WO2014032357A1

WO2014032357A1 - Intelligent method for controlling robot to move to range of signals

Info

Publication number: WO2014032357A1
Application number: PCT/CN2012/082484
Authority: WO
Inventors: 汤进举
Original assignee: 科沃斯机器人科技(苏州)有限公司
Priority date: 2012-08-31
Filing date: 2012-09-29
Publication date: 2014-03-06
Also published as: CN103676945B; CN103676945A

Abstract

A method for controlling a robot (1) to move to a range of signals, comprising: step 100, a robot (1) sending a detection signal to a target device (2, 3, 4); if feedback signals are received, it indicates that communication signals between the robot (1) and the target device (2, 3, 4) are normal; if no feedback signal is received, it indicates that communication signals between the robot (1) and the target device (2, 3, 4) are abnormal; and step 200, the robot (1) moving towards the target device (2, 3, 4) with abnormal communication signals until feedback signals sent by the target device (2, 3, 4) have been received. The method for controlling the robot (1) to move to a range of signals achieves manual or automatic intelligent control of the robot, enhancing the monitoring function of the robot.

Description

Method for intelligently controlling the movement of a robot into a signal range

The invention relates to an intelligent control method for a robot, in particular to a method for intelligently controlling a robot to move into a signal range, and belongs to the technical field of household small electrical appliances manufacturing. Background technique

With the development of science and technology and the advancement of society, intelligent remote control home service robots will enter thousands of households in the near future. The patent document with the application number of 201120003088.4 discloses a robot with monitoring and remote transmission function. The user arranges the sensor at any position desired to be monitored indoors, and the intelligent control system is provided with a sensing module for receiving the sensor signal, if monitoring If the location is in an emergency, the sensor will send a signal. After receiving the signal, the intelligent control system can communicate with the remote terminal through the WIFI or 3G network. After the user knows it, it can process it in time to avoid loss.

However, in the above-mentioned robot with monitoring and remote transmission function, when the sensor cannot transmit a signal to the robot due to external interference, the robot is equivalent to losing the monitoring function, which may cause a series of problems. That is to say, the existing remote home appliance control systems are fixed and cannot be moved. Therefore, when there are interference factors in the environment, the electrical appliances in the interference zone will not be well controlled. Summary of the invention

The technical problem to be solved by the present invention is to provide a method for intelligently controlling the movement of the robot into the signal range, which can realize intelligent control of the robot by manual or automatic method, and has high sensitivity. The controllability is strong, and the home appliance control system is moved to any place that it is desired to reach, and the anti-interference is strong, and the monitoring function of the robot is strengthened.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A method for intelligently controlling a robot to move into a signal range, the method comprising the following steps:

Step 100: The robot sends a detection signal to the target device. If the feedback signal is received, the communication signal between the robot and the target device is normal. If the feedback signal is not received, the communication signal between the robot and the target device is abnormal.

Step 200: The robot moves toward the target device with abnormal communication signal until receiving a feedback signal from the target device. In order to enable the robot to accurately locate the target device and facilitate manual control by the user, before the step 100, the division of the area where the target device is located includes: dividing the working space according to the distribution of the target device in the working space of the robot. It is a plurality of monitoring areas or control areas.

For convenience of operation, the user manually controls the robot to transmit the detection signal on the terminal through the wireless network. More specifically, the step 200 specifically includes: the robot camera captures a picture of the work space, and transmits the image to the terminal through the wireless network, and the user controls the robot to face the screen according to the work space screen displayed on the terminal through the corresponding button. The area where the target device is located moves.

In order to facilitate automatic control of the user, before the step 100, the partitioning of the area where the target device is located includes:

Step 001: Before the robot is used for the first time, the control robot establishes a map of the work space by itself; Step 002: The map in step 001 is transmitted to the terminal through the wireless network, and the user manually processes the map according to the distribution of the target device. The division of the monitoring area or the control area is performed, and the divided map is transmitted to the storage unit of the robot.

Alternatively, the robot divides the monitoring area by itself as follows:

Step 00Γ : Before using the robot for the first time, the control robot scans the work space and establishes a coordinate map of the work space by itself;

Step 002': The robot records the position of the coordinate map of the target device in step 001, and automatically performs the division of the monitoring area or the control area on the map according to the position of the target device in the map, and stores the divided map in the storage. Within the unit.

In order to improve accuracy and automation, the robot periodically sends a detection signal to the target device.

More specifically, the step 200 specifically includes: the robot searches for a corresponding monitoring area or control area by itself through a map in the storage unit.

In order to form a wireless communication network, the target device is respectively provided with a communication module, and the communication signal is transmitted through a communication module on any device.

The communication signal is a radio frequency signal as needed.

The target device includes a human body infrared module, a smoke sensing module smart socket, and/or a home appliance. In the step 100 described, the manner in which the robot sends a detection signal to the target device is repeated multiple transmissions. In summary, the present invention can realize intelligent control of the robot by manual or automatic means, has high sensitivity and strong controllability, and moves the home appliance control system to any place desired to be reached, and has strong anti-interference ability. , strengthens the monitoring function of the robot, so as to achieve effective control of all the home appliances.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. DRAWINGS

1 is a schematic view showing a moving position of a robot in a working space according to the present invention;

FIG. 2 is a schematic diagram showing the positional relationship between the robot and the target set according to the present invention. detailed description

Embodiment 1

FIG. 1 is a schematic view showing a moving position of a robot in a working space according to the present invention. As shown in FIG. 1 , the robot 1 performs work in a work space, wherein the work space may include a bedroom, a B, a C, a kitchen D, a living room E, a bathroom F, etc., and each room is provided with a human body infrared module 2 Target devices such as smoke sensor module 3 and smart socket 4. Of course, these target devices may be a combination of one or more in a certain room as needed. According to the position set by the target device in the work space, the area in which the target device is located is divided so that the robot 1 recognizes the position where the target device is located. For example: When the robot 1 moves in the living room E, it can smoothly receive the feedback signals of the human body infrared module 2, the smoke sensing module 3 and the smart socket 4 set in the area where the living room E is located, and is within the signal range. As shown in Figure 1, the robot 1 needs to move to the bathroom F to perform work after the cleaning operation is completed in the bedroom A, but because there are obstacles a and obstacles b in the living room E, for example: indoor placement Furniture; or external signal interference, causing the robot 1 to receive the feedback signal of the smart socket 4 installed in the bathroom F in the bedroom A or even in the living room E, or the received feedback signal is very weak. That is to say, the robot 1 is outside the signal range of the target device set in the bathroom F. Of course, in addition to the furniture placed indoors, the walls or partitions between different rooms will also give the signal a certain degree of weakening. At this time, the terminal device such as a mobile phone can use the WIFI wireless network to control the robot 1 to open the camera provided thereon for shooting. The working space has been divided into different monitoring areas in advance, and the division of the monitoring area can be manually divided according to the type of the room or other custom manners. Of course, the robot 1 can also divide according to the preset program. In other words, the way the area is divided can be set according to the needs or preferences of the user. In the embodiment shown in FIG. 1, when the camera set on the robot 1 captures a picture in the living room E and transmits it to the mobile phone terminal through the wireless network, the user finds an obstacle according to the screen displayed on the mobile phone terminal. And the obstacle b, through the corresponding button set on the mobile terminal, controls the robot 1 to move forward, backward, left or right, bypassing the obstacle a and the obstacle b, or the wall and the partition, and setting the bathroom F in the picture The monitoring area in which the target device smart socket 4 is located moves. During the moving process, the user can manually control the robot 1 to send a detection signal on the mobile phone through the wireless network at any time until the smart socket 4 disposed in the bathroom F can be received. The feedback signal is sent up. The robot 1 then performs normal work. That is to say, under the premise that the sensor does not malfunction, the robot 1 receives the signal to stop moving; or when the sensor fails, the robot 1 enters the monitoring area where the target device is located to stop moving; if the robot 1 enters the monitoring area where the monitoring sensor is located If the signal is still not received, the alarm will be given.

FIG. 2 is a schematic diagram showing the positional relationship between the robot and the target set according to the present invention. As shown in FIG. 2 and in conjunction with FIG. 1, each target device (including the human body infrared module 2, the smoke sensing module 3, the smart socket 4, and the like) disposed in the working space is respectively provided with a communication module, and the communication signal is passed through any device. The communication module transmits to form a wireless communication network, and the communication signal is a radio frequency signal as needed. That is to say, each target device can perform signal interaction with each other, and the robot 1 can also perform signal interaction with the target device, and the three form an overall signal network. Through the terminal's movement control of the robot 1, it can enter the signal network from the area without the signal, and can communicate with any target device in the signal network, thereby realizing the control of the target device by the robot 1 on the terminal. In essence, this movement of the robot 1 can be seen as the movement of the entire signal network. That is, when the signal is unstable or encounters an obstacle, the robot 1 can be moved to the signal coverage by the manipulation of the robot 1, which is equivalent to moving the signal network with which the wireless communication is performed to any desired position, further Target devices within the network are controlled.

Specifically, a summary of the method for moving the intelligent control robot 1 described above in the present embodiment to the signal range is summarized. The method includes the following steps:

In order to make the robot 1 accurately locate the target device, it is convenient for the robot 1 to recognize the position of the device, which is convenient for the user to manually control, and needs to divide the area where the target device is located, and specifically includes: working space in the working space of the robot 1 according to the distribution of the target device Divided into a plurality of monitoring areas or control areas, the division of the working space, in addition to the manual division, the robot 1 itself can also automatically divide the area according to the distribution of the target equipment.

Step 100: The robot 1 sends a detection signal to the target device. If the feedback signal is received, the communication signal between the robot 1 and the target device is normal. If the feedback signal is not received, the communication signal between the robot 1 and the target device is represented. Abnormal; For convenience of operation, the user manually controls the robot 1 to transmit the detection signal on the terminal through the wireless network.

Step 200: The robot 1 moves toward the target device whose communication signal is abnormal until the feedback signal from the target device is received.

The way the robot sends a detection signal to the target device is to repeat the transmission multiple times. That is to say, the detection signal sent by the robot to the target device is a "signal retransmission mechanism", and the robot does not receive the signal immediately, but does not start moving immediately, but repeats multiple transmissions. Several detection signals still do not receive the detection signal before moving to the target sensor. Through the signal retransmission mechanism, temporary signal interference or obstacle interference can be avoided, and the reliability of the robot monitoring work is greatly improved. More specifically, the step 200 specifically includes: the camera of the robot 1 captures a picture of the work space, and transmits the image to the terminal through the wireless network, and the user controls the robot 1 according to the work space screen displayed on the terminal through corresponding buttons. Move toward the area where the target device in the screen is located. The wireless network is GPRS, 3G or WIFI.

In order to form a wireless communication network, the target device is respectively provided with a communication module, and the communication signal is transmitted through a communication module on any device. The communication signal is a radio frequency signal as needed.

The target device includes a human body infrared module 2, a smoke sensing module 3, and/or a smart socket 4. Specifically, the human body infrared module 2 is mainly used for sensing a biological infrared characteristic of a human body; the smoke sensing module 3 is a simple sensor for detecting the concentration of smoke or the temperature of the fire; the smart socket 4 can receive the robot control. The signal starts the work of the household appliance.

That is to say, in the first embodiment, the robot 1 is controlled to move into the signal range by means of manual control. Embodiment 2

1 is a schematic view showing the moving position of the robot 1 in the working space according to the present invention; FIG. 2 is a schematic view showing the positional relationship between the robot 1 and the target set according to the present invention. As shown in FIG. 1 and in conjunction with FIG. 2, in the present embodiment, the robot 1 operates in the same working space as in the first embodiment, and is provided with a human body infrared module 2, a smoke sensing module 3, and each room. Target device including smart socket 4 and so on. These target devices and the robot 1 constitute a signal network as shown in FIG. 2. Before the robot 1 is used for the first time, the robot 1 has established a map of the work space by itself (Fig. 1). The map shows the work space including the bedroom, B, C, kitchen D, living room E, bathroom F and the like. The map is transmitted to the ipad terminal through the network, and the user manually divides the target monitoring area on the map according to the distribution of the target device, and transmits the divided map to the storage unit of the robot 1. Similarly, the area in which it is located is divided so that the robot 1 can recognize the location of the target device. For example: When the robot 1 moves in the living room E, it can smoothly receive the feedback signals of the human body infrared module 2, the smoke sensing module 3 and the smart socket 4 set in the area where the living room E is located, and is within the signal range. As shown in Figure 1, the robot 1 needs to move to the bathroom F for work after completing the cleaning work in the bedroom A, but because there are obstacles a and obstacles b in the living room E, or walls, partitions, or Due to interference from other external signals, the robot 1 cannot receive the feedback signal of the smart socket 4 disposed in the bathroom F in the bedroom A or even in the living room E, or the feedback signal is weak. That is to say, the robot 1 is outside the signal range of the target device set in the bathroom F. At this time, the robot 1 searches for the corresponding monitoring area or control area of the bathroom F in the map through the map in the storage unit, and sets the walking route by itself. The robot 1 moves in the front, rear, left or right direction, bypassing the obstacle a and the obstacle b, or the wall and the partition, moving toward the area corresponding to the toilet F. During the above motion, the robot 1 automatically sends a detection signal to the target device until it can receive the feedback signal from the smart socket 4 disposed in the bathroom F. The robot 1 then performs normal work. Of course, in order to facilitate the intelligent control of the robot's control over the state of the room equipment, the intelligent control robot can periodically send a detection signal to the target device in the work area.

The monitoring area or control area mentioned above is not much different in nature. The monitoring area, ie: mainly one-way monitoring, such as: infrared sensing alarm or smoke sensing alarm. The control area has an additional control action, such as: Control of the smart socket to start the operation of the air conditioner or appliance. The division of the monitoring area or control area can be divided according to the structure of the working space itself, such as: room, living room, restroom, etc.

In order to facilitate the automatic control of the user, the area where the target device is located is first divided, including: Step 001: Before using the robot 1 for the first time, the control robot 1 establishes a map of the work space by itself; Step 002: The map in step 001 is used. And transmitting to the terminal through the wireless network, the user manually performs division of the monitoring area or the control area on the map according to the distribution of the target device, and transmits the divided map to the storage unit of the robot 1.

Alternatively, in order to facilitate the control of the robot to search for the target device by itself, the division of the target device area is also required, which includes: Step 00Γ: Before using the robot 1 for the first time, the control robot 1 scans the work space and establishes a coordinate map of the work space by itself; Step 002 ' : The robot records the position of the target device in the coordinate map, and automatically divides the monitoring area or the control area on the map according to the position of the target device in the map, and stores the divided map in the storage unit. Then, the robot starts monitoring the target device.

Step 100: The robot 1 sends a detection signal to the target device. If the feedback signal is received, the communication signal between the robot 1 and the target device is normal. If the feedback signal is not received, the communication signal between the robot 1 and the target device is represented. Abnormal

More specifically, the step 200 specifically includes: the robot 1 searches for a corresponding monitoring area or a target device in the control area by using a map in the storage unit.

Claims

claims

1. A method for intelligently controlling a robot to move within a signal range, characterized in that the method includes the following steps:

Step 100: The robot (1) sends a detection signal to the target device. If a feedback signal is received, it means that the communication signal between the robot (1) and the target device is normal; if no feedback signal is received, it means that the communication signal between the robot (1) and the target device is normal. The communication signals between devices are abnormal;

Step 200: The robot (1) moves towards the target device with abnormal communication signal until it receives a feedback signal from the target device.

2. The method for intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that, before step 100, it also includes dividing the area where the target device is located, specifically including: on the robot (1) The work space is divided into multiple monitoring areas or control areas according to the distribution of target equipment.

3. The method of intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that, in the step 100, the user manually controls the robot (1) on the terminal through the wireless network to send the detection signal .

4. The method of intelligently controlling a robot to move within a signal range as claimed in claim 3, characterized in that the step 200 specifically includes: the robot (1) camera captures the picture of the working space and transmits it to the computer via a wireless network. On the terminal, the user controls the robot (1) to move toward the area where the target equipment is located in the screen through corresponding buttons according to the work space screen displayed on the terminal.

5. The method for intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that before step 100, it further includes dividing the area where the target device is located, specifically including:

Step 001: Before using the robot (1) for the first time, control the robot (1) to create a map of the working space by itself;

Step 002: The map in step 001 is transmitted to the terminal through the wireless network. The user manually divides the monitoring area or control area on the map according to the distribution of the target device, and transmits the divided map to Inside the storage unit of the robot (1).

6. The method of intelligently controlling a robot to move within a signal range as claimed in claim 5, characterized in that, In the step 100, the robot (1) regularly sends a detection signal to the target device.

7. The method of intelligently controlling a robot to move within a signal range as claimed in claim 6, characterized in that the step 200 specifically includes: the robot (1) searches for the corresponding monitoring area by itself through the map in the storage unit or control area.

8. The method of intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that the target devices are respectively provided with communication modules, and the communication signals are transmitted through the communication modules on any device. transfer.

9. The method for intelligently controlling a robot to move within a signal range as claimed in claim 8, wherein the communication signal is a radio frequency signal.

10. The method of intelligently controlling a robot to move within the signal range according to claim 1, characterized in that the target device includes a human body infrared module (2), a smoke sensing module (3), a smart socket (4) and /or household appliances.

11. The method of intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that, in the step 100, the robot (1) sends the detection signal to the target device by repeatedly sending it multiple times.

12. The method for intelligently controlling a robot to move within a signal range as claimed in claim 1, characterized in that before step 100, it further includes dividing the area where the target device is located, specifically including:

Step 00Γ: Before using the robot (1) for the first time, control the robot (1) to scan the working space and create a coordinate map of the working space by itself;

Step 002 ': The robot records the position of the target device on the coordinate map, and automatically divides the monitoring area or control area on the map according to the position of the target device on the map, and stores the divided map in the storage unit Inside.

13. The method for intelligently controlling a robot to move within a signal range as claimed in claim 12, characterized in that, in step 100, the robot (1) regularly sends a detection signal to the target device.

14. The method for intelligently controlling a robot to move within a signal range as claimed in claim 13, characterized in that the step 200 specifically includes: the robot (1) searches for the corresponding monitoring area by itself through the map in the storage unit or Control the target device in the zone.