CN112155475A - Remote control system of intelligent floor sweeping robot - Google Patents

Remote control system of intelligent floor sweeping robot Download PDF

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Publication number
CN112155475A
CN112155475A CN202010824065.3A CN202010824065A CN112155475A CN 112155475 A CN112155475 A CN 112155475A CN 202010824065 A CN202010824065 A CN 202010824065A CN 112155475 A CN112155475 A CN 112155475A
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China
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sweeping robot
module
robot
wireless
control system
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CN202010824065.3A
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何安霞
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Individual
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Individual
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Priority to CN202010824065.3A priority Critical patent/CN112155475A/en
Publication of CN112155475A publication Critical patent/CN112155475A/en
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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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/2803—Home automation networks
    • H04L12/2807—Exchanging configuration information on appliance services in a home automation network
    • H04L12/2814—Exchanging control software or macros for controlling appliance services in a home automation network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Computer Hardware Design (AREA)
  • Computer Security & Cryptography (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The remote control system of the intelligent sweeping robot provided by the invention helps the intelligent robot to realize positioning through various wireless positioning technologies, and further helps to correct the scanning map through the positioning information, and due to the combination of various positioning technologies, the system does not depend on single equipment and technology any more, so that the positioning precision and reliability of the robot can be greatly improved, the identification and positioning precision of the scanning map are improved, and the autonomous movement of the intelligent robot is more accurate, efficient and reliable; the sweeping robot does not need to work in a visual field, can be remotely controlled and even remotely controlled, avoids electronic interference caused by operation of the sweeping robot, and can avoid the problem that the ground near an obstacle cannot be completely swept when the sweeping robot turns when detecting the obstacle; on the other hand, the situation that the floor sweeping robot turns to the obstacle to damage the floor sweeping robot and furniture colliding with the floor sweeping robot can be avoided, and great convenience is brought to the life of a user.

Description

Remote control system of intelligent floor sweeping robot
Technical Field
The invention belongs to the technical field of cleaning devices, and particularly relates to a remote control system of an intelligent sweeping robot.
Background
Along with the popularization of intelligent equipment, more and more electronic equipment adopts intelligent control systems, so that in the field of home, more and more intelligent systems are adopted for home equipment, and the purpose of replacing some artificial housewares by primary intelligence is achieved. In present house, various furniture ground clearance is inconsistent, and some house ground clearance just is close to the region that robot of sweeping the floor self can get into, and under this kind of condition, robot of sweeping the floor is in the in-process of automatic judgement and logic calculation route of sweeping the floor, is absorbed in the endless loop easily, perhaps gets into this regional operation and is blocked, can't continue the operation, so, many families are when robot of sweeping the floor using now, still let robot of sweeping the floor not deviate from own sight basically, when meetting robot of sweeping the floor and can't oneself judge or block, timely adjustment. However, in the automatic operation process of the sweeping robot, a large number of electronic components are in operation, which may cause great interference to other nearby electronic equipment terminals. Therefore, many people hope that the sweeping robot can work under the condition of no person at home, and remote online control is realized, so that the unexpected situation in the automatic working process of the sweeping robot can be avoided, and the use of other electronic equipment terminals cannot be influenced due to electronic interference generated in the working process.
The path planning technology is an important branch of the robot research field, and finds an optimal path which can avoid obstacles from a starting place to a target place in a working space of the robot according to a certain optimization criterion or certain optimization criteria. Indoor is the place where human activities are the most intensive and most relevant to human life and production. Because of the existence of a large number of obstacles such as walls, screens and the like, the multipath effect is serious, the field intensity distribution is uneven, and even blind areas exist. Frequent movement of personnel, opening and closing of electronic equipment and doors and windows and the like also bring a great amount of random and unpredictable interference and fluctuation to signal transmission. Therefore, the positioning technology aiming at the complex indoor environment is a difficult point of research and a hot point of constant attention in academia. Therefore, the indoor service robot mainly relies on SLAM technology to realize fully autonomous movement at present. In the SLAM technology, a robot first detects the surrounding environment by means of sensor equipment to establish a map, and identifies and marks the current position of the robot in the map, and for map establishment and marking, the prior art generally adopts the following modes: grid, geometric information, and topological representation. The advantages and the disadvantages of the prior art are obvious, wherein the grid method has high precision, but the calculated amount is large, the grid superposition can cause map deviation, and the reliability is not strong; the geometric information method has a slightly smaller calculated amount, but correspondingly has lower precision; the topological graph method has the advantages of minimum calculated amount and high efficiency, but similar scenes cannot be accurately distinguished due to the fact that topological representation is too abstract, and the error rate is high.
In the prior art, the intelligent sweeping robot lacks an effective mechanism to carry out sweeping work when obstacles exist. Either upon detection of an obstacle or upon collision with an obstacle. In the former method, the robot cannot clean the ground at the boundary of the obstacle, which usually results in more garbage remaining near the obstacle, and is not beneficial to improving the overall cleaning efficiency; in the latter mode, the robot determines the existence of the obstacle by directly colliding with the obstacle, so as to change the motion path, on one hand, frequent collisions are not beneficial to maintaining the service life of the robot, and on the other hand, collisions can also cause damage to furniture placed in the home environment to different degrees.
Disclosure of Invention
The invention aims to provide a remote control system of an intelligent sweeping robot, which helps an intelligent robot to realize positioning through various wireless positioning technologies, further helps to correct a scanning map through positioning information, improves cleaning efficiency and avoids the robot and furniture from being damaged due to collision.
In order to solve the technical problem, the invention is solved by the following technical scheme:
the invention provides a remote control system of an intelligent sweeping robot, which comprises intelligent terminal equipment, the sweeping robot, a wireless communication module and a home server, wherein the wireless communication module comprises:
the wireless communication module is connected with the intelligent terminal equipment and the sweeping robot and is used for carrying out network configuration on the intelligent terminal equipment and the sweeping robot so that the intelligent terminal equipment and the sweeping robot are connected to the home server;
the home server is connected with the intelligent terminal equipment and the sweeping robot and used for authenticating the sweeping robot, sending an authentication success notification to the intelligent terminal equipment if the authentication is passed, identifying the identity and the authority of the accessed intelligent terminal equipment, receiving a control command from the intelligent terminal equipment and sending the control command to the sweeping robot;
and the intelligent terminal equipment is used for updating a control program interface of the pre-installed sweeping robot after receiving the authentication success notification sent by the home server, regenerating corresponding control page parameters, and sending corresponding control commands to the home server when the controls in the control page are triggered.
In the remote control system of the intelligent sweeping robot, the sweeping robot comprises an initialization module, a server and a control module, wherein the initialization module is used for acquiring initial map information and wireless node information of a preset area, and synchronizing the wireless node position and the initial map information with the server after combining;
the wireless communication module is in wireless communication with a plurality of wireless nodes, and each node records respective wireless communication connection information;
the positioning module is connected with the wireless communication module and used for determining current position information according to the connection information of the first type of wireless nodes and verifying the current position information according to the connection information of the second type of wireless nodes;
the control module is connected with the positioning module and is used for converting a coordinate into a control system of a specific instruction;
and the correction module is connected with the control module and is used for combining the verified position information with the current scanning result and then synchronously updating the map information with the server.
Foretell intelligence robot's remote control system of sweeping floor, the robot of sweeping floor still includes:
the moving module is connected with the control module and used for realizing the movement of the sweeping robot;
the map and position measuring module is connected with the positioning module and used for scanning the surrounding environment to establish a map;
the voice interaction module is connected with the wireless communication module and is used for interacting with the intelligent terminal equipment;
the image recognition and face interaction module is connected with the control module and is used for acquiring the current environment, determining to capture a face and confirming the identity;
and the power supply and automatic recharging module is connected with the control module and used for providing a power supply and returning to charge the charging pile when the electric quantity is insufficient.
In the remote control system of the intelligent floor sweeping robot, the floor sweeping robot further comprises a transmitter capable of transmitting a detection signal, a receiver for receiving a detection signal reflection signal and a controller; the controller detects the conditions that the emitter emits a detection signal and the reflector reflects a signal, and controls the sweeping robot to execute a deceleration action when a first preset condition is met; and when a second preset condition is met, controlling the sweeping robot to execute a steering action.
In the remote control system of the intelligent sweeping robot, the first preset condition includes that the intensity of the reflected signal is greater than a first preset value, the second preset condition includes that the intensity of the reflected signal is greater than a second preset value or that the second preset condition includes that the distance between the sweeping robot and the detected obstacle is less than a fourth preset value, and the first preset value is less than the second preset value.
Foretell intelligence robot's remote control system of sweeping floor, wireless node includes:
the connection module is used for receiving and transmitting wireless signals and establishing corresponding wireless connection;
the communication module is connected with the connection module and used for transmitting the wireless connection information to the server;
and the power supply module ensures the power supply of the node.
According to the remote control system of the intelligent floor sweeping robot, the first type of wireless nodes are Bluetooth and/or WIFI nodes, and the second type of wireless nodes are UWB nodes.
According to the remote control system of the intelligent sweeping robot, the positioning module carries out the verification in at least one mode of the intensity based on the received signal, the angle of arrival based on the received signal and the time based on the received signal according to different measurement parameters.
The remote control system of the intelligent sweeping robot further comprises a mobile terminal, wherein the mobile terminal is used for interacting with the intelligent terminal equipment and/or the sweeping robot through a communication unit of the mobile terminal, and sending a mobile instruction or a service task to the sweeping robot.
The remote control system of the intelligent floor sweeping robot helps the intelligent robot to realize positioning through a plurality of wireless positioning technologies, and further helps to correct the scanning map through the positioning information, and due to the combination of the plurality of positioning technologies, the system does not depend on single equipment and technology any more, so that the positioning precision and reliability of the robot can be greatly improved, the identification and positioning precision of the scanning map are improved, and the intelligent robot can move more accurately, efficiently and reliably; the sweeping robot does not need to work in a visual field, can be remotely controlled and even remotely controlled, avoids electronic interference caused by operation of the sweeping robot, and can avoid the problem that the ground near an obstacle cannot be completely swept when the sweeping robot turns when detecting the obstacle; on the other hand, the problem that the floor sweeping robot turns to the obstacle to damage the floor sweeping robot and furniture colliding with the floor sweeping robot can be avoided, great convenience is brought to the life of a user, and the floor sweeping robot has the advantage of low equipment cost.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments described herein without the need for inventive work, are within the scope of the present invention.
The invention provides a remote control system of an intelligent sweeping robot, which comprises intelligent terminal equipment, the sweeping robot, a wireless communication module and a home server, wherein the wireless communication module comprises:
the wireless communication module is connected with the intelligent terminal equipment and the sweeping robot and is used for carrying out network configuration on the intelligent terminal equipment and the sweeping robot so that the intelligent terminal equipment and the sweeping robot are connected to the home server;
the home server is connected with the intelligent terminal equipment and the sweeping robot and used for authenticating the sweeping robot, sending an authentication success notification to the intelligent terminal equipment if the authentication is passed, identifying the identity and the authority of the accessed intelligent terminal equipment, receiving a control command from the intelligent terminal equipment and sending the control command to the sweeping robot;
and the intelligent terminal equipment is used for updating a control program interface of the pre-installed sweeping robot after receiving the authentication success notification sent by the home server, regenerating corresponding control page parameters, and sending corresponding control commands to the home server when the controls in the control page are triggered.
The intelligent terminal device can be a smart phone with a built-in WiFi module, a tablet electric energy device, a smart television or a computer and the like. The sweeping robot is provided with a WiFi module. The home server is a processing platform for the network communication between the sweeping robot and the intelligent terminal equipment. The home server formulates and realizes a TCP/IP control protocol, and the network communication between the intelligent terminal and the sweeping robot is carried out according to the protocol.
The wireless communication module is also used for broadcasting the received UDP data packet to the sweeping robot so that the sweeping robot can filter WiFi information through the built-in WiFi module and then carry out networking configuration.
The home server 4 may formulate and implement the TCP/IP control protocol. After the network configuration is completed, the home server 4 can maintain a long connection with the intelligent terminal device 3 and the cleaning robot 1.
Further, in a preferred embodiment of the remote control system of the intelligent sweeping robot of the present invention, the sweeping robot includes an initialization module, configured to acquire initial map information and wireless node information of a preset area, and synchronize a wireless node position with a server after combining the initial map information with the wireless node position;
the wireless communication module is in wireless communication with a plurality of wireless nodes, and each node records respective wireless communication connection information;
the positioning module is connected with the wireless communication module and used for determining current position information according to the connection information of the first type of wireless nodes and verifying the current position information according to the connection information of the second type of wireless nodes;
the control module is connected with the positioning module and is used for converting a coordinate into a control system of a specific instruction;
and the correction module is connected with the control module and is used for combining the verified position information with the current scanning result and then synchronously updating the map information with the server.
Further, in a preferred embodiment of the remote control system of the intelligent sweeping robot of the present invention, the sweeping robot further includes:
the moving module is connected with the control module and used for realizing the movement of the sweeping robot;
the map and position measuring module is connected with the positioning module and used for scanning the surrounding environment to establish a map;
the voice interaction module is connected with the wireless communication module and is used for interacting with the intelligent terminal equipment;
the image recognition and face interaction module is connected with the control module and is used for acquiring the current environment, determining to capture a face and confirming the identity;
and the power supply and automatic recharging module is connected with the control module and used for providing a power supply and returning to charge the charging pile when the electric quantity is insufficient.
Further, in a preferred embodiment of the remote control system of the intelligent floor sweeping robot of the present invention, the floor sweeping robot further includes a transmitter capable of transmitting a detection signal, and a receiver and a controller for receiving a reflected signal of the detection signal; the controller detects the conditions that the emitter emits a detection signal and the reflector reflects a signal, and controls the sweeping robot to execute a deceleration action when a first preset condition is met; and when a second preset condition is met, controlling the sweeping robot to execute a steering action. When the transmitter and the receiver are arranged in parallel, the intensity of the reflected signal is in linear proportion to the distance, and the obstacle with a longer distance can be better detected.
The controller controls the sweeping robot to perform corresponding actions according to the conditions that the emitter emits the detection signal and the receiver receives the reflection signal, when the controller detects that the conditions that the emitter emits the detection signal and the receiver receives the reflection signal of the sweeping robot meet a first preset condition, the sweeping robot is controlled to perform a deceleration action, and when the controller detects that the conditions that the emitter emits the detection signal and the receiver receives the reflection signal of the sweeping robot meet a second preset condition, the sweeping robot is controlled to perform a steering action. Therefore, when the sweeping robot detects the obstacle, the robot can not collide with the obstacle, and can sweep the ground near the obstacle, thereby improving the cleaning efficiency.
Further, in a preferred embodiment of the remote control system of the intelligent sweeping robot of the present invention, the first preset condition includes that the intensity of the reflected signal is greater than a first preset value, the second preset condition includes that the intensity of the reflected signal is greater than a second preset value or that the second preset condition includes that the distance between the sweeping robot and the detected obstacle is less than a fourth preset value, and the first preset value is less than the second preset value.
The intelligent terminal equipment and the sweeping robot carry out network configuration through the wireless communication module so as to be connected to the home server; the home server respectively performs product authentication on the sweeping robot and identifies and confirms the identity and the authority of the intelligent terminal equipment; after receiving the notice of successful authentication and identity and authority confirmation sent by the home server, the intelligent terminal equipment updates a state list of the sweeping robot equipment and generates a corresponding control parameter page; when the control in the control parameter page is triggered, the intelligent terminal equipment sends a corresponding control command to the home server; the home server sends the control command to the sweeping robot; and the sweeping robot performs corresponding processing according to the control command.
The intelligent terminal equipment is connected to the home server; the intelligent terminal device is pre-provided with a sweeping robot control program, a control command initiates a network configuration request, and a WiFi signal is sent to the wireless router in the form of a UDP (user Datagram protocol) data packet; the wireless router broadcasts the received UDP data packet; the sweeping robot is configured and networked after filtering WiFi information through a built-in WiFi module.
Transmitting a detection signal for detecting an obstacle and receiving a reflected signal reflected by the obstacle; detecting the conditions of transmitting the detection signal and receiving the reflected signal; when the first preset condition is met, the sweeping robot executes a deceleration action; and when the second preset condition is met, the sweeping robot executes steering action.
When the intensity of the reflected signal is greater than a second preset value, the robot executes a steering action, namely the sweeping robot performs steering until the detected intensity of the reflected signal is less than a third preset value; or when the distance between the sweeping robot and the detected obstacle is smaller than a fourth preset value, the robot executes a steering action, namely the sweeping robot steers until the distance between the sweeping robot and the obstacle is larger than a fifth preset value, and the third preset value is the same as the first preset value.
The fourth preset value is set in association with the working radius of the sweeping robot for sweeping, so that the sweeping robot can sweep the ground at the boundary of the obstacle when turning at the fourth preset value.
When the intensity of the reflection signal detected by the sweeping robot is greater than the first preset value, the sweeping robot operates at a negative acceleration, namely the operation speed is continuously reduced, wherein the sweeping robot can operate at a fixed acceleration and also can operate at a variable acceleration. It should be noted that when the sweeping robot detects that the distance between the sweeping robot and the obstacle is smaller than the first preset value, the sweeping robot operates at a negative acceleration as a better implementation mode, so that the sweeping robot has a lower operation speed when operating to a position where the intensity of the reflected signal is greater than the second preset value to steer.
The sweeping robot executes a deceleration action when the intensity of the received reflection signal is greater than a first preset value, and executes a steering action when the intensity of the received reflection signal is greater than a second preset value. The sweeping robot may execute the deceleration action when the intensity of the received reflected signal is greater than a first preset value, and execute the steering action when the distance between the sweeping robot and the obstacle is less than a fourth preset value.
The fourth preset value is set in association with the sweeping working radius of the sweeping robot, so that the sweeping robot can sweep the ground near the boundary of the obstacle when the distance between the sweeping robot and the obstacle is the fourth preset value and the sweeping robot turns to the ground, and the cleaning efficiency of the sweeping robot is improved.
When the sweeping robot detects that the distance between the sweeping robot and the obstacle is smaller than the fourth preset value, the action of turning comprises turning until the distance between the sweeping robot and the obstacle is larger than the fifth preset value. The fifth preset value can be set by referring to the distance between the sweeping robot and the obstacle when the intensity of the reflected signal is the first preset value.
The first preset condition comprises that the distance between the sweeping robot and the obstacle is smaller than a first preset value, the second preset condition comprises that the distance between the sweeping robot and the obstacle is smaller than a second preset value, and the first preset value is larger than the second preset value.
The second preset value is set in association with the working radius of the sweeping robot, so that the sweeping robot can sweep the ground at the boundary of the obstacle at the position of the second preset value.
When the distance between the sweeping robot and the obstacle is smaller than the second preset value, the action of steering executed by the sweeping robot comprises moving the sweeping robot while steering until the distance between the sweeping robot and the obstacle is larger than the third preset value.
When the distance between the sweeping robot and the obstacle is detected to be smaller than a first preset value, the sweeping robot runs at a negative acceleration, namely the running speed is continuously reduced, and the sweeping robot can run at a fixed acceleration and also can run at a variable acceleration. It should be noted that when the robot sweeper detects that the distance between the robot sweeper and the obstacle is smaller than the first preset value, the robot sweeper is operated at a negative acceleration, which is a preferred embodiment.
The second preset value is set in association with the working radius of the sweeping robot during sweeping, so that the sweeping robot can sweep the ground at the boundary of the obstacle when stopping at the second preset value, and the cleaning efficiency is improved.
Further, in a preferred embodiment of the remote control system of the intelligent floor sweeping robot of the present invention, the wireless node includes:
the connection module is used for receiving and transmitting wireless signals and establishing corresponding wireless connection;
the communication module is connected with the connection module and used for transmitting the wireless connection information to the server;
and the power supply module ensures the power supply of the node.
Further, in a preferred embodiment of the remote control system of the intelligent floor sweeping robot of the present invention, the first type wireless nodes are bluetooth and/or WIFI nodes, and the second type wireless nodes are UWB nodes.
The invention adopts at least two wireless technologies to carry out positioning and position verification respectively, so that the plurality of wireless nodes at least comprise two types, the two types of wireless nodes preferably adopt different positioning modes, precisions or costs, for example, the two types of wireless nodes are widely configured and realize primary positioning with low precision and low cost, and key configuration is carried out with high precision and high cost and secondary verification is realized.
The first type of wireless nodes are Bluetooth and/or WIFI nodes, and the second type of wireless nodes are UWB nodes. Namely, firstly, the area is positioned in a Bluetooth or WIFI mode, and then, the verification is carried out in a UWB mode. When positioning is carried out through Bluetooth or WIFI, an indoor area is further divided into a plurality of grids, each grid is provided with a Bluetooth or WIFI node, and the robot is provided with a Bluetooth or WIFI module; when UWB check-up location, the regional internal fixation sets up a plurality of UWB nodes, and the robot self sets up the UWB label. Specifically, the bluetooth or WIFI mode generally only establishes a single connection between a robot module and a node, and the robot establishes connections with nodes set in a current grid during a moving process, so that preliminary positioning can be simply performed by a grid corresponding to the nodes establishing the connections; and the UWB mode can accurately calculate the distance and the direction, so that secondary verification is carried out by using the UWB accurate positioning result.
Among them, the UWB technology is an advanced wireless communication technology using a bandwidth of 1GHz or more and requiring no carrier. Although wireless communication is adopted, the communication speed can reach more than several hundred Mbit/s. Because intermediate frequency equipment which is expensive and large in size is not needed, the UWB wireless positioning system is small in size and low in cost. Whereas the power spectral density emitted by UWB systems can be very low, even below the electromagnetic compatibility background noise level specified by the federal communications commission in the united states, short range UWB radio communication systems can coexist with other narrow band radio communication systems. The UWB location may be calculated based on at least one of received signal strength, angle of arrival, and received signal time, depending on the measured parameter.
For a tag, pulse signals sent by the tag respectively reach receiving sensors of at least two nodes, each sensor respectively obtains corresponding physical quantity when receiving the signals, the two sensors may have two receiving times t1 and t2, the distances from the tag to the two sensors can be respectively calculated based on the receiving times, and the position of the tag is further calculated according to the intersection of the two distances; or the two sensors may have two receiving angles a1, a2, and the positions of the labels may be calculated respectively based on the receiving angles, and the positions of the labels are further calculated according to the intersection of the two positions. In practical situations, there may be two received signal strengths of the two sensors, and based on the signal strengths, the distances from the tag to the two sensors may also be calculated respectively, and then the location of the tag may be calculated. The positioning is realized by adopting the UWB technology, the device has the advantages of simple structure, good concealment, strong confidentiality, low power consumption, strong multipath resolution, high data transmission rate, strong penetration capability, accurate positioning, strong anti-interference capability and the like, and not only can the positioning with high efficiency and high precision be realized, but also more importantly, the movement of the robot is not only dependent on the identification capability of a scanning map to an object, and the performance and the reliability of an intelligent system are improved.
In a preferred embodiment of the invention, the positioning is based on a difference in the times of reception of the signals. And an independent time difference counter is adopted to uniformly record the time difference of the tag signals omega 1, omega 2 and omega 3 reaching the UWB nodes BS 1, BS2, BS3 and the like, and the actual position information of the tag can be calculated by utilizing the time difference and the difference among the nodes. By adopting the method, a strictly synchronous reference clock is not needed among all nodes, and the measurement error caused by the asynchronous starting point of the reference clock is avoided, so that the positioning precision is effectively improved, and the system implementation complexity is reduced.
Further, in a preferred embodiment of the remote control system of the intelligent floor sweeping robot according to the present invention, the positioning module performs the verification in at least one of a received signal strength-based manner, an angle of arrival-based manner, and a received signal time-based manner according to a difference in measurement parameter.
Further, in a preferred embodiment of the remote control system of the intelligent sweeping robot, the remote control system further includes a mobile terminal, which is used for interacting with the intelligent terminal device and/or the sweeping robot through a communication unit of the mobile terminal, and sending a movement instruction or a service task to the sweeping robot. More preferably, the mobile terminal can also carry a wireless communication module, and the wireless communication module is positioned in a map through a wireless positioning technology similar to that of the robot, so that the robot accurately serves the mobile terminal user. When a plurality of mobile terminals exist in the same area, identification and distinction are performed by a unique terminal ID.
The server generally comprises: the device comprises a processing unit, a storage unit, a control unit and a communication unit; the processing unit is used for carrying out map correction on the initial map information, and completing denoising and optimization according to an actual scene to form an indoor map matched with an indoor actual scene; the storage unit is used for storing the map information and the received position relation information; the control unit is used for controlling and operating the robot and/or the wireless node; the communication unit is used for carrying out data information communication with the robot and the wireless node. The calculation of the position information may be performed by any one or more of the robot, the wireless node and the server, and is preferably performed at the server side in consideration of the fact that the server itself has corresponding calculation and processing capabilities, but this preferred manner should not be construed as a limitation to the specific embodiment of the present invention, that is, the positioning module may be disposed in the robot, the wireless node and/or the server.
The method for correcting the remote control system of the intelligent sweeping robot comprises the following steps:
step A, acquiring initial map information and wireless node information of a preset area, combining the wireless node position and the initial map information, and then sending the combined information to a server to be synchronous with the server;
b, carrying out wireless communication with a plurality of wireless nodes, and recording wireless communication connection information of each node respectively;
step C, determining current position information according to the connection information of the first type of wireless nodes, and verifying the current position information according to the connection information of the second type of wireless nodes;
and D, combining the verified position information with the current scanning result, and then synchronously updating the map information with the server.
Preferably, in step a, the positions of the plurality of nodes are fixed and known, and the position of each node and the current position information are expressed and labeled by using coordinates of a unified coordinate system.
In the method, the robot moves in the preset area, measures and generates an initial map of the preset area, the position of each wireless node is fixed and known, and the node position and the initial map information are combined and then sent to a server for synchronization. Movement measurements include, but are not limited to, scanning the surrounding environment with at least one sensor such as a laser range finder, a camera, infrared imaging, and the like. In an indoor activity region, the number and the position that wireless node set up are unrestricted in principle, as long as evenly divide the grid in the region and every grid sets up 1 bluetooth or WIFI node, in addition the UWB node set up more than 2 can, the node keeps its position fixed and carries out the record to node position information after setting up.
Before positioning or checking, the positions of all nodes are marked in a map, and then the current position of the robot on the map is determined according to the positions of the nodes and the wireless connection information. In the preferred embodiment of the invention, for Bluetooth or WIFI positioning, the map area is equally divided into the grid matrixes, each node is arranged at the center of each grid, and the corresponding grid can be obtained according to the information of the nodes for establishing connection so as to carry out primary positioning. For UWB positioning, in order to simplify a calculation model, reduce calculation amount and avoid interference of a complex environment to positioning, UWB nodes are fixedly arranged at four angular points of an indoor area, and meanwhile, tags carried by the robot are positioned. The fixed position of the node and the current position of the robot during positioning can be represented and marked by coordinates of a unified coordinate system. In addition, the located tag is obviously not limited to one, and the invention can locate a plurality of tags at the same time through the difference of tag IDs.
After the current position information of the robot is obtained, whether the existing map information is accurate or not is judged by further combining the scanning result of the robot on the surrounding environment of the current position; and if the map information has deviation, synchronously updating the map information in the robot and the server. Therefore, the invention realizes the correction of the scanning map of the robot by the mixed positioning of a plurality of wireless technologies, thereby improving the identification and positioning accuracy of the scanning map.
Preferably, the step D of synchronously updating the map information includes:
step D1, according to the verified position information, further combining the scanning result of the current position surrounding environment to judge whether the existing map information is accurate;
and D2, if the map information has deviation, synchronously updating the map information in the local server and the server.
The autonomous movement of the robot depends on a map and its own position to plan a path, wherein the map is generally established by relying on the sensing of a sensor to the surrounding environment, for example, the position and shape of each marker in the environment are obtained by laser scanning, and its own position depends on the positioning capability of the robot. With the development of wireless communication technology, wireless devices have smaller volumes and lower costs, and can be widely applied to small devices to provide fast and efficient wireless services. In the embodiment of the invention, on the basis of scanning the map by the sensor, indoor positioning of the robot is realized by combining various wireless technologies, and the map is further corrected according to the positioning result, so that the map precision and the recognition accuracy are greatly improved, and the efficiency and the reliability of path planning and movement are improved.
The remote control system of the intelligent floor sweeping robot helps the intelligent robot to realize positioning through a plurality of wireless positioning technologies, and further helps to correct the scanning map through the positioning information, and due to the combination of the plurality of positioning technologies, the system does not depend on single equipment and technology any more, so that the positioning precision and reliability of the robot can be greatly improved, the identification and positioning precision of the scanning map are improved, and the intelligent robot can move more accurately, efficiently and reliably; the sweeping robot does not need to work in a visual field, can be remotely controlled and even remotely controlled, avoids electronic interference caused by operation of the sweeping robot, and can avoid the problem that the ground near an obstacle cannot be completely swept when the sweeping robot turns when detecting the obstacle; on the other hand, the problem that the floor sweeping robot turns to the obstacle to damage the floor sweeping robot and furniture colliding with the floor sweeping robot can be avoided, great convenience is brought to the life of a user, and the floor sweeping robot has the advantage of low equipment cost.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (9)

1. The utility model provides an intelligence robot's remote control system of sweeping floor, includes intelligent terminal equipment and the robot of sweeping floor, its characterized in that still includes wireless communication module and home server:
the wireless communication module is connected with the intelligent terminal equipment and the sweeping robot and is used for carrying out network configuration on the intelligent terminal equipment and the sweeping robot so that the intelligent terminal equipment and the sweeping robot are connected to the home server;
the home server is connected with the intelligent terminal equipment and the sweeping robot and used for authenticating the sweeping robot, sending an authentication success notification to the intelligent terminal equipment if the authentication is passed, identifying the identity and the authority of the accessed intelligent terminal equipment, receiving a control command from the intelligent terminal equipment and sending the control command to the sweeping robot;
and the intelligent terminal equipment is used for updating a control program interface of the pre-installed sweeping robot after receiving the authentication success notification sent by the home server, regenerating corresponding control page parameters, and sending corresponding control commands to the home server when the controls in the control page are triggered.
2. The remote control system of an intelligent sweeping robot according to claim 1, wherein the sweeping robot comprises an initialization module for acquiring initial map information and wireless node information of a preset area, and synchronizing the wireless node position with a server after combining the initial map information with the wireless node position;
the wireless communication module is in wireless communication with a plurality of wireless nodes, and each node records respective wireless communication connection information;
the positioning module is connected with the wireless communication module and used for determining current position information according to the connection information of the first type of wireless nodes and verifying the current position information according to the connection information of the second type of wireless nodes;
the control module is connected with the positioning module and is used for converting a coordinate into a control system of a specific instruction;
and the correction module is connected with the control module and is used for combining the verified position information with the current scanning result and then synchronously updating the map information with the server.
3. The remote control system of an intelligent sweeping robot according to claim 2, further comprising:
the moving module is connected with the control module and used for realizing the movement of the sweeping robot;
the map and position measuring module is connected with the positioning module and used for scanning the surrounding environment to establish a map;
the voice interaction module is connected with the wireless communication module and is used for interacting with the intelligent terminal equipment;
the image recognition and face interaction module is connected with the control module and is used for acquiring the current environment, determining to capture a face and confirming the identity;
and the power supply and automatic recharging module is connected with the control module and used for providing a power supply and returning to charge the charging pile when the electric quantity is insufficient.
4. The remote control system of an intelligent sweeping robot according to claim 2, wherein the sweeping robot further comprises a transmitter capable of transmitting a detection signal, a receiver and a controller for receiving a reflected signal of the detection signal; the controller detects the conditions that the emitter emits a detection signal and the reflector reflects a signal, and controls the sweeping robot to execute a deceleration action when a first preset condition is met; and when a second preset condition is met, controlling the sweeping robot to execute a steering action.
5. The remote control system of claim 4, wherein the first preset condition comprises that the intensity of the reflected signal is greater than a first preset value, the second preset condition comprises that the intensity of the reflected signal is greater than a second preset value or that the distance between the sweeping robot and the detected obstacle is less than a fourth preset value, and the first preset value is less than the second preset value.
6. The remote control system of claim 2, wherein the wireless node comprises:
the connection module is used for receiving and transmitting wireless signals and establishing corresponding wireless connection;
the communication module is connected with the connection module and used for transmitting the wireless connection information to the server;
and the power supply module ensures the power supply of the node.
7. The remote control system of claim 2, wherein the first type of wireless node is a bluetooth and/or WIFI node, and the second type of wireless node is a UWB node.
8. The remote control system of claim 2, wherein the positioning module performs the verification based on at least one of a received signal strength, an angle of arrival and a received signal time according to different measured parameters.
9. The remote control system of an intelligent sweeping robot according to claim 2, further comprising a mobile terminal, wherein the mobile terminal is used for interacting with the intelligent terminal device and/or the sweeping robot through a communication unit of the mobile terminal, and sending a movement instruction or a service task to the sweeping robot.
CN202010824065.3A 2020-08-17 2020-08-17 Remote control system of intelligent floor sweeping robot Pending CN112155475A (en)

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CN104503378A (en) * 2014-11-05 2015-04-08 广州艾若博机器人科技有限公司 Robot and household electrical appliance control method based on robot
CN104765363A (en) * 2014-12-10 2015-07-08 深圳市银星智能科技股份有限公司 Intelligent floor sweeping robot and control method thereof
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