an average fill time period of the collection container for dirt is determined when the cleaning robot is in operation. Furthermore, according to the method, the presence of a fault condition is identified as soon as the single fill time period deviates from the determined average fill time period by more than a predetermined and prescribed threshold value. As described above, this provides an advantage in that in the case of a malfunction condition, the cleaning robot can be prevented from being ill-conditioned or destroyed. Furthermore, the value of the average filling time period is dependent on the (area-specific) average dirt level of the area to be cleaned by the cleaning robot, so that by means of this method the presence of a fault state can be reliably identified even if the contamination level of the surface to be cleaned is higher than the average level, as may be the case, for example, in workshops. According to a preferred embodiment of the method, the operating time of the cleaning robot between the emptying of the collection container and the next detection of the collection container reaching a predetermined maximum filling level is used