CN113110506A - Operation system of sweeping robot - Google Patents
Operation system of sweeping robot Download PDFInfo
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- CN113110506A CN113110506A CN202110518958.XA CN202110518958A CN113110506A CN 113110506 A CN113110506 A CN 113110506A CN 202110518958 A CN202110518958 A CN 202110518958A CN 113110506 A CN113110506 A CN 113110506A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 96
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 17
- 238000004140 cleaning Methods 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of sweeping robots, in particular to an operating system of a sweeping robot, which comprises a control terminal, a wireless communication module, a core processor, a power supply module, a voice control unit and a data acquisition unit, wherein the control terminal is used for carrying out data transmission with the wireless communication module through a wireless network, and the output end of the wireless communication module is electrically connected with a first identification module; the sweeping robot operating system provided by the invention can be used for remote control and voice control, has the advantages of reducing the operation difficulty of a user, comprehensively scanning the working environment, being beneficial to planning the traveling route and accurately positioning, solves the problems that the positioning precision and the positioning efficiency of the conventional sweeping robot operating system are not high, the popularization of a sweeping robot is influenced, and the sweeping robot needs to complete sweeping work according to the indication of the user, and further can effectively improve the safety and the practicability of the sweeping robot.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to an operating system of a sweeping robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The sweeping robot relieves people from the heavy sweeping housework and is popular with people. However, due to the complexity and variability of the home environment, the sweeping robot is required to have related functions of real-time positioning, environment sensing, automatic navigation, obstacle avoidance, cleaning completion and the like. Many present sweep floor robots gather environmental image through the camera in the in-process of sweeping the floor, advancing, keeping away the barrier etc. and positioning accuracy, the positioning efficiency of this kind of mode are not high, lead to the robot of sweeping the floor cost higher, have influenced the popularization of sweeping the floor robot, and sweep the floor the robot and need accomplish the work of sweeping the floor according to the user instruction, and intelligent degree is lower, and user experience is poor, has restricted intelligent house industrial's development.
Disclosure of Invention
The present invention is directed to a system for operating a sweeping robot, so as to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: an operation system of a sweeping robot comprises a control terminal, a wireless communication module, a core processor, a power supply module, a voice control unit and a data acquisition unit, wherein the control terminal transmits data between the wireless communication module and a wireless network, the output end of the wireless communication module is electrically connected with a first identification module, the output end of the first identification module is electrically connected with the core processor, the output end of the power supply module is electrically connected with the input end of the core processor, the input end of the core processor is electrically connected with a GPS positioning module, the output end of the core processor is electrically connected with a driving module, the output end of the driving module is electrically connected with a driving motor, the output end of the voice control unit is electrically connected with a second identification module, the output end of the second identification module is electrically connected with the input end of the core processor, the output end of the data acquisition unit is electrically connected with the data processing module, the output end of the data processing module is electrically connected with the route planning module, and the output end of the route planning module is electrically connected with the input end of the core processor.
Preferably, the data acquisition unit includes data transmission module, dropproof sensor, gyroscope, keeps away barrier sensor and laser radar, dropproof sensor, gyroscope, keep away barrier sensor and laser radar's output respectively with data transmission module's input electric connection, data transmission module's output and data processing module's input electric connection.
Preferably, the voice control unit comprises a voice acquisition module, a voice main control module and a voice playing device, wherein the output end of the voice acquisition module is electrically connected with the input end of the voice main control module, and the output end of the voice main control module is electrically connected with the input end of the voice playing device.
Preferably, the anti-falling sensor adopts two infrared distance measuring sensors for detecting surrounding obstacles and the distance between the sweeping robot and the ground, and the gyroscope is used for detecting the rotation angle of the sweeping robot.
Preferably, the number of the obstacle avoidance sensors is a plurality of, the obstacle avoidance sensors are respectively located around the sweeping robot, and the laser radar is used for acquiring surrounding environment information of the sweeping robot and storing environment data.
Preferably, the voice acquisition module is used for acquiring voice control commands, the voice main control module is used for recognizing the voice control commands and controlling the floor sweeping robot to enter a corresponding working mode, the voice playing device is a loudspeaker, and the voice playing device is used for responding to the control commands.
Preferably, the data processing module is used for processing environmental data collected by the sweeping robot, and the route planning module generates a traveling route according to the current position and the target position of the sweeping robot and sends the traveling route to the core processor.
Preferably, the output shaft of driving motor is provided with drive wheel and clean main brush respectively, the drive wheel is used for controlling the removal and the function that turns to of robot of sweeping the floor, clean main brush is used for cleaning ground.
Preferably, an electric quantity sensing module is arranged inside the core processor and used for self-identifying the current residual electric quantity data of the sweeping robot.
Preferably, the input end of the core processor is electrically connected with a charging control module, and the charging control module is used for controlling the sweeping robot to enter a charging mode to charge the sweeping robot.
Compared with the prior art, the invention has the following beneficial effects:
the sweeping robot operating system provided by the invention can be used for remote control and voice control, has the advantages of reducing the operation difficulty of a user, comprehensively scanning the working environment, being beneficial to planning the traveling route and being capable of carrying out accurate positioning, solves the problems that the positioning precision and the positioning efficiency of the existing sweeping robot operating system are not high, the popularization of a sweeping robot is influenced, the sweeping robot needs to complete sweeping according to the indication of the user, and the degree of intelligence is low, and further can effectively improve the safety and the practicability of the sweeping robot.
Drawings
FIG. 1 is a system diagram of an operating system of the present invention;
FIG. 2 is a system block diagram of a data acquisition unit of the present invention;
FIG. 3 is a system block diagram of a voice control unit according to the present invention.
Detailed Description
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 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 given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an operating system of a sweeping robot comprises a control terminal, a wireless communication module, a core processor, a power module, a voice control unit, and a data acquisition unit, wherein the control terminal transmits data with the wireless communication module through a wireless network, an output terminal of the wireless communication module is electrically connected with a first identification module, an output terminal of the first identification module is electrically connected with the core processor, an output terminal of the power module is electrically connected with an input terminal of the core processor, an input terminal of the core processor is electrically connected with a GPS positioning module, an output terminal of the core processor is electrically connected with a driving module, an output terminal of the driving module is electrically connected with a driving motor, an output terminal of the voice control unit is electrically connected with a second identification module, and an output terminal of the second identification module is electrically connected with an input terminal of the core processor, the output electric connection of data acquisition unit has data processing module, data processing module's output electric connection has route planning module, route planning module's output and core processor's input electric connection, this robot operation system of sweeping the floor, remote control and speech control can carry out, it can reduce the user operation degree of difficulty to have, carry out comprehensive scanning to operational environment, be favorable to planning the route of marcing, and can carry out the advantage of accurate positioning, the positioning accuracy of robot operation system of sweeping the floor at present has been solved, positioning efficiency is not high, the popularization of the robot of sweeping the floor has been influenced, and the robot of sweeping the floor need accomplish the work of sweeping the floor according to user instruction, the lower problem of intelligent degree, and then can effectively promote the security and the practicality of the robot of sweeping the floor.
In this embodiment, the data acquisition unit includes data transmission module, the dropproof sensor, the gyroscope, keep away barrier sensor and laser radar's output respectively with data transmission module's input electric connection, data transmission module's output and data processing module's input electric connection, through data transmission module, the dropproof sensor, the gyroscope, keep away barrier sensor and laser radar's setting, the robot of sweeping the floor can gather operational environment's environmental data, be favorable to the robot of sweeping the floor to carry out cleaning, avoid appearing clean dead angle.
In this embodiment, the voice control unit includes voice acquisition module, pronunciation host system and pronunciation broadcast equipment, and voice acquisition module's output and pronunciation host system's input electric connection, pronunciation host system's output and pronunciation broadcast equipment's input electric connection can carry out speech control to the robot of sweeping the floor through the setting of voice acquisition module, pronunciation host system and pronunciation broadcast equipment, and the control that makes the robot of sweeping the floor is more convenient.
In this embodiment, the anti-falling sensor adopts two infrared distance measuring sensors for detect around the barrier and sweep the floor the robot apart from the distance on ground, the gyroscope is used for detecting the robot rotation angle of sweeping the floor, through above design, can prevent to sweep the floor the robot and fall down sunken departments such as stair at the during operation, increases the safety and stability of the robot working process of sweeping the floor.
In this embodiment, keep away the quantity of barrier sensor and be a plurality of, and keep away the barrier sensor and be located the robot of sweeping the floor respectively all around, laser radar is used for gathering the robot surrounding environment information of sweeping the floor to environmental data saves, through above design, is convenient for scan the environment around the robot of sweeping the floor, prevents that the robot of sweeping the floor from colliding with the barrier.
In this embodiment, pronunciation collection module is used for gathering the speech control order, and pronunciation host system is used for discerning the speech control order and controls the robot of sweeping the floor and get into corresponding mode, and pronunciation playback devices is the speaker, and pronunciation playback devices is used for answering control command, and through above design, the speech control order of the user of being convenient for gather in time carries out cleaning, and can carry out speech feedback.
In this embodiment, the data processing module is used for processing the environmental data collected by the sweeping robot, the route planning module generates a traveling route according to the current position and the target position of the sweeping robot, and sends the traveling route to the core processor.
In this embodiment, driving motor's output shaft is provided with drive wheel and clean main brush respectively, and the drive wheel is used for controlling the removal and the function that turns to of robot of sweeping the floor, and clean main brush is used for cleaning ground, through the setting of drive wheel and clean main brush, is favorable to controlling the robot of sweeping the floor and removes to clean operational environment.
In this embodiment, the inside of core processor sets up electric quantity induction module, and electric quantity induction module is used for the current residual capacity data of robot of self-identification sweeping, through electric quantity induction module's setting, is convenient for respond to the residual capacity of robot of sweeping the floor.
In this embodiment, the input electric connection of core treater has the control module that charges, and the control module that charges is used for controlling the robot that sweeps the floor to get into the mode of charging, charges for the robot that sweeps the floor, and through the setting of control module that charges, the robot that sweeps the floor of being convenient for in time supplyes the electric quantity, prevents to sweep the floor the robot and appear cutting off the power supply in the course of the work.
The working principle is as follows: a user sends a control instruction to the sweeping robot through the control terminal, after the wireless communication module receives the control instruction, the first identification module identifies and judges the control instruction to obtain a working mode of the sweeping robot, then the first identification module sends data to the core processor, the core processor controls the sweeping robot to be started, and the driving motor works through the control module, so that the sweeping robot can start cleaning work, meanwhile, the anti-falling sensor, the gyroscope, the obstacle avoidance sensor and the laser radar in the data acquisition unit work to obtain environmental information around the sweeping robot, the data transmission module sends the environmental data to the data processing module, the data processing module analyzes the working environment data of the sweeping robot, and sends an analysis result to the route planning module to find an optimal cleaning advancing route, the messenger robot of sweeping the floor carries out comprehensive cleanness to operational environment, if the user uses the speech control instruction, speech acquisition module gathers user's speech data, pronunciation host system discerns the pronunciation and judges, speech instruction matches the back with the control instruction storehouse, voice playback equipment takes place the voice response, speech control unit sends control instruction to second identification module discernment afterwards, and then make the work of the robot of sweeping the floor of core processor control, if the electric quantity of the robot of sweeping the floor is not enough, the control module that charges assigns the instruction of charging to the robot of sweeping the floor, make the robot of sweeping the floor remove to the charging seat and charge, to sum up can realize regional self-cleaning work, user's intensity of labour has been reduced, clear efficiency has been improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an operation system of robot of sweeping floor, includes control terminal, wireless communication module, core treater, power module, speech control unit, data acquisition unit, its characterized in that: the control terminal transmits data with the wireless communication module through a wireless network, the output end of the wireless communication module is electrically connected with a first identification module, the output end of the first identification module is electrically connected with a core processor, the output end of the power supply module is electrically connected with the input end of the core processor, the input end of the core processor is electrically connected with a GPS positioning module, the output end of the core processor is electrically connected with a driving module, the output end of the driving module is electrically connected with a driving motor, the output end of the voice control unit is electrically connected with a second identification module, the output end of the second identification module is electrically connected with the input end of the core processor, the output end of the data acquisition unit is electrically connected with a data processing module, and the output end of the data processing module is electrically connected with a route planning module, the output end of the route planning module is electrically connected with the input end of the core processor.
2. The operating system of the sweeping robot of claim 1, wherein: the data acquisition unit includes data transmission module, dropproof sensor, gyroscope, keeps away barrier sensor and laser radar, dropproof sensor, gyroscope, keep away barrier sensor and laser radar's output respectively with data transmission module's input electric connection, data transmission module's output and data processing module's input electric connection.
3. The operating system of the sweeping robot of claim 1, wherein: the voice control unit comprises a voice acquisition module, a voice main control module and a voice playing device, wherein the output end of the voice acquisition module is electrically connected with the input end of the voice main control module, and the output end of the voice main control module is electrically connected with the input end of the voice playing device.
4. The operating system of the sweeping robot of claim 2, wherein: the anti-falling sensor adopts two infrared distance measuring sensors for detecting surrounding obstacles and the distance between the sweeping robot and the ground, and the gyroscope is used for detecting the rotation angle of the sweeping robot.
5. The operating system of the sweeping robot of claim 2, wherein: the number of the obstacle avoidance sensors is a plurality of, the obstacle avoidance sensors are respectively located around the sweeping robot, and the laser radar is used for collecting surrounding environment information of the sweeping robot and storing environment data.
6. The operating system of the sweeping robot of claim 3, wherein: the voice acquisition module is used for acquiring voice control commands, the voice main control module is used for identifying the voice control commands and controlling the floor sweeping robot to enter a corresponding working mode, the voice playing device is a loudspeaker, and the voice playing device is used for responding to the control commands.
7. The operating system of the sweeping robot of claim 1, wherein: the data processing module is used for processing environmental data collected by the sweeping robot, and the route planning module generates a traveling route according to the current position and the target position of the sweeping robot and sends the traveling route to the core processor.
8. The operating system of the sweeping robot of claim 1, wherein: the output shaft of driving motor is provided with drive wheel and clean main brush respectively, the drive wheel is used for controlling the removal and the function that turns to of robot of sweeping the floor, clean main brush is used for cleaning ground.
9. The operating system of the sweeping robot of claim 1, wherein: the electric quantity sensing module is arranged inside the core processor and used for self-recognizing the current residual electric quantity data of the sweeping robot.
10. The operating system of the sweeping robot of claim 1, wherein: the input end electric connection of core treater has charging control module, charging control module is used for controlling the robot of sweeping the floor and gets into the mode of charging, charges for the robot of sweeping the floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518958.XA CN113110506A (en) | 2021-05-12 | 2021-05-12 | Operation system of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518958.XA CN113110506A (en) | 2021-05-12 | 2021-05-12 | Operation system of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113110506A true CN113110506A (en) | 2021-07-13 |
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ID=76722428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110518958.XA Withdrawn CN113110506A (en) | 2021-05-12 | 2021-05-12 | Operation system of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113110506A (en) |
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2021
- 2021-05-12 CN CN202110518958.XA patent/CN113110506A/en not_active Withdrawn
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Application publication date: 20210713 |