CN108614545B - Abnormal state monitoring method - Google Patents
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- CN108614545B CN108614545BCN201810547124.XACN201810547124ACN108614545BCN 108614545 BCN108614545 BCN 108614545BCN 201810547124 ACN201810547124 ACN 201810547124ACN 108614545 BCN108614545 BCN 108614545B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
Description
Technical Field
The invention relates to the technical field of data processing, in particular to an abnormal state monitoring method.
Background
With the development of economy and the progress of science and technology, the requirements of people on the quality of living environment are higher and higher, and the cleaning and the sanitation of roads are also more and more valued by related departments. The mode of manually cleaning the road surface is used, so that the labor cost is high, the dust generated during manual cleaning can seriously affect the biological health of cleaners, and the secondary pollution to the environment can be avoided. With the rise of artificial intelligence, the market is more and more concerned about new energy sanitation cleaning vehicles based on artificial intelligence technology. Moreover, with the development of urban scale, the manpower cost is continuously increased, and the demand for the intelligent unmanned automatic-advancing sweeper is particularly urgent. Although the unmanned field has related technologies, the existing unmanned sweeper cannot intelligently and efficiently complete the sweeping task.
Disclosure of Invention
The invention aims to provide an abnormal state monitoring method, aiming at the defects of the prior art, which monitors and acquires the state information of a cleaning device such as the electric quantity of the cleaning device, the battery temperature, the state information of a vehicle control unit, the cleaning task execution progress and the like in real time, transmits the state abnormal information to a server when the state information of the cleaning device is abnormal, and controls the cleaning device by the server according to the abnormal information and the environment information of the cleaning device at that time, thereby reducing the loss caused by the cleaning device when encountering abnormal conditions.
In order to achieve the above object, the present invention provides an abnormal state monitoring method, including:
a vehicle body control unit in the cleaning device works according to the first vehicle body control information;
a central processing unit in the cleaning device monitors the vehicle body control unit, a battery unit in the cleaning device and a sensing unit in the cleaning device to obtain state information of the cleaning device;
determining whether the state information of the cleaning device is abnormal information;
when the state information of the cleaning device is abnormal information, acquiring an environment image of the cleaning device through a sensing unit in the cleaning device;
the central processing unit sends the environment image of the cleaning device and the abnormal information to a server;
the server obtains second vehicle control information according to the environment image of the cleaning device and the abnormal information;
and sending second vehicle control information to a vehicle body control unit in the cleaning device, so that the vehicle body control unit works according to the second vehicle control information.
Preferably, when the state information of the cleaning device is abnormal information, the method further includes:
the central processing unit sends a stop instruction to the vehicle body control unit;
and the vehicle body control unit stops working according to the stop instruction.
Preferably, the state information of the cleaning device includes: temperature information of a battery unit in the cleaning device, temperature information of the cleaning device, environmental information of the cleaning device, vibration information of the cleaning device, position information of the cleaning device, and operating state information of the vehicle body control unit.
Further preferably, the central processing unit in the cleaning device monitors the vehicle body control unit, the battery unit in the cleaning device, and the sensing unit in the cleaning device, and the obtaining of the state information of the cleaning device specifically includes:
a central processing unit in the cleaning device monitors the battery unit to obtain temperature information of the battery unit;
a central processing unit in the cleaning device monitors the vehicle body control unit to obtain temperature information of the cleaning device, vibration information of the cleaning device and working state information of the vehicle body control unit;
and a central processing unit in the cleaning device monitors the sensing unit to obtain environmental information of the cleaning device and position information of the cleaning device.
Further preferably, the determining whether the status information of the cleaning device is abnormal information includes:
determining whether one or more of temperature information of the battery unit, temperature information of the cleaning device, environmental information of the cleaning device, position information of the cleaning device, vibration information of the cleaning device, and status information of the vehicle body control unit is abnormal information.
Further preferably, when one or more of information of temperature of the battery unit, information of temperature of the cleaning device, information of environment of the cleaning device, information of position of the cleaning device, information of vibration of the cleaning device, and information of state of the vehicle body control unit is abnormal information, the method further includes:
the server generates alarm information according to the environment image of the cleaning device and the abnormal information, and sends the alarm information to a user terminal for the user terminal to display the alarm information;
the user terminal receives an operation instruction input by a user according to the alarm information and sends the operation instruction to the central processing unit;
the central processing unit analyzes the operation instruction to obtain second vehicle control information;
and sending second vehicle control information to a vehicle body control unit in the cleaning device, so that the vehicle body control unit works according to the second vehicle control information.
Preferably, the sending, by the central processing unit, the environmental image of the cleaning device and the abnormality information to the server specifically includes:
and the central processing unit sends the environment image of the cleaning device and the abnormal information to a server through a 4G module.
Preferably, before the vehicle body control unit in the cleaning device operates according to the first vehicle body control information, the method further includes:
the central processing unit receives self-checking result codes sent by the vehicle body control unit and the sensing unit;
and when the value of the self-checking result code is a first result value, the vehicle body control unit works according to the first vehicle body control information.
According to the abnormal state monitoring method provided by the embodiment of the invention, the state information of the cleaning device, such as the electric quantity of the cleaning device, the battery temperature, the state information of the vehicle control unit, the cleaning task execution progress and the like, is monitored and acquired in real time, when the state information of the cleaning device is abnormal, the state abnormal information is sent to the server, and the server controls the cleaning device according to the abnormal information and the environment information of the cleaning device at that time, so that the loss caused by the cleaning device in an abnormal condition is reduced.
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Fig. 1 is a flowchart of an abnormal state monitoring method according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The abnormal state monitoring method provided by the embodiment of the invention is realized in a cleaning device for cleaning a road surface and is used for monitoring the cleaning task process in real time by the cleaning device. The flow chart of the method is shown in figure 1, and the method comprises the following steps:
in particular, the sweeping device can be understood as an unmanned cleaning vehicle for cleaning and sweeping the road surface of the scene to be swept. The cleaning device comprises a central processing unit, a micro-processing unit, a vehicle body control unit, a sensing unit and a battery unit.
The central processing unit can be understood as the brain of the cleaning device, and is mainly used for processing various algorithms and logics. The micro control unit is respectively connected with the vehicle body control unit and the central processing unit and is used for data interaction between the vehicle body control unit and the central processing unit. The vehicle body control unit may be understood as a unit for controlling the operation of the cleaning device, including controlling the cleaning direction, the cleaning speed, the lifting of the cleaning brush, and the like. The sensing unit can be understood as a module for sensing the environment around the cleaning device. The battery unit supplies electric power to all components in the cleaning device.
The cleaning instruction may be understood as task information including cleaning conditions of task mode information, task time information, and task area information. The cleaning instruction can be input into the central processing unit by the user through a control panel in the cleaning device according to the map information acquired by the central processing unit, or can be sent to the central processing unit by a server or a remote control device.
The task mode information may be understood as a cleaning mode of the cleaning task required by the user. The cleaning modes can be divided into a plurality of types, and different types of cleaning modes correspond to different working modes of the cleaning device, for example, the working states of the cleaning device corresponding to the common, quick, power-saving and clean cleaning modes are different. The task time information can be understood as the task time limit of the cleaning task required by the user. The task area information may be understood as an area to be cleaned, which the user wants to clean.
specifically, first, the central processing unit analyzes the task mode information in the cleaning command. Different task mode information corresponds to different track planning parameters, running speed parameters and cleanliness parameters, namely different combinations of the track planning parameters, the running speed parameters and the cleanliness parameters form different working modes of the cleaning device. The central processing unit first determines a trajectory planning parameter, a travel speed parameter and a cleanliness parameter corresponding to the cleaning mode information according to the task mode information.
Then, the central processing unit determines the boundary of the task area and the position of the obstacle marking according to the task area information in the cleaning instruction, and plans the task track information in the boundary of the planning task area according to the boundary of the task area, the position of the obstacle marking and the track planning parameters.
The mission trajectory information, the travel speed parameter, and the cleanliness parameter constitute first vehicle control information. Here, the task trajectory information may be understood as a travel trajectory that the cleaning device needs to follow when performing the cleaning task. The task speed information may be understood as travel speed information of the cleaning device in the present cleaning task. The cleanliness parameter can be understood as a control parameter for controlling the operation of the sweeping device, the sprinkling device, the dust collecting device and the like when the sweeping device carries out the sweeping task.
specifically, the automobile body control unit includes the module of traveling, cleans module and sensing module, and the module of traveling and clean the module and be used for controlling cleaning device respectively and march and clean the operation, and sensing module can understand for installing the sensor in cleaning device additional for the carriage temperature in the response cleaning device and cleaning device's vibration range.
The central processing unit sends the task track information, the running speed parameter and the cleanliness parameter to the vehicle body control unit through the micro-processing unit. A running module in a vehicle body control unit controls a cleaning device to run according to task track information and running speed parameters, a cleaning module in the vehicle body control unit controls a main brush, an edge brush, a dust collector, a water spraying device and other devices to work according to cleanliness parameters, and a sensing module starts to sense the temperature of a carriage in the cleaning device and the vibration amplitude of the cleaning device.
Meanwhile, the central processing unit sends a starting signal to the sensing unit through the micro-processing unit, and the sensing unit starts to work according to the starting signal.
More specifically, the sensing unit includes a camera module and a differential positioning module. The image angle range that camera module gathered is 360 for carry out image acquisition to 360 environmental aspect around the cleaning device. The differential positioning module can be understood as a differential GPS (differential GPS-DGPS), which is a device that uses a differential GPS reference platform with three-dimensional coordinates to obtain a pseudo-range correction amount or a position correction amount, and then sends the correction amount to a GPS navigator in real time or afterwards to correct measurement data so as to improve the positioning accuracy of the GPS. The differential positioning module is used for accurately positioning the current position of the cleaning device.
When the vehicle body control unit works, the camera module and the differential positioning module also start to work. That is to say, the differential positioning module monitors the position information of the cleaning device according to the execution signal and sends the position information of the cleaning device to the central processing unit, and the camera module performs image acquisition on the environment condition of 360 degrees around the cleaning device according to the execution signal.
In some preferred examples, before the vehicle body control unit works according to the first vehicle control information, each module in the vehicle body control unit needs to be subjected to self-checking, and after the self-checking is successful, the vehicle body control unit works according to the task planning information.
Further specifically, before the central processing unit sends the first vehicle control information to the vehicle body control unit, the central processing unit sends a self-checking instruction to the vehicle body control unit, the micro-processing unit and the sensing unit, so that the vehicle body control unit, the micro-processing unit and the sensing unit perform self-checking according to the self-checking instruction, generate a self-checking result code according to a self-checking result, and return the self-checking result code to the central processing unit. When the value of the self-checking result code is the first result value representing the success of the self-checking, the central processing unit sends the first vehicle control information to the vehicle body control unit.
specifically, the state information of the cleaning device includes: temperature information of the battery unit, temperature information of the cleaning device, environmental information of the cleaning device, vibration information of the cleaning device, position information of the cleaning device, and operating state information of the vehicle body control unit.
The temperature information of the battery unit is obtained by monitoring the battery unit by the central processing unit;
the environment information of the cleaning device and the position information of the cleaning device are respectively obtained by the central processing unit through the camera module and the differential positioning module in the sensing unit;
the temperature information of the cleaning device and the vibration information of the cleaning device are obtained by the central processing unit through a sensing module in the vehicle body control unit;
the working state information of the vehicle body control unit is obtained by monitoring the driving module and the cleaning module in the vehicle body control unit by the central processing unit. The working state information of the vehicle body control unit comprises information such as motor power, power-assisted steering device power, sweeping rotating speed, suction force of a dust collector, water spraying amount of a water spraying device and the like.
specifically, when one or more of the temperature information of the battery unit, the temperature information of the cleaning device, the environmental information of the cleaning device, the vibration information of the cleaning device, the position information of the cleaning device, and the operating state information of the vehicle body control unit is abnormal information, the state information of the cleaning device is abnormal information, and the followingstep 160 is performed. When the temperature information of the battery unit, the temperature information of the cleaning device, the environmental information of the cleaning device, the vibration information of the cleaning device, the position information of the cleaning device and the working state information of the vehicle body control unit are not abnormal information, and the state information of the cleaning device is not abnormal information, the method returns to thestep 140, and continues to monitor the state information of the cleaning device until the cleaning device finishes the cleaning task.
In a specific example, when the battery temperature represented by the temperature information of the battery unit is higher than a preset battery temperature, or the in-vehicle temperature represented by the temperature information of the cleaning device is higher than a preset vehicle cabin temperature, or when a fire is found by monitoring an image around the cleaning device represented by the environmental information of the cleaning device, or when the cleaning device is vibrated abnormally due to being collided, or the position of the cleaning device represented by the position information of the cleaning device is seriously deviated from an original track due to being stolen, or when the motor power, the power-assisted steering gear power, the sweeping rotation speed, the suction force of the dust collector, the water sprinkling amount of the water sprinkling device are inconsistent with the driving speed parameter and the cleanliness parameter, the state information of the cleaning device can be determined as abnormal information.
specifically, when one or more of the temperature information of the battery unit, the temperature information of the cleaning device, the environmental information of the cleaning device, the vibration information of the cleaning device, the position information of the cleaning device, and the operating state information of the vehicle body control unit is abnormal information, the central processing unit first sends a stop instruction to the vehicle body control unit for the vehicle body control unit to stop operating according to the stop instruction. This process can be understood as stopping the work of the cleaning work immediately when the status information of the cleaning device is abnormal.
specifically, after the cleaning device stops cleaning, the central processing unit first obtains an environmental image of the current cleaning device through a camera module in the sensing unit, that is, captures an environment around the cleaning device. Then, The central processing unit transmits The abnormality information and The environment image of The cleaning apparatus when The abnormality occurs to The server through a fourth Generation mobile communication technology (4G) module.
specifically, the control measures to be taken in correspondence with the environmental image and the abnormality information of the different cleaning devices are also different. The server analyzes the environmental image of the cleaning device and the abnormality information, identifies the cause of the abnormality, and identifies second vehicle control information based on the cause of the abnormality.
The central processing unit obtains one or more of cleaning device power supply control information, control panel alarm information, modified task track information, modified running speed parameters and modified cleanliness parameters by analyzing the environmental image and the abnormal information of the cleaning device, and the cleaning device power supply control information, the control panel alarm information, the modified task track information, the modified running speed parameters and the modified cleanliness parameters form second vehicle control information.
Preferably, when one or more of the temperature information of the battery unit, the temperature information of the cleaning device, the environmental information of the cleaning device, the vibration information of the cleaning device, the position information of the cleaning device, and the operating state information of the vehicle body control unit is abnormal information, the server generates alarm information based on the abnormal information and an environmental image of the cleaning device when the abnormality occurs, and transmits the alarm information to the user terminal. The user terminal can be understood as an intelligent device with a networking function, such as a smart phone, a tablet computer, and the like. And the user terminal performs data interaction with the server through the network according to the user terminal ID which can determine the identity information of the user terminal. The alarm information includes cleaning device ID information, cleaning device current position information, abnormality information, and an environmental image of the cleaning device when an abnormality occurs. The user can determine which abnormal condition occurs in which unit of which cleaning device through the alarm information received by the user terminal, so as to make corresponding treatment.
More specifically, the user terminal receives an operation instruction input by the user according to the alarm information, and sends the operation instruction to the central processing unit through the server according to the cleaning device ID information in the operation instruction. Alternatively, the central processing unit directly receives an operation instruction input by a user through a control panel in the cleaning device. And after receiving the operation instruction of the user, the central processing unit analyzes the operation instruction to obtain second vehicle control information. The operation instruction may be understood as an instruction for manual intervention, including an instruction to suspend the work, an instruction to recall the vehicle to a designated place, and an instruction to change a work parameter. The central processing unit obtains one or more of cleaning device power supply control information, control panel alarm information, modified task track information, modified running speed parameters and modified cleanliness parameters, namely second body control information, by analyzing the operation instruction.
190, the vehicle body control unit works according to the second vehicle control information;
specifically, a running module in a vehicle body control unit controls a cleaning device to run according to changed task track information and changed running speed parameters, a cleaning module in the vehicle body control unit controls a main brush, an edge brush, a dust collector, a water spraying device and other devices to work according to changed cleanliness parameters, a battery unit works according to power supply control information of the cleaning device, and a control panel works according to alarm information of the control panel, so that the cleaning device gives an alarm, stops working, returns to a specified place, or works according to changed working parameters.
In a specific example, when the abnormality information of the temperature information of the cleaning device is "the in-vehicle temperature is higher than the temperature threshold", the server captures an image in which the environmental information of the cleaning device at present is "no abnormality in the ambient environment", and the server obtains the second vehicle control information based on the image in "no abnormality in the ambient environment" and the abnormality information in which the in-vehicle temperature is higher than the temperature threshold ", the second vehicle control information including: the changed running speed parameter is 'Om/min', and the changed cleanliness parameter is 'cleaning module stop working'. And the vehicle body control unit controls the cleaning device to stop moving according to the Om/min and the cleaning module stop working, and the main brush, the side brush, the dust collector, the water spraying device and other devices in the cleaning module stop working. When the abnormal information of the temperature information of the cleaning device is that the temperature in the vehicle body is higher than the temperature threshold value, the server captures an image that the current environmental information of the cleaning device is that the surrounding environment is in a fire, and the server obtains second vehicle control information according to the image that the surrounding environment is in the fire and the abnormal information that the temperature in the vehicle body is higher than the temperature threshold value, wherein the second vehicle control information comprises: the changed task track information is 'x path', the changed driving speed parameter is 'speed v', and the changed cleanliness parameter is 'cleaning module stop working'. The vehicle body control unit controls the cleaning device to drive away from the site of the fire environment along the x path at the speed v according to the x path, the speed v and the cleaning module stop working, and devices such as a main brush, an edge brush, a dust collector and a water spraying device in the cleaning module do not work in the driving away process.
According to the abnormal state monitoring method provided by the embodiment of the invention, the state information of the cleaning device, such as the electric quantity of the cleaning device, the battery temperature, the state information of the vehicle control unit, the cleaning task execution progress and the like, is monitored and acquired in real time, when the state information of the cleaning device is abnormal, the state abnormal information is sent to the server, and the server controls the cleaning device according to the abnormal information and the environment information of the cleaning device at that time, so that the loss caused by the cleaning device in an abnormal condition is reduced.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a user terminal, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. An abnormal state monitoring method, characterized in that the method comprises:
a vehicle body control unit in the cleaning device operates according to the first vehicle control information; the sweeping device is an unmanned cleaning vehicle;
a central processing unit in the cleaning device monitors the vehicle body control unit, a battery unit in the cleaning device and a sensing unit in the cleaning device to obtain state information of the cleaning device;
determining whether the state information of the cleaning device is abnormal information;
when the state information of the cleaning device is abnormal information, acquiring an environment image of the cleaning device through a sensing unit in the cleaning device;
the central processing unit sends the environment image of the cleaning device and the abnormal information to a server;
the server obtains second vehicle control information according to the environment image of the cleaning device and the abnormal information;
sending second vehicle control information to a vehicle body control unit in the cleaning device for the vehicle body control unit to work according to the second vehicle control information; wherein the second vehicle control information comprises one or more of cleaning device power supply control information, control panel alarm information, modified task track information, modified travel speed parameters and modified cleanliness parameters;
wherein the state information of the cleaning device includes: temperature information of a battery unit in the cleaning device, temperature information of the cleaning device, environmental information of the cleaning device, vibration information of the cleaning device, position information of the cleaning device and working state information of a vehicle body control unit; the sensing unit comprises a camera module, and the environment information is obtained by the camera module when the vehicle body controller works;
wherein, the central processing unit in the cleaning device monitors the vehicle body control unit, the battery unit in the cleaning device and the sensing unit in the cleaning device, and the state information of the cleaning device is obtained by:
a central processing unit in the cleaning device monitors the battery unit to obtain temperature information of the battery unit;
a central processing unit in the cleaning device monitors the vehicle body control unit to obtain temperature information of the cleaning device, vibration information of the cleaning device and working state information of the vehicle body control unit;
a central processing unit in the cleaning device monitors the sensing unit to obtain environmental information of the cleaning device and position information of the cleaning device;
the determining whether the state information of the cleaning device is abnormal information may specifically be:
determining whether one or more of temperature information of the battery unit, temperature information of the cleaning device, environmental information of the cleaning device, position information of the cleaning device, vibration information of the cleaning device, and status information of the vehicle body control unit is abnormal information;
wherein when one or more of the temperature information of the battery unit, the temperature information of the cleaning device, the environmental information of the cleaning device, the position information of the cleaning device, the vibration information of the cleaning device, and the state information of the vehicle body control unit is abnormal information, the method further comprises:
the server generates alarm information according to the environment image of the cleaning device and the abnormal information, and sends the alarm information to a user terminal for the user terminal to display the alarm information;
the user terminal receives an operation instruction input by a user according to the alarm information and sends the operation instruction to the central processing unit;
the central processing unit analyzes the operation instruction to obtain second vehicle control information;
and sending second vehicle control information to a vehicle body control unit in the cleaning device, so that the vehicle body control unit works according to the second vehicle control information.
2. The abnormal state monitoring method according to claim 1, wherein when the state information of the cleaning device is abnormal information, the method further comprises:
the central processing unit sends a stop instruction to the vehicle body control unit;
and the vehicle body control unit stops working according to the stop instruction.
3. The abnormal state monitoring method according to claim 1, wherein the sending of the environmental image of the cleaning device and the abnormal information to the server by the central processing unit is specifically:
and the central processing unit sends the environment image of the cleaning device and the abnormal information to a server through a 4G module.
4. The abnormal state monitoring method according to claim 1, wherein before a vehicle body control unit in the cleaning device operates according to the first vehicle body control information, the method further comprises:
the central processing unit receives self-checking result codes sent by the vehicle body control unit and the sensing unit;
and when the value of the self-checking result code is a first result value, the vehicle body control unit works according to the first vehicle body control information.
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| JP7070339B2 (en)* | 2018-10-31 | 2022-05-18 | オムロン株式会社 | Temperature threshold determination device, temperature abnormality determination system, temperature threshold determination method, and program |
| CN112394717B (en)* | 2019-07-31 | 2022-07-26 | 美智纵横科技有限责任公司 | Indoor environment warning method and device and sweeping robot |
| CN110386026A (en)* | 2019-08-14 | 2019-10-29 | 北京匠芯电池科技有限公司 | A kind of battery pack cleaning systems and platform |
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