CN113017492A - Object recognition intelligent control system based on cleaning robot - Google Patents
Object recognition intelligent control system based on cleaning robot Download PDFInfo
- Publication number
- CN113017492A CN113017492A CN202110201312.9A CN202110201312A CN113017492A CN 113017492 A CN113017492 A CN 113017492A CN 202110201312 A CN202110201312 A CN 202110201312A CN 113017492 A CN113017492 A CN 113017492A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an object identification intelligent control system based on a cleaning robot, which belongs to the field of intelligent home furnishing and comprises a camera, a charging seat, a cleaning robot main body, an infrared ray measurement module, a route planning module, a route recording module and a reset route planning module. The system can plan an optimal predicted cleaning travelling route through the route planning module in cooperation with the infrared camera and the infrared ray ranging module, the predicted cleaning travelling route is updated in real time according to whether a new obstacle appears on the route, the real travelling route of the cleaning robot main body is recorded by the route recording module, and the shortest reset route of the cleaning robot main body is planned on the basis of the real travelling route preferentially when the cleaning robot resets, so that the cleaning robot main body can conveniently return to the position of a charging seat, the running time and the running distance are shortened, the running time of the cleaning robot is prolonged, the charging times are reduced, and the service life is prolonged.
Description
Technical Field
The invention relates to an intelligent home, in particular to an object identification intelligent control system based on a cleaning robot.
Background
In recent years, the application field of robots has been expanded, and medical robots and space robots have been developed. Further, a home robot that can be used in homes has been developed. A representative of a home robot is a cleaning robot, wherein the cleaning robot refers to a device configured to automatically clean an area to be cleaned by sucking foreign substances from a floor surface while passing the area to be cleaned without user intervention. The cleaning robot detects obstacles placed in a cleaning area through various sensors, and controls a driving path and a cleaning operation of the robot cleaner based on the detection result.
The initial cleaning robot performs random cleaning while driving itself, and the traveling path of the cleaning robot changes in real time due to the existence of obstacles and the condition of the floor surface, so that the cleaning robot needs to monitor the surrounding environment in real time, but after the cleaning of the robot is completed, the robot needs to return to the charging stand, and the returning process does not need to perform cleaning, but the existing cleaning robot still controls the traveling path while monitoring, so that the robot travels slowly and returns at a slow speed.
Disclosure of Invention
The invention aims to provide an object recognition intelligent control system based on a cleaning robot, so as to solve the problems in the background technology.
In order to solve the defects of the prior art, the invention provides the following technical scheme:
an object recognition intelligent control system based on a cleaning robot comprises: a camera for recognizing an obstacle, a charging stand for charging the cleaning robot main body, and the cleaning robot main body for cleaning an indoor environment, further comprising:
the infrared ray measuring module is used for measuring the distance between the obstacle and the cleaning robot main body;
the route planning module is used for receiving the information transmitted by the camera and the infrared ray measuring module, marking the obstacle in the constructed indoor plane map and planning the predicted cleaning travelling route of the cleaning robot main body;
and the route recording module is used for storing the real traveling route of the cleaning robot main body in an indoor plane map.
And the reset route planning module is used for planning the shortest reset route on the indoor plane map by combining the real traveling route in the route recording module.
As a modified scheme of the invention: the cameras are infrared cameras and comprise at least three infrared cameras which are distributed on the circumferential surface of the cleaning robot main body;
the infrared ray measuring module comprises at least three infrared ray measuring units;
each infrared ray measuring unit is used in a matched mode with the infrared camera, the infrared camera senses that the barrier transmits signals to the infrared ray measuring unit, the infrared ray measuring unit is controlled to conduct distance measurement on the barrier, and a distance value is obtained.
As a further improvement of the invention: the cleaning robot main part includes four motors at least, the motor equipartition is around the bottom of cleaning robot main part, and every motor is controlled alone.
As a further improvement of the invention: the route planning module comprises an information receiving unit, a position calculating unit and a route planning unit;
the information receiving unit is used for receiving the information transmitted by the camera and the infrared ray measuring module in real time;
the position calculation unit is used for marking the specific position of the barrier on the indoor plane map by combining the distance values transmitted by the infrared ray measurement modules;
the route planning unit plans a predicted cleaning travelling route for avoiding the obstacles according to the obstacles marked on the indoor plane map, transmits the predicted cleaning travelling route to the route recording module, and controls the corresponding motor to rotate according to the transmission of a control signal of the predicted cleaning travelling route.
As a further scheme of the invention: the route recording module comprises a route receiving unit, a route updating unit and a route saving unit;
the route receiving unit is used for receiving the predicted cleaning travelling route transmitted by the route planning unit;
the route updating unit is used for grafting the new predicted cleaning travelling route received by the route receiving unit with the old predicted cleaning travelling route to form a continuous travelling route map;
and the route storage unit is used for storing the predicted cleaning travelling route executed by the cleaning robot in the route correction unit on an indoor plane map to form a real travelling route.
As a further scheme of the invention: the reset route planning module comprises a route extracting unit, a route executing unit and a route correcting unit;
the route extraction unit is used for extracting the real advancing route stored in the indoor plane map and transmitting the real advancing route to the route execution unit;
and the route execution unit is used for receiving the real advancing route, transmitting a control signal to the motor according to the real advancing route and controlling the motor to rotate.
As an optimization scheme of the invention: the cleaning robot comprises a cleaning robot body and a charging seat, wherein the cleaning robot body is provided with a charging socket, the charging socket is arranged on the cleaning robot body, the charging seat is provided with a charging plug, and the charging plug is arranged on the charging seat.
Compared with the prior art, the invention has the beneficial effects that:
the system can plan an optimal predicted cleaning travelling route by matching the route planning module with the infrared camera and the infrared ray ranging module, keeps the detection of the infrared camera and the infrared ray ranging module on the surrounding environment when the cleaning robot main body runs on the predicted cleaning travelling route, updates the predicted cleaning travelling route in real time according to whether a new obstacle appears on the route, records the real travelling route of the cleaning robot main body by using the route recording module, and plans the shortest reset route on the basis of the real travelling route preferentially when the cleaning robot resets so that the cleaning robot main body returns to the position of the charging seat, so that the running time and the running distance are shortened, the running time of the cleaning robot is prolonged, the charging times are reduced, and the service life is prolonged.
Drawings
FIG. 1 is a schematic diagram of an external structure of an intelligent object recognition control system based on a cleaning robot;
fig. 2 is a schematic diagram of internal structure information transmission of an object recognition intelligent control system based on a cleaning robot.
Detailed Description
The present invention will be described in detail with reference to the following embodiments, wherein like or similar elements are designated by like reference numerals throughout the several views, and wherein the shape, thickness or height of the various elements may be expanded or reduced in practice. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Referring to fig. 1 and 2, the present embodiment provides an object recognition intelligent control system based on a cleaning robot, including: the cleaning robot comprises a camera for identifying obstacles, a charging seat for charging a cleaning robot main body and the cleaning robot main body for cleaning an indoor environment, wherein a storage module is arranged in the cleaning robot main body and used for storing operation data of the cleaning robot, an indoor plane map and a planning route generated in the operation process; further comprising:
and the infrared ray measuring module is used for measuring the distance between the obstacle and the cleaning robot main body.
The infrared ray measuring module comprises an infrared distance measuring sensor, the infrared distance measuring sensor is provided with a pair of infrared signal transmitting and receiving diodes, the infrared distance measuring sensor is used for transmitting a beam of infrared light, a reflecting process is formed after the infrared light irradiates an object, the infrared signal is received after the infrared light is reflected to the sensor, and then the data of the time difference between the transmitting and receiving is received by image processing. The distance of the object is calculated after being processed by the signal processor. This can be used not only for natural surfaces but also for adding reflectors. The measuring distance is far, the frequency response is very high, and the method is suitable for severe industrial environments.
The cameras are infrared cameras and comprise at least three infrared cameras which are distributed on the circumferential surface of the cleaning robot main body; the infrared ray measuring module comprises at least three infrared ray measuring units; each infrared ray measuring unit is used in a matched mode with the infrared camera, the infrared camera senses that the barrier transmits signals to the infrared ray measuring unit, the infrared ray measuring unit is controlled to conduct distance measurement on the barrier, and a distance value is obtained.
And the route planning module receives the information transmitted by the camera and the infrared ray measuring module, marks the obstacles in the constructed indoor plane map and plans the predicted cleaning travelling route of the cleaning robot main body.
The infrared camera detects the obstacles firstly, then transmits signals to the infrared ray measuring module, the infrared ray measuring module starts to measure the distance of the obstacles, and transmits the position information and the distance information of the obstacles to the route planning module, the route planning module marks the specific position of the obstacles in an indoor plane map by taking the current position as a reference point, and a traveling route avoiding the obstacles is planned according to the obstacles marked in the map. When the diameter of the obstacle is smaller than the certain area, the camera judges the obstacle as the ground sundries, passes over the obstacle and stores the obstacle into a garbage bin in the cleaning robot.
And the route recording module is used for storing the real traveling route of the cleaning robot main body in an indoor plane map. In the process of traveling, a new obstacle may appear on the original predicted cleaning traveling route, the traveling route of the cleaning robot is changed from the initially established predicted cleaning traveling route, therefore, the predicted cleaning traveling route is not equal to the real traveling route of the cleaning robot, and the route recording module is a module for recording the real traveling route of the cleaning robot
And the reset route planning module is used for planning the shortest reset route on the indoor plane map by combining the real traveling route in the route recording module. The real traveling route is the route which the cleaning robot has already traveled when cleaning, and since the traveled route indicates that no obstacle exists under the condition of high probability on the route, the shortest reset route can be planned on the route, but the obstacle appearing on the route cannot be excluded afterwards, so that when the cleaning robot is controlled to move forwards on the shortest reset route, the camera and the infrared ray ranging module are simultaneously kept in an online working state, and the robot can timely avoid the new obstacle appearing.
The system can plan an optimal predicted cleaning travelling route by matching the route planning module with the infrared camera and the infrared ray ranging module, keeps the detection of the infrared camera and the infrared ray ranging module on the surrounding environment when the cleaning robot main body runs on the predicted cleaning travelling route, updates the predicted cleaning travelling route in real time according to whether a new obstacle appears on the route, records the real travelling route of the cleaning robot main body by using the route recording module, and plans the shortest reset route on the basis of the real travelling route preferentially when the cleaning robot resets so that the cleaning robot main body returns to the position of the charging seat, so that the running time and the running distance are shortened, the running time of the cleaning robot is prolonged, the charging times are reduced, and the service life is prolonged.
The cleaning robot main part includes four motors at least, the motor equipartition is around the bottom of cleaning robot main part, and every motor is controlled alone. The truckles of a plurality of motors control robot below respectively rotate, and the truckle distributes in a plurality of positions of robot bottom, and the truckle of a plurality of motor control different positions rotates or differential rotates, realizes that the advancing of robot changes movements such as backward moving.
The cleaning robot comprises a cleaning robot body and a charging seat, wherein the cleaning robot body is provided with a charging socket, the charging socket is arranged on the cleaning robot body, the charging seat is provided with a charging plug, and the charging plug is arranged on the charging seat. When the robot main body is positioned near the charging seat, the paired inductors are mutually induced, and the relative position between the robot and the charging seat is adjusted through the suction difference generated by induction, so that the charging socket on the cleaning robot main body is aligned with the charging plug on the charging seat.
Please refer to fig. 2, which is an embodiment of the present invention: the route planning module comprises an information receiving unit, a position calculating unit and a route planning unit.
And the information receiving unit is used for receiving the information transmitted by the camera and the infrared ray measuring module in real time.
And the position calculation unit is used for marking the specific position of the barrier on the indoor plane map by combining the distance values transmitted by the infrared ray measurement modules.
The route planning unit plans a predicted cleaning travelling route for avoiding the obstacles according to the obstacles marked on the indoor plane map, transmits the predicted cleaning travelling route to the route recording module, and controls the corresponding motor to rotate according to the transmission of a control signal of the predicted cleaning travelling route.
The route recording module comprises a route receiving unit, a route updating unit and a route saving unit.
And the route receiving unit is used for receiving the predicted cleaning travelling route transmitted by the route planning unit.
And the route updating unit is used for grafting the new expected cleaning travelling route received by the route receiving unit with the old expected cleaning travelling route to form a continuous travelling route map. In the process of traveling, a new obstacle may appear on the original predicted cleaning traveling route, at the moment, the camera and the infrared ray measuring module carry out position and distance measurement and judgment on the new obstacle, data are transmitted to the route planning module, and at the moment, the route planning module plans a new predicted cleaning traveling route. And connecting the predicted cleaning travelling route of the new planning place with the route which is already travelled by the cleaning robot main body according to the old predicted cleaning travelling route to form a complete route map.
And the route storage unit is used for storing the predicted cleaning travelling route executed by the cleaning robot in the route correction unit on an indoor plane map to form a real travelling route.
The reset route planning module comprises a route extracting unit, a route executing unit and a route correcting unit;
the route extraction unit is used for extracting the real advancing route stored in the indoor plane map and transmitting the real advancing route to the route execution unit;
and the route execution unit is used for receiving the real advancing route, transmitting a control signal to the motor according to the real advancing route and controlling the motor to rotate.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. An object recognition intelligent control system based on a cleaning robot comprises: a camera for discerning the barrier, a charging stand for charging the cleaning robot main body and a cleaning robot main body for cleaning the indoor environment, characterized in that, still include:
an infrared ray measuring module for measuring a distance between the obstacle and the cleaning robot main body;
the route planning module is used for receiving the information transmitted by the camera and the infrared ray measuring module, marking the obstacle in the constructed indoor plane map and planning the predicted cleaning travelling route of the cleaning robot main body;
a route recording module for storing the real travel route of the cleaning robot main body in an indoor plane map;
and the reset route planning module is used for planning the shortest reset route on the indoor plane map by combining the real traveling route in the route recording module.
2. An intelligent cleaning robot-based object recognition control system according to claim 1, wherein the cameras are infrared cameras, and comprise at least three infrared cameras distributed on the circumferential surface of the cleaning robot main body;
the infrared ray measuring module comprises at least three infrared ray measuring units;
each infrared ray measuring unit is used in a matched mode with the infrared camera, the infrared camera senses that the barrier transmits signals to the infrared ray measuring unit, the infrared ray measuring unit is controlled to conduct distance measurement on the barrier, and a distance value is obtained.
3. The intelligent object recognition control system based on the cleaning robot as claimed in claim 1, wherein the cleaning robot body comprises at least four motors, the motors are uniformly distributed around the bottom of the cleaning robot body, and each motor is controlled individually.
4. The intelligent cleaning robot-based object recognition control system according to claim 2, wherein the route planning module comprises an information receiving unit, a position calculating unit and a route planning unit;
the information receiving unit is used for receiving the information transmitted by the camera and the infrared ray measuring module in real time;
the position calculation unit is used for marking the specific position of the barrier on the indoor plane map by combining the distance values transmitted by the infrared ray measurement modules;
the route planning unit plans a predicted cleaning travelling route for avoiding the obstacles according to the obstacles marked on the indoor plane map, transmits the predicted cleaning travelling route to the route recording module, and controls the corresponding motor to rotate according to the transmission of a control signal of the predicted cleaning travelling route.
5. The intelligent cleaning robot-based object recognition control system according to claim 4, wherein the route recording module comprises a route receiving unit, a route updating unit and a route saving unit;
the route receiving unit is used for receiving the predicted cleaning travelling route transmitted by the route planning unit;
the route updating unit is used for grafting the new predicted cleaning travelling route received by the route receiving unit with the old predicted cleaning travelling route to form a continuous travelling route map;
and the route storage unit is used for storing the predicted cleaning travelling route executed by the cleaning robot in the route correction unit on an indoor plane map to form a real travelling route.
6. The intelligent cleaning robot-based object recognition control system according to claim 5, wherein the reset route planning module comprises a route extraction unit, a route execution unit and a route correction unit;
the route extraction unit is used for extracting the real advancing route stored in the indoor plane map and transmitting the real advancing route to the route execution unit;
and the route execution unit is used for receiving the real advancing route, transmitting a control signal to the motor according to the real advancing route and controlling the motor to rotate.
7. The intelligent object recognition control system based on the cleaning robot as claimed in claim 3, wherein the cleaning robot body and the charging stand are respectively provided with a pair sensor, and the pair sensors are used for aligning the charging socket on the cleaning robot body with the charging plug on the charging stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110201312.9A CN113017492A (en) | 2021-02-23 | 2021-02-23 | Object recognition intelligent control system based on cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110201312.9A CN113017492A (en) | 2021-02-23 | 2021-02-23 | Object recognition intelligent control system based on cleaning robot |
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| CN113017492A true CN113017492A (en) | 2021-06-25 |
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| CN202110201312.9A Pending CN113017492A (en) | 2021-02-23 | 2021-02-23 | Object recognition intelligent control system based on cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114557640A (en) * | 2022-02-21 | 2022-05-31 | 广州宝乐软件科技有限公司 | Cleaning robot and data processing method and device thereof |
| CN115191888A (en) * | 2022-07-14 | 2022-10-18 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and control method for cleaning base station |
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Application publication date: 20210625 |