CN107193280B - Ground induction control method, ground induction device and ground induction control system - Google Patents

Ground induction control method, ground induction device and ground induction control system Download PDF

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Publication number
CN107193280B
CN107193280B CN201710352969.9A CN201710352969A CN107193280B CN 107193280 B CN107193280 B CN 107193280B CN 201710352969 A CN201710352969 A CN 201710352969A CN 107193280 B CN107193280 B CN 107193280B
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robot
information
ground
current
sensing device
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CN107193280A (en
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李晓云
戴友平
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Shenzhen Vfuchong Technology Co ltd
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Shenzhen Vfuchong Technology Co ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network

Abstract

The invention relates to a ground induction control method, which comprises the steps of generating induction information, sending the induction information to a robot, enabling the robot to acquire current position identification information according to the induction information, confirming the current position according to the current position identification information, and executing corresponding task operation according to the current position and control information. In addition, a ground sensing device and a ground sensing control system are also provided. The ground induction control method, the ground induction device and the ground induction control system overcome the defect that the robot cannot realize fixed-point task operation of a specified position and an area when cleaning the traditional ground.

Description

Ground induction control method, ground induction device and ground induction control system
Technical Field
The invention relates to the field of automatic control, in particular to a ground induction control method, a ground induction device and a ground induction control system.
Background
With the rapid development of the automatic control technology, the cleaning robot is developed rapidly and widely used, but when the cleaning robot is used for cleaning traditional floors, floor tiles or carpets, fixed-point cleaning tasks of specified positions and areas cannot be achieved.
Disclosure of Invention
Accordingly, it is desirable to provide a ground sensing control method, a ground sensing device and a ground sensing control system, which can quickly implement a fixed-point task operation for specifying a ground location and an area.
A ground sensing control method, the method comprising:
generating induction information, wherein the induction information comprises current position identification information corresponding to the current ground induction device;
and sending the induction information to the robot so that the robot acquires the current position identification information according to the induction information, confirms the current position according to the current position identification information, and executes corresponding task operation according to the current position and the control information.
In one embodiment, the method further comprises:
and receiving robot activity information sent by the robot, wherein the robot activity information comprises at least one of charging information, work time, work type, work result and work transfer information.
In one embodiment, the method further comprises:
and acquiring a preset control instruction, generating control information and sending the control information to the robot.
By generating induction information and sending the induction information to the robot, the induction information comprises current position identification information corresponding to the current ground induction device, so that the robot can acquire the current position identification information and confirm the current position according to the induction information, and execute corresponding task operation according to the current position and the control information, so that the robot can firstly confirm the current initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches a target ground induction device, the corresponding current target position can be confirmed by acquiring the target position identification information corresponding to the target ground induction device, and further the corresponding operation can be executed, thereby realizing that when the robot is in any activity area, the current position of the robot can be positioned in real time, and further the corresponding control information can be further executed, the task operation of the designated position and the designated area is completed, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
In addition, a ground sensing device is further provided, which comprises a main body structure, a sensing component and a corresponding communication component, wherein the sensing component is electrically connected with the communication component, the sensing component and the communication component are embedded in the main body structure, the main body structure comprises any one of a floor, a floor tile and a carpet, the sensing component comprises at least one of a pressure sensor, a piezoelectric sensor and a capacitance sensor, the communication component comprises at least one of a wireless local area network communication (WiFi) component, a Bluetooth component, an ultra-long distance low power consumption wide area network (LoRa) component and a narrow-band internet of things (NB-IoT) component based on honeycomb, the sensing component is used for generating sensing information and sending the sensing information to the communication component, the communication component is used for establishing communication connection with a robot and sending the sensing information to the robot, the sensing information includes current position identification information corresponding to the current ground sensing device.
In one embodiment, the ground sensing device further includes a memory, the memory is electrically connected to the communication component and the sensing component respectively, and the memory is used for storing the sensing information.
In one embodiment, the ground sensing device is further configured to acquire and store robot activity information corresponding to the robot to the memory, where the robot activity information includes at least one of charging information, operation time, operation type, operation result, and operation handover information.
In one embodiment, the ground sensing device is further configured to obtain a preset control command, generate control information, and send the control information to the robot.
The ground sensing device comprises a main body structure, a sensing component and a corresponding communication component, wherein the main body structure comprises any one of a floor, a floor tile and a carpet, the sensing component and the communication component are embedded in the main body structure, the sensing component is used for generating sensing information and sending the sensing information to the communication component, the communication component is used for establishing communication connection with the robot and sending the sensing information to the robot, the sensing information comprises current position identification information corresponding to the current ground sensing device, so that the robot can firstly confirm an initial position and can further carry out moving operation or operation according to the current initial position and control information, and secondly can confirm that the current target position is reached by obtaining target position identification information in the sensing information corresponding to the target ground sensing device when the robot reaches the target ground sensing device, the robot can further execute corresponding operation according to the control information, the current position of the robot can be positioned in real time when the robot is in any activity area, the task operation of a designated position and the area can be further completed according to the corresponding control information, the defect that fixed-point task operation cannot be realized on the traditional ground is overcome, the requirement of daily ground decoration is met, the economic benefit is improved, and the intelligent degree of home furnishing is improved.
Further, there is provided a ground sensing control system, the system comprising: a robot and the ground sensing device of any of the above embodiments;
the ground sensing device can establish communication connection with the robot and is used for generating sensing information and sending the sensing information to the robot, wherein the sensing information comprises current position identification information corresponding to the current ground sensing device;
the robot is used for acquiring control information, acquiring current position identification information according to the induction information, confirming a current position according to the current position identification information, and executing corresponding task operation according to the control information and the current position.
In one embodiment, the system further comprises a control terminal for generating control information and sending the control information to the robot.
The ground induction system is matched with the robot through the ground induction device, the ground induction device can establish communication connection with the robot and is used for generating induction information, the induction information comprises current position identification information corresponding to the current ground induction device and sends the induction information to the robot, the robot is used for acquiring control information, the current position is confirmed according to the current position identification information, corresponding task operation is executed according to the current position and the control information, so that the robot can firstly confirm the initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches the target ground induction device, the corresponding current target position is confirmed by acquiring target position identification information corresponding to the target ground induction device, and further corresponding operation can be executed, when the robot is in any moving area, the current position of the robot can be positioned in real time, the task operation of a designated position and an area can be further completed according to the corresponding control information, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
In addition, the ground sensing device comprises a main body structure and a sensing communication component, wherein the sensing communication component is embedded in the main body structure and comprises any one of a floor, a floor tile and a carpet, the sensing communication component comprises at least one of a Radio Frequency Identification (RFID) component and a Near Field Communication (NFC) component, the sensing communication component is used for establishing communication connection with the robot, providing sensing information and sending the sensing information to the robot, and the sensing information comprises current position identification information corresponding to the current ground sensing device.
In one embodiment, the ground sensing device further comprises a memory electrically connected to the sensing communication component, and the memory is used for storing the sensing information.
In one embodiment, the ground sensing device is further configured to acquire and store robot activity information corresponding to the robot to the memory, where the robot activity information includes at least one of charging information, operation time, operation type, operation result, and operation handover information.
The ground sensing device comprises a main body structure and a corresponding sensing communication component, wherein the main body structure comprises any one of a floor, a floor tile and a carpet, the sensing communication component is embedded in the main body structure, the sensing communication component is in communication connection with the robot through the sensing communication component to generate sensing information, the sensing information is sent to the robot, the sensing information comprises current position identification information corresponding to the current ground sensing device, so that the robot can firstly confirm an initial position and can further carry out moving operation or operation according to the current initial position and control information, secondly, when the robot reaches a target ground sensing device, the robot can confirm that the robot reaches the current target position by obtaining target position identification information in the corresponding sensing information of the target ground sensing device, and further can execute corresponding operation according to the control information, when the robot is in any activity area, the current position of the robot can be positioned in real time, task operation of a designated position and the area can be further completed according to corresponding control information, the defect that fixed-point task operation cannot be realized on the traditional ground is overcome, meanwhile, the requirement of daily ground decoration is met, the economic benefit is improved, and the intelligent degree of home furnishing is improved.
Further, there is provided a ground sensing control system, the system comprising: a robot and the ground sensing device of any of the above embodiments;
the ground sensing device can establish communication connection with the robot and is used for generating sensing information and sending the sensing information to the robot, wherein the sensing information comprises current position identification information corresponding to the current ground sensing device;
the robot is used for acquiring control information, acquiring current position identification information according to the induction information, confirming a current position according to the current position identification information, and executing corresponding task operation according to the control information and the current position.
In one embodiment, the system further comprises a control terminal for generating control information and sending the control information to the robot.
The ground induction system is matched with the robot through the ground induction device, the ground induction device can establish communication connection with the robot and is used for generating induction information, the induction information comprises current position identification information corresponding to the current ground induction device and sends the induction information to the robot, the robot is used for acquiring control information, the current position is confirmed according to the current position identification information, corresponding task operation is executed according to the current position and the control information, so that the robot can firstly confirm the initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches the target ground induction device, the corresponding current target position is confirmed by acquiring target position identification information corresponding to the target ground induction device, and further corresponding operation can be executed, when the robot is in any moving area, the current position of the robot can be positioned in real time, the task operation of a designated position and an area can be further completed according to the corresponding control information, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a ground sensing control method;
FIG. 2 is a flow chart of a method for ground sensing control in one embodiment;
FIG. 3 is a flow chart of a method for ground sensing control in another embodiment;
FIG. 4 is a flow chart of a method for ground sensing control in another embodiment;
FIG. 5 is a block diagram of a ground sensing apparatus according to an embodiment;
FIG. 6 is a block diagram of a ground sensing apparatus according to another embodiment;
FIG. 7 is a block diagram of a ground sensing control system in one embodiment;
FIG. 8 is a block diagram of a ground sensing control system in another embodiment;
FIG. 9 is a block diagram of a ground sensing apparatus according to an embodiment;
FIG. 10 is a block diagram of a ground sensing apparatus according to an embodiment;
FIG. 11 is a block diagram of a ground sensing control system in one embodiment;
fig. 12 is a block diagram of a ground sensing control system according to another embodiment.
Detailed Description
In one embodiment, an application environment of the ground sensing control method is shown in fig. 1, and includes a robot 10 and a ground sensing device 20, where the robot 10 can establish a communication connection with the ground sensing device 20, and the ground sensing device 20 is disposed in a predetermined activity area corresponding to the robot 10. The robot 10 includes, but is not limited to, a cleaning robot, a painting robot, and a transport robot.
In one embodiment, the ground preset movement area corresponding to the robot 10 is generally divided into a plurality of preset area ranges according to preset length and width, and then each preset area range may be provided with a corresponding ground sensing device 20.
In one embodiment, the corresponding size of each ground sensing device 20 is consistent with the length and width of the preset area, and can be laid within the range of the current preset area.
In one embodiment, the preset area position identification information and the preset area range information corresponding to each ground sensing device in the preset activity area of the robot may be drawn according to a scale to obtain a corresponding induction activity map of the robot, and then the induction activity map may be further stored in the robot.
In one embodiment, as shown in fig. 2, there is provided a ground sensing control method, applied in the above application environment, including:
step S210, generating sensing information, where the sensing information includes current position identification information corresponding to the current ground sensing device.
Specifically, the ground preset active area corresponding to the robot is generally divided into a plurality of preset area ranges according to a preset length and a preset width, and then each preset area range may be provided with a corresponding ground sensing device, for example, the ground sensing device is laid on the surface of the preset active area corresponding to the robot, wherein the size corresponding to each ground sensing device may be consistent with the length and the width of the preset area. When the robot reaches the current ground sensing device, the current ground sensing device generates sensing information, and the sensing information comprises current position identification information corresponding to the current ground sensing device.
In one embodiment, the current ground sensing device comprises a floor, a piezoelectric sensor and a WiFi component, and the current sensing information further comprises trigger sensing time, sensing pressure, sensing force area and current sensing range information.
In one embodiment, the current ground sensing device is a ground sensing device corresponding to the current initial position of the robot (referred to as the current initial ground sensing device for short herein), and the current initial ground sensing device generates current initial sensing information, where the current initial sensing information includes current initial position identification information corresponding to the current initial ground sensing device.
In one embodiment, when the robot reaches the target position, the current ground sensing device is a ground sensing device corresponding to the current target position of the robot (referred to as the current target ground sensing device for short herein), and the current target ground sensing device generates current target sensing information, where the current target sensing information includes current target position identification information corresponding to the current target ground sensing device.
And S220, sending the induction information to the robot so that the robot acquires the current position identification information according to the induction information, confirms the current position according to the current position identification information, and executes corresponding task operation according to the current position and the control information.
Specifically, after the current ground sensing device generates the sensing information, the sensing information is further sent to the robot, and the robot acquires the current position identification information according to the sensing information, so that the robot can match the current position identification information with the sensing activity map, automatically position, confirm the current position and execute further task operation.
In one embodiment, the robot is at an initial position, the current ground sensing device is a ground sensing device (referred to as the current initial ground sensing device for short) corresponding to the current initial position of the robot, the current initial ground sensing device generates current initial sensing information and sends the current initial sensing information to the robot, after the robot acquires the current initial sensing information corresponding to the current initial ground sensing device, the robot acquires current initial position identification information corresponding to the current initial ground sensing device according to the current initial sensing information, and then matches the current initial position identification information with a preset sensing activity map, so that the current initial position can be confirmed, and further, the next movement or operation can be performed.
In one embodiment, the robot reaches a target position, the current ground sensing device is a ground sensing device corresponding to the current target position of the robot (referred to as the current target ground sensing device for short), the current target ground sensing device generates current target sensing information and sends the current target sensing information to the robot, after the robot acquires the current target sensing information corresponding to the current target ground sensing device, the robot acquires current target position identification information corresponding to the current target ground sensing device according to the current target sensing information, and then matches the current target position identification information with a preset sensing activity map, so that the arrival of the current target position can be confirmed, and further, the next operation can be performed.
In one embodiment, the robot is a cleaning robot, the robot is at an initial position, the current ground sensing device is a ground sensing device (referred to as the current initial ground sensing device for short) corresponding to the current initial position of the robot, the current initial ground sensing device generates current initial sensing information and sends the current initial sensing information to the robot, after the robot acquires the current initial sensing information corresponding to the current initial ground sensing device, the robot acquires current initial position identification information corresponding to the current initial ground sensing device according to the current initial sensing information, and then matches the current initial position identification information with a preset sensing activity map, so as to confirm the current initial position; furthermore, the robot can acquire control information, the control information comprises a target task area, a moving route and moving time can be planned to carry out moving operation according to the target task area and the current initial position, a current target ground sensing device corresponding to the target task area is reached, the current target ground sensing device generates current target sensing information, communication connection is established between the robot and the current target ground sensing device, the robot can acquire the current target sensing information corresponding to the current target ground sensing device, current target position identification information corresponding to the current target ground sensing device is acquired according to the current target sensing information, then the current target position identification information is matched with a preset sensing activity map, the current target position can be confirmed to be reached, and then the next operation can be carried out.
In one embodiment, the current ground sensing device comprises a floor, a piezoelectric sensor and a WiFi component, and the sensing information further comprises trigger sensing time, sensing pressure, sensing force area and current area range information, wherein the current area range information corresponds to the current ground sensing device.
The ground induction control method comprises the steps of generating induction information and sending the induction information to the robot, so that the robot can obtain current position identification information and confirm a current position according to the induction information, execute corresponding task operation according to the current position and the control information, ensure that the robot can firstly confirm the current initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches a target ground induction device, can confirm a corresponding current target position by obtaining target position identification information corresponding to the target ground induction device, further can execute corresponding operation, realize that when the robot is in any moving area, the current position of the robot can be positioned in real time, and further can finish task operation of a designated position and an area according to the corresponding control information, therefore, the fixed-point operation task of the designated position and area on the ground is completed, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
In one embodiment, as shown in fig. 3, the method further comprises:
in step S230, the robot activity information transmitted by the robot is received, and the robot activity information includes at least one of charging information, work time, work type, work result, and work transfer information.
Specifically, the robot may record robot activity information corresponding to the robot, the robot activity information includes at least one of charging information, operation time, operation type, operation result, and operation handover information, the charging information comprises at least one of charging robot number information, charging start time, charging end time, charging result information and charging position identification information of the robot, the operation time comprises operation start time information, operation end time information and operation duration time of the robot, the operation type comprises at least one of cleaning operation, spraying operation and transportation operation corresponding to the robot, the operation result comprises at least one of operation completion information and operation evaluation information, and the operation handover information comprises at least one of operation process handover information, operation task handover information, operation time handover information and operation object handover information.
The robot can write the robot activity information into the current ground sensing device after the current ground sensing device executes corresponding operation, the current ground sensing device receives the robot activity information, when the next robot reaches the current ground sensing device, the robot activity information corresponding to the current robot can be obtained, and then further operation is executed according to the robot activity information.
In one embodiment, the robot is a watering robot, the current ground sensing device is a current sensing floor, the corresponding robot can acquire robot activity information corresponding to the robot in the process of communicating with the current ground sensing device through the current sensing floor, the robot activity information comprises operation time, operation results and operation handover information of watering operation, the operation handover information comprises a subsequent cleaning floor mopping procedure, after the current sensing floor acquires the robot activity information corresponding to the robot, when the subsequent cleaning floor mopping robot reaches the current sensing floor, the robot activity information corresponding to the current robot can be acquired, then the operation handover information is acquired, and the cleaning floor mopping operation is started.
In the above embodiment, the ground sensing device can enable the multiple robots to cooperatively perform task operations by acquiring the robot activity information corresponding to the current robot, so that cooperative control of the multiple robots is realized, and the efficiency of the robot work is further improved integrally.
In one embodiment, cooperative control of multiple robots may be further implemented in conjunction with ant algorithms.
In one embodiment, as shown in fig. 4, the method further includes:
and step S240, acquiring a preset control instruction, generating control information and sending the control information to the robot.
Specifically, the current ground sensing device can also acquire a preset control instruction of a user, generate corresponding control information, and send the control information to the robot.
In one embodiment, when the robot is a cleaning robot, the current target ground sensing device obtains a control instruction of a preset number of times for manually tapping the current ground sensing device or a preset number of times for manually tapping the foot, generates control information, and sends the control information to the cleaning robot, so that the cleaning robot moves according to the control information, and can reach the current target ground sensing device for cleaning.
In the above embodiment, the ground sensing device generates the control information by acquiring the preset control instruction and sends the control information to the robot, so that the task operation of any designated position and area is further realized, and the convenience of control is enhanced.
In addition, as shown in fig. 5, there is also provided a ground sensing control device 120, which includes a main body structure 122, a sensing component 124 and a corresponding communication component 126, wherein the main body structure 122 includes any one of a floor, a floor tile and a carpet, the sensing component 124 is electrically connected to the communication component 126, the sensing component 124 and the communication component 126 are embedded in the main body structure 122, the sensing component 124 includes at least one of a pressure sensor, a piezoelectric sensor and a capacitance sensor, the communication component 126 includes at least one of a Wireless local Area Network communication WiFi (WiFi) component, a bluetooth component, an ultra-long Range low power consumption data transmission LoRa (long Range Area-Area Network, LoRa) component and a cellular-based narrowband NB-IoT (Narrow Band of Internet of Things, NB-IoT) component, the sensing component 124 is configured to generate sensing information and transmit the sensing information to the communication component 126, the communication component 126 is configured to establish a communication connection with the robot 20 and send sensing information to the robot 110, wherein a plurality of sensing components 124 and corresponding communication components 126 may be provided for each ground sensing device 120.
Specifically, the preset ground movement area corresponding to the robot 110 is generally divided into a plurality of preset area ranges according to a preset length and a preset width, and then a corresponding ground sensing device 120 may be disposed in each preset area range, for example, the ground sensing device 120 is laid on the surface of the preset movement area corresponding to the robot 110, and the size of each ground sensing device 120 may be consistent with the length and the width of the preset area. When the robot 110 reaches the current ground sensing device 120, the current ground sensing device 120 generates sensing information through the sensing component 124 and stores the sensing information to the memory, and then further sends the sensing information to the communication component 126, the current ground sensing device 120 establishes communication connection with the robot 110 through the communication component 126 and can communicate, and further sends the sensing information to the robot 110, so that the robot 110 can automatically position according to the current position identification information in the sensing information, confirm the current position, and then execute further operations, and by mutually matching with the ground sensing device 120, when the robot is in any preset activity area, the current position of the robot can be positioned in real time, and corresponding task operations can be further completed.
In one embodiment, the robot 110 is located at an initial position, the current ground sensing device 120 is a ground sensing device (referred to as a current initial ground sensing device for short) corresponding to the current initial position of the robot 110, after the robot obtains current initial sensing information corresponding to the current initial ground sensing device 120, the robot obtains current initial position identification information corresponding to the current initial ground sensing device 120 according to the current initial sensing information, and then matches the current initial position identification information with a preset sensing activity map, so as to determine the current initial position, thereby performing next movement or operation.
In one embodiment, when the robot 110 reaches the target position, the current ground sensing device 120 is a ground sensing device corresponding to the current target position of the robot (referred to as the current target ground sensing device), after the robot 110 obtains current target sensing information corresponding to the current target ground sensing device 120, the current target position identification information corresponding to the current target ground sensing device 120 is obtained according to the current target sensing information, and then the current target position identification information is matched with a preset sensing activity map, so that the current target position can be confirmed to be reached, thereby performing the next operation.
In one embodiment, the robot 110 is a cleaning robot, the preset ground activity area corresponding to the robot 110 is generally divided into a plurality of preset area ranges according to preset lengths and widths, and then each preset area range is provided with a corresponding ground sensing device 120, so that each preset area range and each ground sensing device respectively correspond to each other, and then a sensing activity map corresponding to the whole preset ground activity area can be obtained and uploaded to the robot 110, the robot 110 obtains a preset target task area according to control information, and then plans a moving route according to the preset target task area, and then reaches a current target ground sensing device 120 in the preset target task area, establishes a communication connection and is capable of communicating with the current target ground sensing device 120, when the robot 110 reaches the current target ground sensing device 120, the current target ground sensing device 120 generates sensing information through the sensing component 124, sends the sensing information to the communication component 126, and sends the sensing information to the robot 110, the robot 110 obtains corresponding current target position identification information in the sensing information, compares the current target position identification information with the sensing activity map, finally confirms that the current target ground sensing device is reached, and then executes the next cleaning task.
In one embodiment, the sensing information may further include current area range information corresponding to the current ground sensing device 120, and the current ground sensing device 120 may further be capable of sending the current area range information to the robot 110, so that the robot 110 may further recognize the shape and size corresponding to the current ground sensing device 120, which is beneficial for the robot 110 to make more reasonable decisions and actions.
In one embodiment, each ground sensing device 120 can be provided with a plurality of sensing elements 124 and corresponding communication elements 126.
The ground sensing device comprises a main body structure, a sensing component and a corresponding communication component, wherein the main body structure comprises any one of a floor, a floor tile and a carpet, the sensing component and the communication component are embedded in the main body structure, a sensing signal is generated through the sensing component to generate sensing information and is sent to the communication component, the communication component is used for establishing communication connection with the robot and sending the sensing information to the robot, the sensing information comprises current position identification information corresponding to the current ground sensing device, so that the robot can firstly confirm an initial position and can further carry out moving operation or operation according to the current initial position and control information, and secondly can confirm that the current target position is reached by obtaining target position identification information in the sensing information corresponding to the target ground sensing device when the robot reaches the target ground sensing device, the robot can further execute corresponding operation according to the control information, the current position of the robot can be positioned in real time when the robot is in any activity area, the task operation of a designated position and the area can be further completed according to the corresponding control information, the defect that fixed-point task operation cannot be realized on the traditional ground is overcome, the requirement of daily ground decoration is met, the economic benefit is improved, and the intelligent degree of home furnishing is improved.
In one embodiment, as shown in fig. 6, the ground sensing device 120 further includes a memory 128, the memory 128 is electrically connected to the communication component 122 and the sensing component 124, respectively, and the memory 128 is used for storing sensing information.
Specifically, the ground sensing device 120 may further include a memory 128, wherein the memory 128 is electrically connected to the communication component 122 and the sensing component 124, respectively, and the sensing information generated by the sensing component 124 can be stored in the memory 128.
In one embodiment, the ground sensing device 120 is further configured to obtain and store robot activity information corresponding to the robot 110 to the memory 128, wherein the robot activity information includes at least one of charging information, work time, work type, work result, and work handover information.
Specifically, the robot 110 may record robot activity information corresponding to itself, the robot activity information including at least one of charging information, work time, work type, work result, and work handover information, the charging information includes at least one of charger robot number information, charging start time, charging end time, charging result information and charging position identification information of the robot 110, the operation time includes operation start time information, operation end time information and operation duration of the robot 110, the operation type includes at least one of cleaning operation, spraying operation and transportation operation corresponding to the robot 110, the operation result includes at least one of operation completion information and operation evaluation information, and the operation handover information includes at least one of operation procedure handover information, operation task handover information, operation time handover information and operation object handover information.
After the current ground sensing device 120 performs the corresponding operation, the robot 110 may write the robot activity information into the current ground sensing device 120, and the current ground sensing device 120 receives the robot activity information and stores the robot activity information into the memory, and when the next robot reaches the current ground sensing device 120, the robot activity information corresponding to the current robot 110 may be obtained, and then the further operation may be performed according to the robot activity information.
In one embodiment, the robot 110 is a watering robot, the current ground sensing device 120 is a current sensing floor, the current sensing floor 120 can acquire robot activity information corresponding to the corresponding robot 110 during the communication process between the corresponding robot 110 and the current ground sensing device 120, the robot activity information includes operation time, operation result and operation handover information of a watering operation, the operation handover information includes a subsequent cleaning floor mopping procedure, after the current sensing floor 120 acquires the robot activity information corresponding to the robot 110, when the subsequent cleaning floor mopping robot reaches the current sensing floor 120, the robot activity information corresponding to the current robot 110 can be acquired, then the operation handover information is acquired, and the cleaning floor mopping operation is started.
In the above embodiment, the ground sensing device can enable the multiple robots to cooperatively perform task operations by acquiring the robot activity information, so that cooperative control of the multiple robots is realized, and the efficiency of the robot work is further integrally improved.
In one embodiment, the ground sensing device 120 is further configured to obtain a preset control command, generate control information, and send the control information to the robot 110.
Specifically, the current ground sensing device 120 may further obtain a preset control instruction of the user, generate corresponding control information, and send the control information to the robot 110.
In one embodiment, when the current ground sensing device 120 includes a floor, a piezoelectric sensor and a WiFi component, when the robot 110 is a cleaning robot, the current target ground sensing device 120 obtains a control command of a preset number of times for manually tapping the current ground sensing device or a preset number of times for manually tapping the foot, generates control information, and sends the control information to the cleaning robot 110, so that the cleaning robot 110 moves according to the control information, and can reach the current target ground sensing device 120 for cleaning.
In the above embodiment, the ground sensing device generates the control information by acquiring the preset control instruction and sends the control information to the robot, so that the task operation of any designated position and area is further realized, and the convenience of control is enhanced.
In addition, as shown in fig. 7, a ground sensing control system is further provided, where the robot 110 and the ground sensing device 120 in the foregoing embodiment are capable of establishing a communication connection with the robot 110 to generate sensing information, where the sensing information includes current location identification information corresponding to the current ground sensing device 120 and sends the sensing information to the robot 110, and the robot 110 is configured to obtain control information, confirm a current location according to the current location identification information, and execute a corresponding task operation according to the current location and the control information.
Specifically, the robot 110 may obtain control information by receiving an operation instruction input by a user, where the control information includes at least one of a target task area, a target task execution time, a target task execution frequency, and a target task type, after the robot 110 obtains corresponding current position identification information through the current ground sensing device 120, the robot 110 determines a current position according to the current position identification information, and executes a corresponding task operation according to the current position and the control information, where the task operation generally includes at least one of a moving operation and a working operation.
In one embodiment, the robot 120 is a cleaning robot, a control panel is disposed on a structural surface of the robot, the robot acquires control information through the control panel, the control information includes a target task area, a target task execution time, a target task execution frequency, and a target task type, after the robot 120 acquires current position identification information and the control information, the current position can be confirmed according to preset induction map information and the current position identification information, a corresponding movement route and a corresponding movement time can be planned according to the target task area and the current position and the target task execution time, then a movement operation is performed, a corresponding target position in the target task area is confirmed to be reached, and then a corresponding operation is started.
The ground induction control system is matched with a robot through a ground induction device, the ground induction device can be in communication connection with the robot and is used for generating induction information, the induction information comprises current position identification information corresponding to the current ground induction device and is sent to the robot, the robot is used for acquiring control information, the current position is confirmed according to the current position identification information, corresponding task operation is executed according to the current position and the control information, so that the robot can firstly confirm the initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches a target ground induction device, the corresponding current target position is confirmed by acquiring target position identification information corresponding to the target ground induction device, and further corresponding operation can be executed, when the robot is in any moving area, the current position of the robot can be positioned in real time, the task operation of a designated position and an area can be further completed according to the corresponding control information, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
In an embodiment, as shown in fig. 8, the system further includes a control terminal 130, and the control terminal 130 may generate corresponding control information according to an operation instruction input by a user and send the control information to the robot.
The control end 130 includes, but is not limited to, a mobile phone, a tablet, and a smart wearable device, and can establish a communication connection with the robot 120.
In one embodiment, the control terminal 130 is further configured to obtain target location identification information corresponding to the target ground sensing device 120 and send the target location identification information to the control terminal, so that the control terminal 130 generates control information.
For example, the ground sensing device 120 is a sensing floor, the sensing communication component 124 is an NFC component, and the control terminal 130 is a mobile phone, and a certain designated floor location area can be obtained as a target sensing floor through the mobile phone, and then the mobile phone communicates with the target sensing floor to obtain corresponding target location identification information, and generate corresponding control information.
Through communicating with the control terminal, the control terminal can clean the designated position area as required, the designated position operation can be realized more favorably, the operation convenience is improved, and the operation efficiency is further improved.
In one embodiment, the control terminal 130 may also be integrated into the structure of the robot 120 to facilitate direct control operations.
In addition, a ground sensing device 220 is provided, as shown in fig. 9, the ground sensing device 220 includes a main body structure 222 and an inductive communication component 224, the inductive communication component 224 includes at least one of a radio frequency identification RFID component and a near field communication NFC component, the main body structure 222 includes any one of a floor, a floor tile and a carpet, the inductive communication component 224 is embedded in the main body structure 222, i.e., any one of floors, floor tiles and carpets, the ground sensing device 220 can establish a communication connection with the robot through the sensing communication module 224, provide sensing information including current position identification information corresponding to the current ground sensing device 220 and transmit the sensing information to the robot 210, wherein each ground sensing device may be provided with a plurality of inductive Communication components 224, such as a plurality of RFID components or NFC (Near Field Communication) components.
Specifically, the preset ground active area corresponding to the robot 210 is generally divided into a plurality of preset area ranges according to a preset length and a preset width, and then each preset area range may be provided with a corresponding ground sensing device 220, for example, the ground sensing device 220 is laid on the surface of the preset active area corresponding to the robot 210, and for example, the size corresponding to each ground sensing device 220 may be consistent with the length and the width of the preset area. When the robot 210 arrives at the current ground sensing device 220, the current ground sensing device 220 establishes communication connection with the robot 210 through the sensing communication component 224 and can communicate, sensing information is provided and sent to the robot 210, the sensing information comprises current position identification information corresponding to the current ground sensing device 220, the robot 210 can automatically position according to the current position identification information, the current position is confirmed, further operation is carried out, and through mutual cooperation with the ground sensing device 220, when the robot is in any preset activity area, the current position of the robot can be positioned in real time, and corresponding task operation is further completed.
In one embodiment, the robot 210 is at an initial position, the current ground sensing device 220 is a ground sensing device (referred to as a current initial ground sensing device for short) corresponding to the current initial position of the robot 210, after the robot obtains current initial sensing information corresponding to the current initial ground sensing device 220, the robot obtains current initial position identification information corresponding to the current initial ground sensing device 220 according to the current initial sensing information, and then matches the current initial position identification information with a preset sensing activity map, so as to determine the current initial position, thereby performing next movement or operation.
In one embodiment, when the robot 210 reaches the target position, the current ground sensing device 220 is a ground sensing device corresponding to the current target position of the robot (referred to as the current target ground sensing device), after the robot 210 obtains current target sensing information corresponding to the current target ground sensing device 220, the current target position identification information corresponding to the current target ground sensing device 220 is obtained according to the current target sensing information, and then the current target position identification information is matched with a preset sensing activity map, so that the arrival at the current target position can be confirmed, and further, the next operation can be performed.
In one embodiment, the robot 210 is a cleaning robot, the preset ground activity area corresponding to the robot 210 is generally divided into a plurality of preset area ranges according to preset length and width, and then a corresponding ground sensing device 220 is arranged in each preset area range, so that each preset area range and each ground sensing device respectively correspond to each other, and then a sensing activity map corresponding to the whole preset ground activity area can be obtained and uploaded to the robot 210, the robot 210 obtains a preset target task area according to control information, and then plans a moving route according to the preset target task area, and then reaches the current target ground sensing device 220 in the preset target task area (or enters a communication range corresponding to the current target ground sensing device 220), establishes a communication connection with the current target ground sensing device 220 and can communicate, when the robot 210 reaches the current target ground sensing device 220, the current target ground sensing device 220 establishes communication connection with the robot 210, provides sensing information, sends the sensing information to the robot, and sends the sensing information to the robot 210, the robot 210 compares the current target position identification information corresponding to the sensing information with the sensing activity map, finally confirms that the current target ground sensing device 220 is reached, and then executes the next cleaning task.
In one embodiment, the sensing information may further include current region range information corresponding to the current ground sensing device 220, so that the robot 210 can further identify the shape and size corresponding to the current ground sensing device 220, which is beneficial for the robot 210 to make more reasonable decisions and actions.
In one embodiment, the current ground sensing device 220 is an NFC sensing floor, the main structure 222 is a floor, the sensing communication component 224 is an NFC component, the robot 210 is a cleaning robot, the preset ground activity area corresponding to the robot 210 is generally divided into a plurality of preset area ranges according to preset lengths and widths, then a corresponding ground sensing device 220 is arranged in each preset area range, so that each preset area range and each ground sensing device respectively correspond to each other, then a sensing activity map corresponding to the whole preset ground activity area can be obtained, and the sensing activity map can be uploaded to the robot 210, the robot 210 obtains a preset target task area according to the control information, then plans a moving route according to the preset target task area, and then reaches the current target ground sensing device 220 in the preset target task area (or enters a communication range corresponding to the current target ground sensing device 220), establish communication connection and can communicate with current target ground induction system 220, when robot 210 reachs current target ground induction system 220, current target ground induction system establishes communication connection with robot 210, provide response information, response information includes current position identification information, then send response information to robot 210, robot 210 obtains corresponding current position identification information through response information, and compare with response activity map, confirm at last and arrive target ground induction system, then carry out cleaning task on next step.
The ground sensing device comprises a main body structure and a corresponding sensing communication component, wherein the main body structure comprises any one of a floor, a floor tile and a carpet, the sensing communication component is embedded in the main body structure, the sensing communication component is in communication connection with the robot through the sensing communication component to generate sensing information, the sensing information is sent to the robot, the sensing information comprises current position identification information corresponding to the current ground sensing device, so that the robot can firstly confirm an initial position and can further carry out moving operation or operation according to the current initial position and control information, secondly, when the robot reaches a target ground sensing device, the robot can confirm that the robot reaches the current target position by obtaining target position identification information in the corresponding sensing information of the target ground sensing device, and further can execute corresponding operation according to the control information, when the robot is in any activity area, the current position of the robot can be positioned in real time, task operation of a designated position and the area can be further completed according to corresponding control information, the defect that fixed-point task operation cannot be realized on the traditional ground is overcome, meanwhile, the requirement of daily ground decoration is met, the economic benefit is improved, and the intelligent degree of home furnishing is improved.
In one embodiment, as shown in fig. 10, the ground sensing device 220 further includes a memory 228, the memory 228 is electrically connected to the communication component 222 and the sensing component 224, respectively, and the memory 228 is used for storing sensing information.
Specifically, the ground sensing device 220 may further include a memory 228, wherein the memory 228 is electrically connected to the communication component 222 and the sensing component 224, respectively, and the sensing information generated by the sensing component 224 can be stored in the memory 228.
In one embodiment, the ground sensing device 220 is further configured to obtain robot activity information corresponding to the robot 220 and store the robot activity information in the memory 228, wherein the robot activity information includes at least one of charging information, work time, work type, work result, and work handover information.
Specifically, the robot 220 may record robot activity information corresponding to the robot, the robot activity information includes at least one of charging information, work time, work type, work result, and work handover information, the charging information includes at least one of charger robot number information, charging start time, charging end time, charging result information and charging position identification information of the robot 220, the operation time includes operation start time information, operation end time information and operation duration of the robot 220, the operation type includes at least one of cleaning operation, spraying operation and transportation operation corresponding to the robot 220, the operation result includes at least one of operation completion information and operation evaluation information, and the operation handover information includes at least one of operation procedure handover information, operation task handover information, operation time handover information and operation object handover information.
After the current ground sensing device 220 performs the corresponding operation, the robot 220 may write the robot activity information into the current ground sensing device 220, and the current ground sensing device 220 receives the robot activity information and stores the robot activity information into the memory, and when the next robot reaches the current ground sensing device 220, the robot activity information corresponding to the current robot 220 may be obtained, and then the further operation may be performed according to the robot activity information.
In one embodiment, the robot 220 is a watering robot, the current ground sensing device 220 is a current sensing floor, the current sensing floor 220 can acquire robot activity information corresponding to the corresponding robot 220 in a process that the corresponding robot 220 communicates with the current ground sensing device 220, the robot activity information includes operation time of watering operation, operation result and operation handover information, the operation handover information includes a subsequent cleaning floor mopping procedure, after the current sensing floor 220 acquires the robot activity information corresponding to the robot 220, when a subsequent cleaning floor mopping robot reaches the current sensing floor 220, the robot activity information corresponding to the current robot 220 can be acquired, then the operation handover information is acquired, and the cleaning floor mopping operation is started.
In the above embodiment, the ground sensing device can enable the multiple robots to cooperatively perform task operations by acquiring the robot activity information, so that cooperative control of the multiple robots is realized, and the efficiency of the robot work is further integrally improved.
In one embodiment, the ground sensing device 220 is further configured to obtain a preset control command, generate control information, and send the control information to the robot 220.
Specifically, the current ground sensing device 220 may further obtain a preset control instruction of the user, generate corresponding control information, and send the control information to the robot 220.
In one embodiment, when the current ground sensing device 220 includes a floor, a piezoelectric sensor and a WiFi component, when the robot 220 is a cleaning robot, the current target ground sensing device 220 obtains a control command of a preset number of times for manually tapping the current ground sensing device or a preset number of times for manually tapping the foot, generates control information, and then sends the control information to the cleaning robot 220, so that the cleaning robot 220 moves according to the control information, and can reach the current target ground sensing device 220 for cleaning.
In the above embodiment, the ground sensing device generates the control information by acquiring the preset control instruction and sends the control information to the robot, so that the task operation of any designated position and area is further realized, and the convenience of control is enhanced.
In addition, as shown in fig. 11, a ground sensing control system is further provided, where the robot 220 and the ground sensing device 220 in the foregoing embodiment are capable of establishing a communication connection with the robot 220 to generate sensing information, where the sensing information includes current location identification information corresponding to the current ground sensing device 220 and sends the sensing information to the robot 220, and the robot 220 is configured to obtain control information, confirm a current location according to the current location identification information, and execute a corresponding task operation according to the current location and the control information.
Specifically, the robot 220 may obtain control information by receiving an operation instruction input by a user, where the control information includes at least one of a target task area, a target task execution time, a target task execution frequency, and a target task type, after obtaining corresponding current location identification information through the current ground sensing device 220, the robot 220 determines a current location according to the current location identification information, and executes a corresponding task operation according to the current location and the control information, where the task operation generally includes at least one of a moving operation and a working operation.
In one embodiment, the robot 220 is a cleaning robot, a control panel is disposed on a surface of a structure of the robot, the robot acquires control information through the control panel, the control information includes a target task area, a target task execution time, a target task execution frequency, and a target task type, after the robot 220 acquires current position identification information and the control information, the current position can be confirmed according to preset induction map information and the current position identification information, a corresponding moving route and moving time can be planned according to the target task area and the current position and the target task execution time, then moving operation is performed, a corresponding target position in the target task area is confirmed to be reached, and then corresponding operation is started.
The ground induction control system is matched with a robot through a ground induction device, the ground induction device can be in communication connection with the robot and is used for generating induction information, the induction information comprises current position identification information corresponding to the current ground induction device and is sent to the robot, the robot is used for acquiring control information, the current position is confirmed according to the current position identification information, corresponding task operation is executed according to the current position and the control information, so that the robot can firstly confirm the initial position and can further carry out moving operation or operation according to the current initial position and the control information, secondly, when the robot reaches a target ground induction device, the corresponding current target position is confirmed by acquiring target position identification information corresponding to the target ground induction device, and further corresponding operation can be executed, when the robot is in any moving area, the current position of the robot can be positioned in real time, the task operation of a designated position and an area can be further completed according to the corresponding control information, and the defect that the fixed-point task operation cannot be realized on the traditional ground is overcome.
In an embodiment, as shown in fig. 12, the system further includes a control terminal 230, and the control terminal 230 may generate corresponding control information according to an operation instruction input by a user and send the control information to the robot.
The control end 230 includes, but is not limited to, a mobile phone, a tablet, and a smart wearable device, and can establish a communication connection with the robot 220.
In one embodiment, the control terminal 230 is further configured to obtain target location identification information corresponding to the target ground sensing device 220 and send the target location identification information to the control terminal, so that the control terminal 230 generates control information.
For example, the ground sensing device 220 is a sensing floor, the sensing communication component 224 is an NFC component, and the control terminal 230 is a mobile phone, and a certain designated floor location area can be obtained as a target sensing floor through the mobile phone, and then the mobile phone communicates with the target sensing floor to obtain corresponding target location identification information, and generate corresponding control information.
Through communicating with the control terminal, the control terminal can clean the designated position area as required, the designated position operation can be realized more favorably, the operation convenience is improved, and the operation efficiency is further improved.
In one embodiment, the control end 230 may also be integrated on a corresponding structure of the robot 220, so as to directly input the control operation command.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (14)

1. A ground sensing control method, the method comprising:
generating induction information, wherein the induction information comprises current position identification information corresponding to the current ground induction device; the ground preset moving area corresponding to the robot is divided into a plurality of preset area ranges according to a preset length and a preset width, each preset area range is provided with a corresponding ground sensing device, the ground sensing devices are laid on the surfaces of the corresponding preset area ranges, and the size of each ground sensing device is consistent with the preset area range;
sending the induction information to a robot so that the robot acquires the current position identification information according to the induction information and confirms the current position according to the current position identification information, wherein the robot matches the current position identification information with an induction activity map, performs real-time positioning and confirms the current position; the induction activity map is obtained by drawing preset area position identification information and preset area range information corresponding to each ground induction device in a preset activity area of the robot according to a proportion;
acquiring a preset control instruction, wherein the preset control instruction comprises a control instruction of the number of times corresponding to a preset artificial beating ground sensing device or the number of times of artificial stomping, generating control information comprising a target task area, and sending the control information to the robot so as to instruct the robot to plan a moving route and moving time to perform moving operation according to the target task area and the current position and reach the ground sensing device corresponding to the target task area;
the method further comprises the following steps:
after the robot executes corresponding task operation on the current ground sensing device, the current ground sensing device receives robot activity information sent by the robot, wherein the robot activity information comprises operation handover information;
when the next robot reaches the current ground sensing device, the current ground sensing device sends the robot activity information to the next robot, so that the next robot executes corresponding task operation according to the operation handover information in the robot activity information;
the induction information also comprises current region range information; the method further comprises the following steps:
and sending the current area range information to the robot so that the robot can identify the shape and size corresponding to the current ground sensing device according to the current area range information, and making a decision and an action based on the shape and size.
2. The method of claim 1, the robot activity information further comprising at least one of charging information, job time, job type, and job result.
3. The method of claim 1, wherein the sensing information further comprises a trigger sensing time, a sensing pressure magnitude, and a sensing force area.
4. A ground sensing device comprises a main body structure, a sensing component and a corresponding communication component, the sensing component is electrically connected with the communication component, the sensing component and the communication component are embedded in the main body structure, the main structure comprises any one of a floor, a floor tile and a carpet, the sensing component comprises at least one of a pressure sensor, a piezoelectric sensor and a capacitance sensor, the communication component comprises at least one of a wireless local area network communication (WiFi) component, a Bluetooth component, a long range low power consumption wide area network (LoRa) component and a cellular-based narrowband internet of things (NB-IoT) component, the sensing component is used for generating sensing information, the sensing information comprises current position identification information corresponding to a current ground sensing device; the communication assembly is further used for sending the sensing information to the robot so that the robot can acquire the current position identification information according to the sensing information and confirm the current position according to the current position identification information, wherein a ground preset moving area corresponding to the robot is divided into a plurality of preset area ranges according to preset length and preset width, each preset area range is provided with a corresponding ground sensing device, the ground sensing devices are laid on the surface of the corresponding preset area range, and the size of each ground sensing device is consistent with that of the preset area range; the robot matches the current position identification information with a sensing activity map, carries out real-time positioning and confirms the current position; the induction activity map is obtained by drawing preset area position identification information and preset area range information corresponding to each ground induction device in a preset activity area of the robot according to a proportion; the communication assembly is further used for acquiring a preset control instruction, the preset control instruction comprises a control instruction of the preset number of times corresponding to the artificial slapping ground sensing device or the preset number of times of artificial stomping, and control information comprising the target task area is generated; sending the control information to the robot to instruct the robot to plan a moving route and moving time to carry out moving operation according to the target task area and the current position, and to reach a ground sensing device corresponding to the target task area; after the robot executes corresponding task operation, receiving robot activity information sent by the robot, wherein the robot activity information comprises operation handover information; when the next robot reaches the current ground sensing device, the robot activity information is sent to the next robot, so that the next robot executes corresponding task operation according to the operation handover information in the robot activity information; the sensing information further comprises current area range information, and the communication component is further used for sending the current area range information to the robot, so that the robot can identify the shape and size corresponding to the current ground sensing device according to the current area range information, and make decisions and actions based on the shape and size.
5. A surface sensing device according to claim 4, further comprising a memory, the memory being electrically connected to the communication element and the sensing element respectively, the memory being configured to store the sensing information.
6. The ground sensing device of claim 5, wherein the ground sensing device is further configured to obtain robot activity information corresponding to the robot and store the robot activity information in the memory, and the robot activity information further includes at least one of charging information, operation time, operation type, and operation result.
7. The ground sensing device as claimed in claim 4, wherein the sensing information further comprises a trigger sensing time, a sensing pressure and a sensing force-receiving area.
8. A ground sensing control system, the system comprising: a robot and a ground sensing apparatus as claimed in any one of claims 4 to 7;
the ground sensing device can establish communication connection with the robot and is used for generating sensing information and sending the sensing information to the robot, wherein the sensing information comprises current position identification information corresponding to the current ground sensing device;
the robot is used for acquiring control information, acquiring current position identification information according to the induction information, and confirming a current position according to the current position identification information; the ground preset moving area corresponding to the robot is divided into a plurality of preset area ranges according to a preset length and a preset width, each preset area range is provided with a corresponding ground sensing device, the ground sensing devices are laid on the surfaces of the corresponding preset area ranges, and the size of each ground sensing device is consistent with the preset area range; the robot matches the current position identification information with a sensing activity map, carries out real-time positioning and confirms the current position; the induction activity map is obtained by drawing preset area position identification information and preset area range information corresponding to each ground induction device in a preset activity area of the robot according to a proportion;
the ground sensing device is also used for acquiring a control instruction of the preset times corresponding to the artificial slapping ground sensing device or the preset times of artificial stomping, and generating control information comprising a target task area; sending the control information to the robot to instruct the robot to plan a moving route and moving time to carry out moving operation according to the target task area and the current position, and to reach a ground sensing device corresponding to the target task area;
the ground sensing device is also used for receiving robot activity information sent by the robot after the robot executes corresponding task operation, and the robot activity information comprises operation handover information;
the ground sensing device is further used for sending the robot activity information to the next robot when the next robot reaches the current ground sensing device, so that the next robot executes corresponding task operation according to the operation handover information in the robot activity information;
the sensing information further comprises current area range information, and the ground sensing device is further used for sending the current area range information to the robot, so that the robot can identify the shape and size corresponding to the current ground sensing device according to the current area range information, and make decisions and actions based on the shape and size.
9. The system of claim 8, further comprising a control terminal configured to generate control information and send the control information to the robot.
10. A ground induction device comprises a main body structure and an induction communication component, wherein the induction communication component is embedded in the main body structure and comprises any one of a floor, a floor tile and a carpet, the induction communication component comprises at least one of a Radio Frequency Identification (RFID) component and a Near Field Communication (NFC) component, the induction communication component is used for establishing communication connection with a robot, providing induction information and sending the induction information to the robot, the induction information comprises current position identification information corresponding to the current ground induction device, so that the robot acquires the current position identification information according to the induction information and confirms the current position according to the current position identification information, a ground preset activity area corresponding to the robot is divided into a plurality of preset area ranges according to preset length and preset width, each preset area range is provided with a corresponding ground sensing device, the ground sensing devices are laid on the surface of the corresponding preset area range, and the size of each ground sensing device is consistent with that of the preset area range; the robot matches the current position identification information with a sensing activity map, carries out real-time positioning and confirms the current position; the induction activity map is obtained by drawing preset area position identification information and preset area range information corresponding to each ground induction device in a preset activity area of the robot according to a proportion; the sensing communication assembly is further used for acquiring a control instruction of the preset times corresponding to the artificial slapping ground sensing device or the preset times of artificial stomping, and generating control information comprising a target task area; sending the control information to the robot to instruct the robot to plan a moving route and moving time to carry out moving operation according to the target task area and the current position, and to reach a ground sensing device corresponding to the target task area; the induction communication component is also used for receiving robot activity information sent by the robot after the robot executes corresponding task operation, and the robot activity information comprises operation handover information; when the next robot reaches the current ground sensing device, the robot activity information is sent to the next robot, so that the next robot executes corresponding task operation according to the operation handover information in the robot activity information; the induction information also comprises current region range information; the induction communication component is further used for sending the current area range information to the robot, so that the robot can identify the shape and size corresponding to the current ground induction device according to the current area range information, and make decisions and actions based on the shape and size.
11. The ground sensing device of claim 10, further comprising a memory electrically coupled to the inductive communication assembly, the memory configured to store the sensed information.
12. The ground sensing device of claim 11, wherein the ground sensing device is further configured to obtain robot activity information corresponding to the robot and store the robot activity information in the memory, and the robot activity information further includes at least one of charging information, operation time, operation type, and operation result.
13. A ground sensing control system, the system comprising: a robot and a ground sensing apparatus as claimed in any one of claims 10 to 12;
the ground sensing device can establish communication connection with the robot and is used for generating sensing information and sending the sensing information to the robot, wherein the sensing information comprises current position identification information corresponding to the current ground sensing device;
the robot is used for acquiring control information, acquiring current position identification information according to the sensing information and confirming a current position according to the current position identification information, wherein a ground preset moving area corresponding to the robot is divided into a plurality of preset area ranges according to a preset length and a preset width, a corresponding ground sensing device is arranged in each preset area range, the ground sensing devices are laid on the surface of the corresponding preset area range, and the size of each ground sensing device is consistent with that of the preset area range; the robot matches the current position identification information with a sensing activity map, carries out real-time positioning and confirms the current position; the induction activity map is obtained by drawing preset area position identification information and preset area range information corresponding to each ground induction device in a preset activity area of the robot according to a proportion; the ground sensing device is also used for acquiring a control instruction of the preset times corresponding to the artificial slapping ground sensing device or the preset times of artificial stomping, and generating control information comprising a target task area; sending the control information to the robot to instruct the robot to plan a moving route and moving time to carry out moving operation according to the target task area and the current position, and executing corresponding task operation by a ground sensing device corresponding to the target task area;
the ground sensing device is also used for receiving robot activity information sent by the robot after the robot executes corresponding task operation, and the robot activity information comprises operation handover information;
the ground sensing device is further used for sending the robot activity information to the next robot when the next robot reaches the current ground sensing device, so that the next robot executes corresponding task operation according to the operation handover information in the robot activity information;
the sensing information further comprises current area range information, and the ground sensing device is further used for sending the current area range information to the robot, so that the robot can identify the shape and size corresponding to the current ground sensing device according to the current area range information, and make decisions and actions based on the shape and size.
14. The system of claim 13, further comprising a control terminal configured to generate control information and send the control information to the robot.
CN201710352969.9A 2017-05-18 2017-05-18 Ground induction control method, ground induction device and ground induction control system Active CN107193280B (en)

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