CN108836198B - Intelligent cleaning robot system based on indoor positioning - Google Patents
Intelligent cleaning robot system based on indoor positioning Download PDFInfo
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- CN108836198B CN108836198B CN201810878612.9A CN201810878612A CN108836198B CN 108836198 B CN108836198 B CN 108836198B CN 201810878612 A CN201810878612 A CN 201810878612A CN 108836198 B CN108836198 B CN 108836198B
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- module
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- fan
- intelligent cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent cleaning robot system based on indoor positioning, which comprises a machine body, wherein the machine body is navigated by a gyroscope, a fan and a garbage collection box are arranged in the machine body, a pressure sensor is arranged at the bottom of the garbage collection box, a fan rotating speed detection module is arranged on the fan, the fan rotating speed detection module, the pressure sensor and the gyroscope are all connected with a microprocessor, the microprocessor is also connected with an RFID electronic tag, an obstacle detection module, an alarm module and a network module, the RFID electronic tag, the obstacle detection module, the fan rotating speed detection module, the pressure sensor and the gyroscope transmit the monitored conditions to the microprocessor through the network module, and the microprocessor gives an alarm to abnormal conditions through the alarm module. According to the invention, a plurality of obstacle avoidance modes are combined, so that accurate obstacle avoidance can be performed, a collision sensing module is combined, a travel route can be re-planned according to the collision condition, and the timely transmission of data can be effectively ensured by combining a plurality of network modules.
Description
Technical Field
The invention relates to a cleaning robot system, in particular to an intelligent cleaning robot system based on indoor positioning.
Background
Most of the existing intelligent cleaning robots directly apply laser, ultrasonic waves and gyroscopes to avoid obstacles in cleaning, and the pain points are that the height difference cannot be identified, so that the robot falls off and cannot climb up to continue cleaning.
Disclosure of Invention
In view of the above, embodiments of the present invention provide an intelligent cleaning robot system based on indoor positioning with more accurate positioning and obstacle avoidance.
The embodiment of the invention provides an intelligent cleaning robot system based on indoor positioning, which comprises a machine body, wherein the machine body is navigated through a gyroscope, a fan and a garbage collection box are arranged in the machine body, the fan drives the garbage collection box to collect garbage, a pressure sensor is arranged at the bottom of the garbage collection box, a fan rotating speed detection module is arranged on the fan, the fan rotating speed detection module, the pressure sensor and the gyroscope are all connected with a microprocessor, the fan rotating speed detection module monitors the running condition of the fan, the pressure sensor monitors the garbage collection condition in the garbage collection box, the gyroscope monitors the travelling condition of the machine body, the microprocessor is also connected with an RFID electronic tag, an obstacle detection module, an alarm module and a network module, the RFID electronic tag performs data interaction with a UWB positioning system, the position of the machine body is monitored by scanning an area to be cleaned in real time, the obstacle detection module monitors the obstacle condition in real time, the RFID electronic tag, the obstacle detection module, the fan rotating speed detection module, the pressure sensor and the gyroscope transmit the monitored condition to the microprocessor through the network module, and the microprocessor sends an alarm to an abnormal condition through the alarm module.
Further, the obstacle detection module comprises a laser detection module and an ultrasonic module which are connected in parallel, the laser detection module senses obstacles through laser, and the ultrasonic module senses the obstacles through ultrasonic waves.
Further, the network module comprises an NB-IoT communication module and a WIFI module which are connected in parallel, when WIFI exists, transmission between data is achieved through the WIFI module, and when WIFI does not exist, transmission between data is achieved through the NB-IoT communication module.
Further, the intelligent monitoring system further comprises a collision sensing module, wherein the collision sensing module is connected with the microprocessor, and is used for monitoring the number of collisions and feeding back to the microprocessor for optimizing the indoor positioning plan.
Further, the intelligent cleaning robot system further comprises a power module, wherein the power module is used for supplying power to the intelligent cleaning robot system.
Furthermore, the UWB positioning system is arranged indoors, and can accurately position the indoors and divide areas.
An intelligent cleaning method of an intelligent cleaning robot system based on indoor positioning comprises the following steps:
s1, starting an intelligent cleaning robot system, scanning an area to be cleaned by an RFID electronic tag, establishing a cleaning area map according to a scanning result, and transmitting the cleaning area map to a microprocessor;
s2, the microprocessor determines a travelling route of the gyroscope according to the cleaning area map, and drives the whole intelligent cleaning robot system to travel according to the travelling route through the gyroscope;
s3, starting a fan in the travelling process, driving the garbage collection box by the fan to collect garbage in a travelling route, monitoring the running condition of the fan in real time by a fan rotating speed detection module, monitoring the condition of an obstacle in real time by a obstacle detection module, monitoring the condition of garbage collection in the garbage collection box by a pressure sensor in real time, and transmitting the condition to a microprocessor; when the fan rotation speed detection module detects that the fan is abnormal in operation or the pressure sensor detects that garbage collected in the garbage collection box reaches a threshold value, the microprocessor starts the alarm module to give an alarm, and meanwhile, the microprocessor controls the gyroscope to stop running; when the obstacle detection module detects that an obstacle exists, the microprocessor re-plans the travel route and controls the gyroscope to change the travel route.
Compared with the prior art, the invention has the following beneficial effects: the structure is simple, and the design is ingenious; the multiple obstacle avoidance modes are combined, so that the accurate obstacle avoidance can be performed, the collision sensing module is combined, the travel route can be planned again according to the collision condition, and the multiple network modules are combined, so that the timely transmission of data can be effectively ensured.
Drawings
Fig. 1 is a schematic view of an intelligent cleaning robot system based on indoor positioning according to the present invention.
Fig. 2 is another schematic view of an intelligent cleaning robot system based on indoor positioning according to the present invention.
Fig. 3 is a schematic diagram of a working process of the intelligent cleaning robot system based on indoor positioning.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides an intelligent cleaning robot system based on indoor positioning, which includes a machine body 1, a gyroscope 2, a fan 3, and a garbage collection box (not shown in the drawings).
The below of organism 1 is equipped with gyroscope 2 and fan 3, and gyroscope 2 and fan 3 all have two, and the symmetry is established in the both sides of organism 1, and the built-in garbage collection box of organism 1, organism 1 is navigated through gyroscope 2, the garbage collection box is collected to fan 3 drive garbage.
The bottom of garbage collection box is installed pressure sensor 4, and pressure sensor 4 is located the bottom centre of garbage collection box, and is more accurate to the monitoring of garbage in the garbage collection box, install fan rotational speed detection module 31 on the fan 3, microprocessor 5 is all connected to fan rotational speed detection module 31, pressure sensor 4 and gyroscope 2, microprocessor 5 places inside organism 1, and each monitoring module electric connection, fan rotational speed detection module 31 monitors the behavior of fan 3, pressure sensor 4 monitors the condition of collecting garbage in the garbage collection box, gyroscope 2 monitors the condition of marcing of organism 1.
The microprocessor 5 is further connected with the RFID electronic tag 6, the obstacle detection module 7, the alarm module 8 and the network module 9, the RFID electronic tag 6 is located above the machine body 1, the obstacle detection module 7 is arranged in front of the machine body 1 and located in the middle of the two gyroscopes 2, the alarm module 8 can be a voice alarm or a light alarm, when the alarm module 8 is a voice alarm, the alarm module 8 can be selectively installed at any position of the machine body 1, and when the alarm module 8 is a light alarm, the alarm module is preferably installed above the machine body 1.
The RFID electronic tag 6 performs data interaction with the UWB positioning system, the position of the machine body 1 is monitored by the area to be cleaned in real time, the obstacle detection module 7 monitors the obstacle condition in real time, the RFID electronic tag 6, the obstacle detection module 7, the fan rotating speed detection module 31, the pressure sensor 4 and the gyroscope 2 transmit the monitored condition to the microprocessor 5 through the network module 9, and the microprocessor 5 gives an alarm to the abnormal condition through the alarm module 8.
Preferably, the obstacle detection module 7 includes a laser detection module 71 and an ultrasonic module 72 connected in parallel, the laser detection module 71 sensing an obstacle by laser light, and the ultrasonic module 72 sensing an obstacle by ultrasonic light.
Preferably, the network module 9 includes an NB-IoT communication module 91 and a WIFI module 92 connected in parallel, and when there is WIFI, the data is transmitted through the WIFI module 92, and when there is no WIFI, the data is transmitted through the NB-IoT communication module 91.
The system further comprises a collision sensing module 10, wherein the collision sensing module 10 is connected with the microprocessor 5, and the collision sensing module 10 is used for monitoring the number of collisions and feeding back to the microprocessor 5 for optimizing the indoor positioning plan.
A power module 11 is further included, the power module 11 being configured to supply power to the intelligent cleaning robot system.
The UWB positioning system is arranged indoors, and can accurately position indoors and divide areas.
Referring to fig. 3, an intelligent cleaning method of an intelligent cleaning robot system based on indoor positioning includes the following steps:
s1, starting a cleaning robot system, scanning an area to be cleaned by an RFID electronic tag 6, establishing a cleaning area map according to a scanning result, and transmitting the cleaning area map to a microprocessor 5;
s2, the microprocessor 5 determines a travelling route of the gyroscope 2 according to the cleaning area map, and drives the whole intelligent cleaning robot system to travel according to the travelling route through the gyroscope 2;
s3, starting a fan 3 in the travelling process, driving the garbage collection box by the fan 3 to collect garbage in a travelling route, monitoring the running condition of the fan 3 in real time by a fan rotating speed detection module 31, monitoring the obstacle condition in real time by an obstacle detection module 7, monitoring the garbage collection condition in the garbage collection box in real time by a pressure sensor 4, and transmitting the garbage collection condition to a microprocessor 5; when the fan rotating speed detection module 31 detects that the fan 3 runs abnormally or the pressure sensor 4 detects that the garbage collected in the garbage collection box reaches a threshold value, the microprocessor 5 starts the alarm module 8 to give an alarm, and meanwhile, the microprocessor 5 controls the gyroscope 2 to stop running; when the obstacle detection module 7 detects an obstacle, the microprocessor 5 re-plans the travel route and controls the gyroscope 2 to change the travel route.
The RFID electronic tag 6 is of an editable type, and the basic information therein can be modified by the control system control terminal. The cleaning robot serial number information and the basic information of the active personnel are written in the RFID electronic tag 6, and the radio frequency signal sent by the RFID electronic tag 6 is received by the UWB positioning system and the position information is displayed in the control system. The cleaning area can be divided by adding anchor points at the position with higher terrain height difference.
The invention has simple structure and ingenious design; the multiple obstacle avoidance modes are combined, so that the accurate obstacle avoidance can be performed, the collision sensing module is combined, the travel route can be planned again according to the collision condition, and the multiple network modules are combined, so that the timely transmission of data can be effectively ensured.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the protection sought herein.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (4)
1. The intelligent cleaning method based on the intelligent cleaning robot system of indoor positioning is used for the intelligent cleaning robot system of indoor positioning, the intelligent cleaning robot system comprises a machine body, the machine body is navigated through a gyroscope, a fan and a garbage collection box are arranged in the machine body, the fan drives the garbage collection box to collect garbage, the intelligent cleaning method is characterized in that a pressure sensor is arranged at the bottom of the garbage collection box, a fan rotating speed detection module is arranged on the fan, the fan rotating speed detection module, the pressure sensor and the gyroscope are all connected with a microprocessor, the fan rotating speed detection module monitors the running condition of the fan, the pressure sensor monitors the condition of garbage collected in the garbage collection box, the gyroscope monitors the travelling condition of the machine body, the microprocessor is also connected with an RFID electronic tag, an obstacle detection module, an alarm module and a network module, the RFID electronic tag performs data interaction with the UWB positioning system, the position of the machine body is monitored in real time by scanning a region to be cleaned, the obstacle detection module monitors the condition of the RFID electronic tag, the obstacle detection module, the fan rotating speed detection module, the pressure sensor and the gyroscope transmit the condition to the microprocessor through the network module, and the alarm module sends an alarm to the microprocessor;
the system comprises a microprocessor, a collision sensing module, a positioning module, a control module and a control module, wherein the collision sensing module is connected with the microprocessor, and is used for monitoring the number of collisions and feeding back to the microprocessor for optimizing an indoor positioning plan;
the UWB positioning system is arranged indoors, and can accurately position the indoors so as to divide areas;
the method comprises the following steps:
s1, starting an intelligent cleaning robot system, scanning an area to be cleaned by an RFID electronic tag, establishing a cleaning area map according to a scanning result, and transmitting the cleaning area map to a microprocessor;
s2, the microprocessor determines a travelling route of the gyroscope according to the cleaning area map, and drives the whole intelligent cleaning robot system to travel according to the travelling route through the gyroscope;
s3, starting a fan in the travelling process, driving the garbage collection box by the fan to collect garbage in a travelling route, monitoring the running condition of the fan in real time by a fan rotating speed detection module, monitoring the condition of an obstacle in real time by a obstacle detection module, monitoring the condition of garbage collection in the garbage collection box by a pressure sensor in real time, and transmitting the condition to a microprocessor; when the fan rotation speed detection module detects that the fan is abnormal in operation or the pressure sensor detects that garbage collected in the garbage collection box reaches a threshold value, the microprocessor starts the alarm module to give an alarm, and meanwhile, the microprocessor controls the gyroscope to stop running; when the obstacle detection module detects that an obstacle exists, the microprocessor re-plans the travel route and controls the gyroscope to change the travel route.
2. The intelligent cleaning method of the intelligent cleaning robot system based on indoor positioning according to claim 1, wherein the obstacle detection module comprises a laser detection module and an ultrasonic module which are connected in parallel, the laser detection module senses obstacles through laser, and the ultrasonic module senses obstacles through ultrasonic waves.
3. The intelligent cleaning method of the intelligent cleaning robot system based on indoor positioning according to claim 1, wherein the network module comprises an NB-IoT communication module and a WIFI module connected in parallel, wherein when WIFI exists, data transmission is achieved through the WIFI module, and when WIFI does not exist, data transmission is achieved through the NB-IoT communication module.
4. The intelligent cleaning method of an intelligent cleaning robot system based on indoor positioning of claim 1, further comprising a power module for powering the intelligent cleaning robot system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810878612.9A CN108836198B (en) | 2018-08-03 | 2018-08-03 | Intelligent cleaning robot system based on indoor positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810878612.9A CN108836198B (en) | 2018-08-03 | 2018-08-03 | Intelligent cleaning robot system based on indoor positioning |
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| CN108836198A CN108836198A (en) | 2018-11-20 |
| CN108836198B true CN108836198B (en) | 2023-08-04 |
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| CN201810878612.9A Active CN108836198B (en) | 2018-08-03 | 2018-08-03 | Intelligent cleaning robot system based on indoor positioning |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108634886B (en) * | 2018-05-29 | 2020-08-28 | 珠海市一微半导体有限公司 | Control method and chip after robot cleaning interruption |
| CN114468864B (en) * | 2022-02-10 | 2023-10-03 | 深圳市追光智造科技有限公司 | Installation detection method, device and system for sewage tank of floor washing machine and storage medium |
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| CN103413198A (en) * | 2013-08-02 | 2013-11-27 | 四川航天系统工程研究所 | Management system used for locating and tracking of areas inside and outside prison |
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| WO2012022095A1 (en) * | 2010-08-17 | 2012-02-23 | 中兴通讯股份有限公司 | Method, reader and locating system for locating and recognizing electronic tag |
| CN207152543U (en) * | 2017-03-16 | 2018-03-30 | 曹舫 | A kind of medical cleaning all-in-one |
| CN206833251U (en) * | 2017-06-12 | 2018-01-02 | 炬大科技有限公司 | A kind of human-machine intelligence's cooperative manipulators system for possessing floor sweeping function |
| CN107544507A (en) * | 2017-09-28 | 2018-01-05 | 速感科技（北京）有限公司 | Mobile robot control method for movement and device |
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| CN108836198A (en) | 2018-11-20 |
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