CN112535436A - Intelligent walking sweeping robot guiding system - Google Patents
Intelligent walking sweeping robot guiding system Download PDFInfo
- Publication number
- CN112535436A CN112535436A CN202011393274.3A CN202011393274A CN112535436A CN 112535436 A CN112535436 A CN 112535436A CN 202011393274 A CN202011393274 A CN 202011393274A CN 112535436 A CN112535436 A CN 112535436A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- sweeping
- robot
- living body
- environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent walking sweeping robot guiding system which comprises a sweeping robot and an environment detector, wherein the environment detector detects an indoor boundary range and preliminary ground obstacle data through a laser radar, the environment detector communicates and positions with the sweeping robot through a WiFi module and a Bluetooth module to obtain position data of the sweeping robot, the indoor boundary range and the preliminary ground obstacle data, the sweeping robot constructs a preliminary operation planned route and an estimated obstacle area according to the indoor boundary range, the preliminary ground obstacle and the position data of the preliminary ground obstacle, the environment detector detects whether a living body exists indoors in real time through an environment temperature acquisition circuit and a living body heat release detection circuit and detects the position of the living body in a matching mode of the laser radar, and the sweeping robot avoids or keeps away according to the position of the living body. Through the cooperation of environment detector and the robot of sweeping the floor to effectively guide the robot of sweeping the floor, and promote its operating efficiency.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to an intelligent walking sweeping robot guiding system.
Background
The sweeping robot is a emerging intelligent household product at present, can automatically carry out indoor sweeping work without personnel control or participation, the existing sweeping robot identifies obstacles through a built-in radar, vision and other detection modules, simultaneously establishes an indoor map and plans an optimal sweeping path by walking indoors, so that when the sweeping robot needs to sweep indoors for the first time, the sweeping robot can generally select a method of determining an indoor boundary through walking along a wall and then walking in sequence to establish the indoor map, or directly leads the sweeping robot to search randomly and establish an actual indoor map for a longer time, and in use, the robot also needs to judge obstacles through close-range detection and cannot identify moving human bodies or pets, so that people who are still moving or have a rest may be influenced by noise or other factors in daily life, or the pet interferes with the floor sweeping work, which is inconvenient.
Disclosure of Invention
The purpose of the invention is: the intelligent walking and sweeping robot guiding system can rapidly detect the preliminary indoor boundary and obstacles and detect the activity conditions of people or animals in the actual environment to plan a route.
In order to solve the technical problem, the invention provides an intelligent walking sweeping robot guiding system.
The utility model provides an intelligence walking robot guide system of sweeping floor, includes robot and the environment detection ware of sweeping floor, the environment detection ware is equipped with laser radar, ambient temperature acquisition circuit, live body heat release detection circuit, wiFi module and bluetooth module, the environment detection ware passes through laser radar detection room boundary scope and preliminary ground obstacle data, the robot of sweeping floor also is equipped with wiFi module and bluetooth module, the environment detection ware pass through wiFi module and bluetooth module with the robot of sweeping floor carries out the communication and fixes a position and obtains the relative position data of the robot of sweeping floor and indoor boundary scope and preliminary ground obstacle data, the robot of sweeping floor according to indoor boundary scope and preliminary ground obstacle and the position data of the robot of sweeping floor found preliminary operation planning route and predict the obstacle region, whether the environment detection ware passes through ambient temperature acquisition circuit and live body heat release detection circuit real-time detection indoor live body and has the live body to run the planning route and predict the obstacle region, the environment detection ware passes through ambient The sweeping robot avoids or keeps away from the living body according to the position of the living body.
As a preferable aspect of the present invention, the environment detector triangulates the distance by a laser radar.
As a preferred scheme of the invention, the environment detector is further provided with an infrared recognition and positioning module, the sweeping robot is further provided with an infrared induction identifier, and the environment detector scans the infrared induction identifier of the sweeping robot through the infrared recognition and positioning module.
Compared with the prior art, the intelligent walking sweeping robot guidance system has the beneficial effects that: through the cooperation of environment detector and the robot of sweeping the floor to effectively guide the robot of sweeping the floor, and promote its operating efficiency, save consuming time and can adapt to the situation of use in the actual life better.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, either fixedly connected, detachably connected, or integrally connected, unless otherwise explicitly stated or limited; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The intelligent walking sweeping robot guiding system comprises a sweeping robot and an environment detector which are positioned in the same room, wherein the environment detector is provided with a laser radar, an environment temperature acquisition circuit, a living body heat release detection circuit, a WiFi module and a Bluetooth module, the environment detector is circumferentially and horizontally arranged below through the laser radar to detect indoor boundary range and preliminary ground obstacle data, the sweeping robot is also provided with the WiFi module and the Bluetooth module, the environment detector is communicated and positioned with the sweeping robot through the WiFi module and the Bluetooth module to obtain relative position data of the sweeping robot, the indoor boundary range and the preliminary ground obstacle data, the sweeping robot constructs a preliminary operation planning route and a pre-estimated obstacle area according to the indoor boundary range, the preliminary ground obstacle and the position data of the sweeping robot, the environment detector detects whether a living body exists in a room or not through an environment temperature acquisition circuit and a living body heat release detection circuit in real time, and the living body heat release detection circuit is matched with a laser radar to detect the position of the living body and transmit the position to the sweeping robot, and the sweeping robot avoids or keeps away from the living body according to the position of the living body.
The environment detector can be applied as an independent device or integrated with devices such as an AI sound box, a Bluetooth clock, a Bluetooth hygrothermograph and the like, so that the environment detector can be conveniently used in daily use in combination with common intelligent household products, can be placed at a position higher than the ground, such as a table, a tea table, a cabinet top or a wall, and the like for operation, can roughly detect the peripheral indoor boundary range (a wall, a cabinet body, larger wall-leaning household electrical appliance and the like) and preliminary ground obstacles (furniture, a floor electrical appliance and the like) by scanning horizontally and circumferentially and extending downwards, can scan circumferentially in a mechanical transmission mode by a laser radar, can also be realized by the laser radar detected in all directions, and can obtain the indoor position of the sweeping robot by the existing indoor positioning method based on WiFi and Bluetooth fusion, therefore, when the sweeping robot runs for the first time or the indoor static environment changes, an approximate indoor boundary range and preliminary ground obstacles are obtained first, a map can be built preliminarily by matching the position of the sweeping robot, a preliminarily planned route and preliminary ground obstacles are planned, the sweeping robot does not need to explore by itself to build the map gradually, or the boundary is confirmed by a boundary-extending walking method, the sweeping robot only needs to move according to the preliminarily planned route and detect the actual situation of the preliminary ground obstacles by itself, the indoor map and a formal planned route are completed by the conventional running mode, when the environment detector detects living bodies such as people or pets in the room, the sweeping robot can run the route according to the position of the sweeping robot, so that the influence on the people or the pets caused by noise or other reasons is avoided, or the sweeping process is prevented from being interfered, the environment temperature acquisition circuit and the living body heat release detection circuit can be in mechanical transmission or in full-drive mode as the laser radar is same as the environment temperature acquisition circuit and the living body heat release detection circuit The orientation detection structure realizes circumferential omnibearing detection, when the environment temperature acquisition circuit and the living body heat release detection circuit detect the existence of a living body, the position of the living body is accurately measured through a laser radar, and an MCU module, a controller module or a CPU module, a memory module, a communication module, a wireless module and the like are arranged in the environment detector and the sweeping robot in the same way as the existing intelligent equipment or intelligent furniture for data operation and wireless communication, and the description is omitted; the environment detector is used as an independent detector for carrying out environment detection and real-time condition monitoring on the sweeping robot which is close to the floor from a higher position, at least one environment detector can be arranged in each room or hall indoors to realize synchronous real-time operation and mutual linkage of the sweeping robot continuously passing through the indoor position of the whole room, or a single environment detector is matched with the sweeping robot to be applied to the hall one by one, and the environment detector can be more easily placed and used without requirements on the indoor position; the guiding system is matched with the sweeping robot through the environment detector, so that the sweeping robot is effectively guided, the running efficiency of the sweeping robot is improved, time consumption is saved, and the use condition in actual life can be better adapted.
Illustratively, the environment detector measures the distance in a triangulation method through a laser radar, i.e., the laser radar is preferably a triangulation distance measuring laser radar, and the laser radar transmits laser through a laser and receives reflected light through a linear CCD, because the indoor environment of a general home is limited, the distance measurement using the triangulation method is more effective than the distance measurement using the TOF method, and the cost is low.
Exemplarily, the environment detector still is provided with infrared identification orientation module, the robot of sweeping the floor still is provided with the infrared induction sign, the environment detector passes through the scanning of infrared identification orientation module the infrared induction sign of the robot of sweeping the floor, thereby lets the accurate definite position of the robot of sweeping the floor is in among the detection data of environment detector, the corresponding relation of robot position and boundary range of sweeping the floor is obtained, and the data that the robot of sweeping the floor and human body, pet or obstacle can be accurately detected in real time to the environment detector simultaneously guides.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (3)
1. The utility model provides an intelligence walking robot guide system of sweeping floor which characterized in that: the environment detection device is provided with a laser radar, an environment temperature acquisition circuit, a living body heat release detection circuit, a WiFi module and a Bluetooth module, the environment detection device detects indoor boundary range and preliminary ground obstacle data through the laser radar, the sweeping robot is also provided with the WiFi module and the Bluetooth module, the environment detection device communicates and positions with the sweeping robot through the WiFi module and the Bluetooth module to obtain position data of the sweeping robot, indoor boundary range and preliminary ground obstacle data, the sweeping robot establishes a preliminary operation planning route and an estimated obstacle area according to the indoor boundary range, the preliminary ground obstacle and the position data of the sweeping robot, and the environment detection device detects whether a living body exists in a room in real time through the environment temperature acquisition circuit and the living body heat release detection circuit and cooperates with the laser radar to detect the position of the living body, the sweeping robot avoids or keeps away from the living body according to the position of the living body.
2. The intelligent walking sweeping robot guiding system according to claim 1, characterized in that: the environment detector triangulates the distance by lidar.
3. The intelligent walking sweeping robot guiding system according to claim 1, characterized in that: the environment detector still is provided with infrared identification orientation module, the robot of sweeping the floor still is provided with the infrared induction sign, the environment detector passes through infrared identification orientation module scanning the infrared induction sign of the robot of sweeping the floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011393274.3A CN112535436A (en) | 2020-12-02 | 2020-12-02 | Intelligent walking sweeping robot guiding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011393274.3A CN112535436A (en) | 2020-12-02 | 2020-12-02 | Intelligent walking sweeping robot guiding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112535436A true CN112535436A (en) | 2021-03-23 |
Family
ID=75015555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011393274.3A Pending CN112535436A (en) | 2020-12-02 | 2020-12-02 | Intelligent walking sweeping robot guiding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112535436A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113578909A (en) * | 2021-08-23 | 2021-11-02 | 天长市科信电子有限公司 | Laboratory fume chamber with obstacle detection and early warning function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389699A (en) * | 2013-05-09 | 2013-11-13 | 浙江大学 | Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes |
| CN109460040A (en) * | 2018-12-28 | 2019-03-12 | 珠海凯浩电子有限公司 | It is a kind of that map system and method are established by mobile phone shooting photo array floor |
| CN110989368A (en) * | 2019-11-04 | 2020-04-10 | 佛山市云米电器科技有限公司 | Intelligent household appliance system combining indoor cleaning |
| KR20200076158A (en) * | 2018-12-19 | 2020-06-29 | 삼성전자주식회사 | Electronic device and method for collaborating another electronic device |
| CN111948987A (en) * | 2020-07-10 | 2020-11-17 | 珠海市一微半导体有限公司 | Networking control method, home system, server and cleaning robot |
-
2020
- 2020-12-02 CN CN202011393274.3A patent/CN112535436A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389699A (en) * | 2013-05-09 | 2013-11-13 | 浙江大学 | Robot monitoring and automatic mobile system operation method based on distributed intelligent monitoring controlling nodes |
| KR20200076158A (en) * | 2018-12-19 | 2020-06-29 | 삼성전자주식회사 | Electronic device and method for collaborating another electronic device |
| CN109460040A (en) * | 2018-12-28 | 2019-03-12 | 珠海凯浩电子有限公司 | It is a kind of that map system and method are established by mobile phone shooting photo array floor |
| CN110989368A (en) * | 2019-11-04 | 2020-04-10 | 佛山市云米电器科技有限公司 | Intelligent household appliance system combining indoor cleaning |
| CN111948987A (en) * | 2020-07-10 | 2020-11-17 | 珠海市一微半导体有限公司 | Networking control method, home system, server and cleaning robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113578909A (en) * | 2021-08-23 | 2021-11-02 | 天长市科信电子有限公司 | Laboratory fume chamber with obstacle detection and early warning function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105115498B (en) | A kind of robot localization navigation system and its air navigation aid | |
| US10335004B2 (en) | Robot management systems for determining docking station pose including mobile robots and methods using same | |
| US9229454B1 (en) | Autonomous mobile robot system | |
| CN205750529U (en) | A kind of sweeping robot intelligent barrier avoiding and alignment system | |
| CN103645733A (en) | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof | |
| WO2014071860A1 (en) | Automatic work system | |
| WO2020030066A1 (en) | Self-mobile device, automatic operating system and control method thereof | |
| CN107305391A (en) | Automatic working system and its control method | |
| CN205049151U (en) | Location navigation of robot | |
| Lee et al. | Vision based localization for multiple mobile robots using low-cost vision sensor | |
| EP3216377A1 (en) | Guide-type virtual wall system | |
| CN107562058B (en) | WiFi fingerprint acquisition system and acquisition method based on position tag identification | |
| CN106441306A (en) | Intelligent life detecting robot with capabilities of independent positioning and map building | |
| CN211104017U (en) | Transformer substation inspection robot | |
| Park et al. | Indoor localization for autonomous mobile robot based on passive RFID | |
| CN108459593A (en) | A kind of human-machine intelligence's cooperative manipulators system having floor sweeping function | |
| CN109283930A (en) | A kind of spherical intelligent inspection robot | |
| CN112535436A (en) | Intelligent walking sweeping robot guiding system | |
| KR20200087301A (en) | Moving robot | |
| US20090265133A1 (en) | Localization system and method for mobile object using wireless communication | |
| KR101921113B1 (en) | Detection hybrid visible light-RFID tag and robot system used the same | |
| CN208351330U (en) | A kind of indoor AGV robot based on WiFi navigation | |
| CN104889092A (en) | Water washing robot sighting system based on ultrasonic distance measurement and image identification, and method thereof | |
| CN110161515A (en) | A kind of house measurement system based on laser ranging | |
| CN106502241A (en) | A kind of sweeping robot intelligent barrier avoiding and alignment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210323 |
|
| RJ01 | Rejection of invention patent application after publication |