CN112890695A - Obstacle avoidance system of sweeping robot - Google Patents
Obstacle avoidance system of sweeping robot Download PDFInfo
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- CN112890695A CN112890695A CN202110317728.7A CN202110317728A CN112890695A CN 112890695 A CN112890695 A CN 112890695A CN 202110317728 A CN202110317728 A CN 202110317728A CN 112890695 A CN112890695 A CN 112890695A
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- mobile terminal
- sweeping robot
- wireless router
- wireless
- position information
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4061—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)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention provides an obstacle avoidance system of a sweeping robot, wherein at least one mobile terminal and the sweeping robot are accessed to a wireless local area network covered by a wireless router, and position information of the mobile terminal and the wireless router is determined by a positioning module and then sent to the wireless router; the sweeping robot receives basic map information sent by the wireless router, controls the sweeping robot to sweep while scanning, and simultaneously receives real-time update of the wireless router related to the position information of the at least one mobile terminal, so that the problem that the normal travelling route of the existing sweeping robot is blocked due to the walking of a person is solved, the formation of a missed sweeping area is further caused, the cleanliness of the whole house is greatly reduced, the specific position of the mobile terminal connected to a network is positioned through the router covered by the whole house, the travelling route is predicted and adjusted by the sweeping robot, and the energy efficiency of the sweeping robot is guaranteed or improved while the cleanliness of the whole house is improved.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to an obstacle avoidance system of a sweeping robot.
Background
The existing sweeping robots are classified into planning type and collision type. The planning robot is planned, and the cleaning work is carried out after the route planning is carried out according to the condition of a room. The robot of sweeping the floor of planning type can be through like perception equipment scanning rooms such as laser scanning, infrared ray, camera, sonar detection, let the robot of sweeping the floor draw up 2D or 3D overall arrangement in the room to accurate obstacle avoidance. The collision type sweeping robot recognizes a road and avoids obstacles through collision, a protective layer is arranged on a shell of the collision type sweeping robot to protect the collision type sweeping robot, and the collision type sweeping robot can rotate a preset angle to sweep the road once colliding with an object, so that the obstacle is avoided. After the sweeping robot draws a map of each room of the whole house, a plan view or a 3D (three-dimensional) model of the whole house can be formed, and then route planning and whole-house sweeping can be carried out. The obstacles are fixed, and people can move as the largest obstacle, often walk around the whole house, stop at intervals and leave the whole house quickly, so that the normal traveling route of the sweeping robot is obstructed, a missing sweeping area is formed, and the cleaning degree of the whole house is greatly reduced. If the sweeping robot with the rechecking function is used, the energy efficiency of the sweeping robot is reduced.
In order to improve the cleanliness of the whole house for cleaning and ensure or improve the energy efficiency of the sweeping robot, an obstacle avoidance system of the sweeping robot is designed by means of a router covered by the whole house, the specific position of a mobile terminal connected to a network is positioned by the router covered by the whole house and the action path of the mobile terminal is simulated, so that the sweeping robot can prejudge and adjust the travelling route, and the energy efficiency of the sweeping robot is ensured or improved while the cleanliness of the whole house is improved.
Disclosure of Invention
The invention aims to provide an obstacle avoidance system of a sweeping robot, which aims to solve the problems that the normal travelling route of the existing sweeping robot is blocked due to the walking of a person, a missing sweeping area is further formed, the cleanliness of the whole house is greatly reduced, if the sweeping robot with a rechecking function is used, the energy efficiency of the sweeping robot is reduced, the specific position of a mobile terminal connected to a network is positioned through a router covered by the whole house and the action path of the mobile terminal is simulated, so that the sweeping robot can prejudge and adjust the travelling route, and the energy efficiency of the sweeping robot is ensured or improved while the cleanliness of the whole house is improved.
In order to solve the technical problem, the invention is realized as follows:
an obstacle avoidance system of a sweeping robot, comprising: the system comprises at least one mobile terminal, a wireless router and a sweeping robot; the mobile terminal at least comprises a control module, a positioning module and a wireless transceiving module; the wireless router at least comprises a control module, a positioning module and a wireless transceiving module; the sweeping robot at least comprises a control module, a positioning module and a wireless transceiving module;
the mobile terminal is accessed to a wireless local area network covered by the wireless router through the wireless transceiving module, and the position information of the mobile terminal is sent to the wireless router through the positioning module;
the sweeping robot is accessed to a wireless local area network covered by a wireless router through a wireless transceiver module, and the position information of the sweeping robot is sent to the wireless router through a positioning module;
the wireless transceiver module of the wireless router receives the position information of the at least one mobile terminal and the position information of the sweeping robot, and the control module of the wireless router reads the position information to form basic map information and sends the basic map information to the wireless transceiver module of the sweeping robot through the wireless transceiver module;
the wireless transceiver module of the sweeping robot receives basic map information sent by the wireless transceiver module of the wireless router, the basic map information is read through the control module, the sweeping robot is controlled to scan while sweeping on the basis of the basic map information, meanwhile, the real-time updating of the position information of the wireless router relative to the at least one mobile terminal is received, the traveling route is reasonably planned, pre-judged and adjusted, and therefore the energy efficiency of the sweeping robot is guaranteed or improved while the whole house is cleaned neatly.
Preferably, the at least one mobile terminal is N mobile terminals, wherein N is more than or equal to 2. The N mobile terminals are in a moving or static state, if and only if the position of the at least one mobile terminal changes, the position of the mobile terminal which sends the change is sent to the wireless router, the wireless router updates the basic map information according to the changed position information of the mobile terminal, and then the basic map information is sent to the sweeping robot, so that the power consumption of the sweeping robot is further reduced, and the energy efficiency of the sweeping robot is improved.
Preferably, when and only when the position of the at least one mobile terminal changes, the position of the mobile terminal which is sent to the wireless router changes, and the wireless router only sends the position information of the mobile terminal which is sent to the sweeping robot, so that the power consumption of the sweeping robot is further reduced from the data volume, and the energy efficiency of the sweeping robot is improved.
Preferably, before the position of the at least one mobile terminal is not changed, the wireless transceiver module of the sweeping robot is in a dormant state; the sweeping robot with the wireless transceiver module in a dormant state is awakened after receiving an awakening signal sent by the wireless transceiver module of the wireless router; after the robot is awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module of the wireless router, is received, so that the sweeping robot is in a low power consumption state as far as possible before the position of the at least one mobile terminal is not changed, and the energy efficiency of the sweeping robot is further improved.
Preferably, after the sweeping robot receives the basic map information, the basic map information is displayed on a human-computer interaction interface of the mobile terminal, and includes but is not limited to position information of the mobile terminal, position information of the wireless router and position information of the sweeping robot, an operator can modify and adjust a sweeping path of the sweeping robot, so that the sweeping path can be conveniently set as required, and the modification and adjustment includes but is not limited to increasing/decreasing the number of times of sweeping a certain section of path, changing a routing mode of the sweeping path between two points, and setting walls and obstacles.
A control method of an obstacle avoidance system of a sweeping robot comprises the following steps:
101. at least one mobile terminal accesses a wireless local area network covered by the wireless router through a wireless transceiver module and sends the position information of the mobile terminal to the wireless router through a positioning module; the sweeping robot is accessed to a wireless local area network covered by a wireless router through a wireless transceiver module, and the position information of the sweeping robot is sent to the wireless router through a positioning module;
102. the wireless transceiver module of the wireless router receives the position information of the at least one mobile terminal and the position information of the sweeping robot, and the control module of the wireless router reads the position information to form basic map information and sends the basic map information to the wireless transceiver module of the sweeping robot through the wireless transceiver module;
103. the wireless transceiver module of the sweeping robot receives basic map information sent by the wireless transceiver module of the wireless router, the basic map information is read through the control module, the sweeping robot is controlled to scan while sweeping on the basis of the basic map information, meanwhile, the real-time updating of the position information of the wireless router relative to the at least one mobile terminal is received, the traveling route is reasonably planned, pre-judged and adjusted, and therefore the energy efficiency of the sweeping robot is guaranteed or improved while the whole house is cleaned neatly.
Preferably, the step 103 further comprises: the at least one mobile terminal is N mobile terminals, wherein N is more than or equal to 2; the N mobile terminals are in a moving or static state, if and only if the position of the at least one mobile terminal changes, the position of the mobile terminal which sends the change is sent to the wireless router, the wireless router updates the basic map information according to the changed position information of the mobile terminal, and then the basic map information is sent to the sweeping robot, so that the power consumption of the sweeping robot is further reduced, and the energy efficiency of the sweeping robot is improved.
Preferably, the step 103 further comprises: and if and only if the position of the at least one mobile terminal changes, the position of the mobile terminal which is sent to change is sent to the wireless router, and the wireless router only sends the position information of the mobile terminal which is sent to change to the sweeping robot, so that the power consumption of the sweeping robot is further reduced from the data volume, and the energy efficiency of the sweeping robot is improved.
Preferably, before the step 103, before the position of the at least one mobile terminal is not changed, the wireless transceiver module of the sweeping robot is in a dormant state; the sweeping robot with the wireless transceiver module in a dormant state is awakened after receiving an awakening signal sent by the wireless transceiver module of the wireless router; after the robot is awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module of the wireless router, is received, so that the sweeping robot is in a low power consumption state as far as possible before the position of the at least one mobile terminal is not changed, and the energy efficiency of the sweeping robot is further improved.
Preferably, the step 103 further comprises: after the sweeping robot receives the basic map information, a human-computer interaction interface of the mobile terminal displays the basic map information, the basic map information comprises but is not limited to position information of the mobile terminal, position information of the wireless router and position information of the sweeping robot, an operator can modify and adjust a sweeping path of the sweeping robot, the sweeping path can be conveniently set as required, and the modification and adjustment comprises but is not limited to increasing/reducing the sweeping times of a certain section of path, changing the wiring mode of the sweeping path between two points, and setting walls and obstacles.
Compared with the prior art, the technical scheme of the application positions the specific position of the mobile terminal accessed to the network and simulates the action path of the mobile terminal through the router covered by the whole house, so that the sweeping robot can prejudge and adjust the travelling route, and the energy efficiency of the sweeping robot is ensured or improved while the whole house is cleaned tidily.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is an obstacle avoidance system of a sweeping robot according to an embodiment of the present invention.
Fig. 2 is a control method of a sweeping robot with a mobile indicating device according to an embodiment of the present invention.
Detailed description of the invention
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an obstacle avoidance system for a sweeping robot, including: the system comprises at least one mobile terminal 1, a wireless router 2 and a sweeping robot 3; wherein the content of the first and second substances,
the at least one mobile terminal 1 at least comprises a control module 1-1, a positioning module 1-2 and a wireless transceiving module 1-3;
the wireless router 2 at least comprises a control module 2-1, a positioning module 2-2 and a wireless transceiving module 2-3;
the sweeping robot 3 at least comprises a control module 3-1, a positioning module 3-2, a wireless transceiver module 3-3 and a driving module 3-4;
the at least one mobile terminal 1 accesses a wireless local area network covered by the wireless router 2 through the wireless transceiving module 1-3, and sends the position information of the mobile terminal 1 to the wireless router 2 through the positioning module 1-2;
the sweeping robot 3 is accessed to a wireless local area network covered by the wireless router 2 through the wireless transceiver module 3-3, and the position information of the sweeping robot 3 is sent to the wireless router 2 through the positioning module 3-2;
the wireless transceiver module 2-3 of the wireless router 2 receives the position information of the at least one mobile terminal 1 and the position information of the sweeping robot 3, and the control module 2-1 of the wireless router 2 reads the position information to form basic map information and sends the basic map information to the wireless transceiver module 3-3 of the sweeping robot 3 through the wireless transceiver module 2-3;
the wireless transceiver module 3-3 of the sweeping robot 3 receives basic map information sent by the wireless transceiver module 2-3 of the wireless router 2, reads the basic map information through the control module 2-1, controls the sweeping robot 3 to scan and sweep simultaneously on the basis of the basic map information, and simultaneously receives real-time update of the wireless router 2 related to the position information of the at least one mobile terminal 1, so as to reasonably plan, prejudge and adjust a travelling route, thereby improving the whole cleaning cleanliness and simultaneously ensuring or improving the energy efficiency of the sweeping robot.
Preferably, the at least one mobile terminal 1 is N mobile terminals, wherein N is greater than or equal to 2. The N mobile terminals are in a moving or static state, if and only if the position of the at least one mobile terminal 1 changes, the position of the mobile terminal which sends the change is sent to the wireless router 2, the wireless router 2 updates the basic map information according to the changed position information of the mobile terminal, and then sends the basic map information to the sweeping robot 3, so that the power consumption of the sweeping robot is further reduced, and the energy efficiency of the sweeping robot is improved.
Preferably, when and only when the position of the at least one mobile terminal 1 changes, the position of the mobile terminal with the changed position is sent to the wireless router 2, and the wireless router 2 only sends the position information of the mobile terminal with the changed position to the sweeping robot 3, so that the power consumption of the sweeping robot is further reduced in terms of data volume, and the energy efficiency of the sweeping robot is improved.
Preferably, before the position of the at least one mobile terminal 1 is not changed, the wireless transceiver module 3-3 of the sweeping robot 3 is in a dormant state; the sweeping robot 3 with the wireless transceiver module 3-3 in the dormant state is awakened after receiving the awakening signal sent by the wireless transceiver module 2-3 of the wireless router 2; after being awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module 2-3 of the wireless router 2, is received, so that the sweeping robot 3 is in a low power consumption state as far as possible before the position of the at least one mobile terminal 1 is not changed, and the energy efficiency of the sweeping robot is further improved.
Preferably, after the sweeping robot 3 receives the basic map information, the basic map information is displayed on the human-computer interface 1-4 of the mobile terminal 1, and the basic map information includes, but is not limited to, the position information of the mobile terminal 1, the position information of the wireless router 2, and the position information of the sweeping robot 3, and an operator can modify and adjust the sweeping path of the sweeping robot, so as to conveniently set the sweeping path as needed, where the modification and adjustment includes, but is not limited to, increasing/decreasing the number of times of sweeping a certain section of path, changing the routing mode of the sweeping path between certain two points, and setting walls and obstacles.
Preferably, the mobile indicating device 1 can simulate the appearance size of the sweeping robot 2, so as to test whether the sweeping robot 2 can smoothly pass through the pre-sweeping path, and the obstacle avoidance module 2-3 and/or the positioning module 2-4 of the sweeping robot 2 are/is closed through the human-computer interaction interface 1-4, so that the sweeping robot 2 is further in a low power consumption state, and the energy efficiency of the sweeping robot is further improved. The simulation may be that after the moving indication device 1 completes the pre-cleaning path, the operator modifies and adjusts the pre-cleaning path, sets a wall and an obstacle, and adjusts the distance between the wall and the obstacle and between the obstacle and the obstacle, so as to further flexibly set the route planning of the whole house.
As shown in fig. 2, an embodiment of the present invention provides a method for controlling an obstacle avoidance system of a sweeping robot, including:
101. at least one mobile terminal 1 accesses a wireless local area network covered by the wireless router 2 through a wireless transceiving module 1-3, and sends the position information of the mobile terminal 1 to the wireless router 2 through a positioning module 1-2; the sweeping robot 3 is accessed to a wireless local area network covered by the wireless router 2 through the wireless transceiver module 3-3, and the position information of the sweeping robot 3 is sent to the wireless router 2 through the positioning module 3-2;
102. the wireless transceiver module 2-3 of the wireless router 2 receives the position information of the at least one mobile terminal 1 and the position information of the sweeping robot 3, and the control module 2-1 of the wireless router 2 reads the position information to form basic map information and sends the basic map information to the wireless transceiver module 3-3 of the sweeping robot 3 through the wireless transceiver module 2-3;
103. the wireless transceiver module 3-3 of the sweeping robot 3 receives basic map information sent by the wireless transceiver module 2-3 of the wireless router 2, reads the basic map information through the control module 2-1, controls the sweeping robot 3 to scan and sweep simultaneously on the basis of the basic map information, and simultaneously receives real-time update of the wireless router 2 related to the position information of the at least one mobile terminal 1, so as to reasonably plan, prejudge and adjust a travelling route, thereby improving the whole cleaning cleanliness and simultaneously ensuring or improving the energy efficiency of the sweeping robot.
Preferably, the step 103 further comprises: the at least one mobile terminal 1 is N mobile terminals, wherein N is more than or equal to 2; the N mobile terminals are in a moving or static state, if and only if the position of the at least one mobile terminal 1 changes, the position of the mobile terminal which sends the change is sent to the wireless router 2, the wireless router 2 updates the basic map information according to the changed position information of the mobile terminal, and then sends the basic map information to the sweeping robot 3, so that the power consumption of the sweeping robot is further reduced, and the energy efficiency of the sweeping robot is improved.
Preferably, the step 103 further comprises: and if and only if the position of the at least one mobile terminal 1 changes, the position of the mobile terminal which is sent to change is sent to the wireless router 2, and the wireless router 2 only sends the position information of the mobile terminal which is sent to change to the sweeping robot 3, so that the power consumption of the sweeping robot is further reduced from the data volume, and the energy efficiency of the sweeping robot is improved.
Preferably, before the step 103, before the position of the at least one mobile terminal 1 is not changed, the wireless transceiver module 3-3 of the sweeping robot 3 is in a dormant state; the sweeping robot 3 with the wireless transceiver module 3-3 in the dormant state is awakened after receiving the awakening signal sent by the wireless transceiver module 2-3 of the wireless router 2; after being awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module 2-3 of the wireless router 2, is received, so that the sweeping robot 3 is in a low power consumption state as far as possible before the position of the at least one mobile terminal 1 is not changed, and the energy efficiency of the sweeping robot is further improved.
Preferably, the step 103 further comprises: after the sweeping robot 3 receives the basic map information, the basic map information is displayed on a human-computer interaction interface 1-4 of the mobile terminal 1, the basic map information includes but is not limited to position information of the mobile terminal 1, position information of the wireless router 2 and position information of the sweeping robot 3, an operator can modify and adjust a sweeping path of the sweeping robot, and the sweeping path can be conveniently set as required, and the modification and adjustment includes but is not limited to increasing/reducing the number of times of sweeping a certain section of path, changing the wiring mode of the sweeping path between two points, and setting walls and obstacles.
Compared with the prior art, the technical scheme of the application positions the specific position of the mobile terminal accessed to the network and simulates the action path of the mobile terminal through the router covered by the whole house, so that the sweeping robot can prejudge and adjust the travelling route, and the energy efficiency of the sweeping robot is ensured or improved while the whole house is cleaned tidily.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a robot of sweeping floor keeps away barrier system which characterized in that includes: the system comprises at least one mobile terminal, a wireless router and a sweeping robot; the mobile terminal at least comprises a control module, a positioning module and a wireless transceiving module; the wireless router at least comprises a control module, a positioning module and a wireless transceiving module; the sweeping robot at least comprises a control module, a positioning module and a wireless transceiving module;
the mobile terminal is accessed to a wireless local area network covered by the wireless router through the wireless transceiving module, and the position information of the mobile terminal is sent to the wireless router through the positioning module;
the sweeping robot is accessed to a wireless local area network covered by a wireless router through a wireless transceiver module, and the position information of the sweeping robot is sent to the wireless router through a positioning module;
the wireless transceiver module of the wireless router receives the position information of the at least one mobile terminal and the position information of the sweeping robot, and the control module of the wireless router reads the position information to form basic map information and sends the basic map information to the wireless transceiver module of the sweeping robot through the wireless transceiver module;
the wireless transceiver module of the sweeping robot receives basic map information sent by the wireless transceiver module of the wireless router, the basic map information is read through the control module, the sweeping robot is controlled to scan while sweeping on the basis of the basic map information, and meanwhile real-time updating of position information of the wireless router relative to the at least one mobile terminal is received.
2. An obstacle avoidance system according to claim 1, wherein the at least one mobile terminal is N mobile terminals, where N is greater than or equal to 2; and the N mobile terminals are in a moving or static state, and when and only when the position of the at least one mobile terminal is changed, the position of the mobile terminal which sends the change is sent to the wireless router, and the wireless router updates the basic map information according to the changed position information of the mobile terminal and sends the basic map information to the sweeping robot.
3. An obstacle avoidance system according to claim 2, wherein the position of the mobile terminal which is changed is transmitted to the wireless router if and only if the position of the at least one mobile terminal is changed, and the wireless router transmits only the position information of the mobile terminal which is changed to the sweeping robot.
4. The obstacle avoidance system of claim 3, wherein before the position of the at least one mobile terminal is not changed, the wireless transceiver module of the sweeping robot is in a dormant state; the sweeping robot with the wireless transceiver module in a dormant state is awakened after receiving an awakening signal sent by the wireless transceiver module of the wireless router; and after being awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module of the wireless router, is received.
5. The obstacle avoidance system of claim 4, wherein after the sweeping robot receives the basic map information, the basic map information is displayed on a human-computer interface of the mobile terminal, the basic map information includes, but is not limited to, position information of the mobile terminal, position information of the wireless router, and position information of the sweeping robot, an operator can modify and adjust a sweeping path of the sweeping robot, and a sweeping path is conveniently set as needed, and the modification and adjustment includes, but is not limited to, increasing/decreasing the number of times of sweeping of a certain path, changing a routing mode of the sweeping path between certain two points, and setting a wall and an obstacle.
6. A control method of an obstacle avoidance system of a sweeping robot is characterized by comprising the following steps:
101. at least one mobile terminal accesses a wireless local area network covered by the wireless router through a wireless transceiver module and sends the position information of the mobile terminal to the wireless router through a positioning module; the sweeping robot is accessed to a wireless local area network covered by a wireless router through a wireless transceiver module, and the position information of the sweeping robot is sent to the wireless router through a positioning module;
102. the wireless transceiver module of the wireless router receives the position information of the at least one mobile terminal and the position information of the sweeping robot, and the control module of the wireless router reads the position information to form basic map information and sends the basic map information to the wireless transceiver module of the sweeping robot through the wireless transceiver module;
103. the wireless transceiver module of the sweeping robot receives basic map information sent by the wireless transceiver module of the wireless router, the basic map information is read through the control module, the sweeping robot is controlled to scan while sweeping on the basis of the basic map information, and meanwhile real-time updating of position information of the wireless router relative to the at least one mobile terminal is received.
7. The control method according to claim 6, wherein the step 103 further comprises: the at least one mobile terminal is N mobile terminals, wherein N is more than or equal to 2; and the N mobile terminals are in a moving or static state, and when and only when the position of the at least one mobile terminal is changed, the position of the mobile terminal which sends the change is sent to the wireless router, and the wireless router updates the basic map information according to the changed position information of the mobile terminal and sends the basic map information to the sweeping robot.
8. The control method according to claim 7, wherein the step 103 further comprises: and if and only if the position of the at least one mobile terminal is changed, sending the changed position of the mobile terminal to the wireless router, and sending the position information of the mobile terminal with the changed position to the sweeping robot by the wireless router.
9. The control method according to claim 8, wherein before the step 103, before the position of the at least one mobile terminal is not changed, the wireless transceiver module of the sweeping robot is in a dormant state; the sweeping robot with the wireless transceiver module in a dormant state is awakened after receiving an awakening signal sent by the wireless transceiver module of the wireless router; and after being awakened, the position information of the changed mobile terminal, which is sent by the wireless transceiver module of the wireless router, is received.
10. The control method according to claim 9, wherein the step 103 further comprises: after the sweeping robot receives the basic map information, a human-computer interaction interface of the mobile terminal displays the basic map information, the basic map information comprises but is not limited to position information of the mobile terminal, position information of the wireless router and position information of the sweeping robot, an operator can modify and adjust a sweeping path of the sweeping robot, the sweeping path can be conveniently set as required, and the modification and adjustment comprises but is not limited to increasing/reducing the sweeping times of a certain section of path, changing the wiring mode of the sweeping path between two points, and setting walls and obstacles.
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