CN113679288A - Shared floor sweeping robot and control method thereof - Google Patents
Shared floor sweeping robot and control method thereof Download PDFInfo
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- CN113679288A CN113679288A CN202010406988.7A CN202010406988A CN113679288A CN 113679288 A CN113679288 A CN 113679288A CN 202010406988 A CN202010406988 A CN 202010406988A CN 113679288 A CN113679288 A CN 113679288A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 99
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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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
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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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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses sharing robot of sweeping floor and control method thereof includes: the wireless communication module is used for acquiring a motion instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal; the central control module is used for controlling the driving module to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained; the cleaning module is used for starting cleaning after acquiring the cleaning instruction sent by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path. Therefore, the shared sweeping robot can be flexibly called through remote control, and accordingly convenience of family sweeping is improved and sweeping cost is reduced.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a shared sweeping robot and a control method thereof.
Background
At present, with the urban transformation of China, the number of cells is rapidly increased, and the problem of cleaning the cells and the interiors of houses is more and more concerned. Along with the increase of the household income, more residents adopt robots to automatically clean or ask cleaning personnel to regularly clean. However, the floor sweeping robot with complete functions is expensive, idle for most of time and difficult to maintain, and not only exceeds the disposable range of most of families, but also is inconvenient. The charging of cleaning staff is higher, and the staff is needed to watch at home. The above problems cause that the cleaning problem in the residential area and the household is not solved completely all the time.
Disclosure of Invention
In view of this, an object of the present invention is to provide a shared sweeping robot and a control method thereof, which can implement flexible calling of the shared sweeping robot through remote control, thereby improving convenience of home sweeping and reducing sweeping cost. The specific scheme is as follows:
in a first aspect, the present application discloses a shared sweeping robot, comprising:
the wireless communication module is used for acquiring a motion instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
the central control module is used for controlling the driving module to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained;
the cleaning module is used for starting cleaning after acquiring the cleaning instruction sent by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
Optionally, the central control module is further configured to send corresponding arrival information to the remote control center after the shared floor-sweeping robot arrives at a corresponding user doorway, so that the remote control center issues a corresponding unlocking instruction to the dedicated channel intelligent door lock corresponding to the current user, the dedicated channel intelligent door lock acquires the unlocking instruction, detects and matches the shared floor-sweeping robot, if the shared floor-sweeping robot is detected and matched to the corresponding unlocking instruction, the intelligent door lock is opened, and after the shared floor-sweeping robot enters the user room, the robot enters a notification to the remote control center and close the intelligent door lock.
Optionally, the central control module is further configured to issue the cleaning instruction to the cleaning module after the second planned path is obtained;
and the second planned path is a cleaning path sent to the central control module by the remote control center after the robot entering notification is obtained.
Optionally, the shared sweeping robot further includes:
and the scanning module is used for scanning the current scene in the cleaning process so that the shared sweeping robot can avoid the scanned obstacles.
Optionally, the shared sweeping robot further includes:
the positioning module is used for detecting the position information of the shared sweeping robot;
correspondingly, the central control module is also used for sending the position information to the remote control center.
Optionally, the central control module is further configured to send a request for returning to the initial position to the remote control center after the shared floor sweeping robot completes sweeping, so that the remote control center receives the request for returning to the initial position and then sends a corresponding unlocking instruction to the dedicated channel intelligent door lock, after the dedicated channel intelligent door lock receives the unlocking instruction, the dedicated channel intelligent door lock detects and matches the shared floor sweeping robot, if the shared floor sweeping robot detects and matches the corresponding unlocking instruction, the intelligent door lock is opened, and after the shared floor sweeping robot moves to the outside of the user room, the robot leaves to notify the remote control center and closes the intelligent door lock.
Optionally, the central control module is further configured to control the driving module to drive the shared sweeping robot to return to the initial position or reach a user gate corresponding to a new sweeping task according to a third planned path after the control instruction corresponding to the initial position returning request is obtained.
Optionally, the shared sweeping robot further includes:
and the battery power module is used for sending power alarm information when the battery power is lower than a preset power threshold value, so that the remote control center informs the shared floor sweeping robot to suspend working after acquiring the power alarm information and reach a preset charging position for charging.
Optionally, the shared sweeping robot further includes:
the garbage amount detection module is used for detecting the amount of garbage loaded by the current shared sweeping robot, and if the garbage amount is larger than a preset garbage amount threshold value, sending garbage excess alarm information so that the remote control center can inform the shared sweeping robot to stop working after acquiring the garbage excess alarm information and can unload the garbage when reaching a preset garbage unloading position.
And the planned path storage module is used for storing the first planned path and the second planned path issued by the remote control center.
In a second aspect, the application discloses a shared sweeping robot control method, including:
acquiring a motion instruction sent by a remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
after the movement instruction is obtained, the shared sweeping robot is driven to reach a corresponding user door according to a first planned path;
after the cleaning instruction is obtained, cleaning is started; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
It can be seen that the sharing robot of sweeping floor that this application discloses includes: the wireless communication module is used for acquiring a motion instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal; the central control module is used for controlling the driving module to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained; the cleaning module is used for starting cleaning after acquiring the cleaning instruction sent by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path. That is, this application acquires the motion instruction that remote control center issued, then drives shared robot and reaches the user gate according to first planning route, then cleans according to the second planning route under the control of cleaning the instruction, like this, can realize sharing the nimble of sweeping the floor robot and call to promote the convenience that the family cleaned and reduce and clean the cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural view of a shared sweeping robot disclosed in the present application;
FIG. 2 is a schematic view of a dedicated channel smart door lock disclosed herein;
fig. 3 is a schematic structural view of a specific shared sweeping robot disclosed in the present application;
fig. 4 is a schematic view of an overall work flow of a shared sweeping robot disclosed in the present application;
fig. 5 is a flowchart of a shared sweeping robot control method disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
At present, with the urban transformation of China, the number of cells is rapidly increased, and the problem of cleaning the cells and the interiors of houses is more and more concerned. Along with the increase of the household income, more residents adopt robots to automatically clean or ask cleaning personnel to regularly clean. However, the floor sweeping robot with complete functions is expensive, idle for most of time and difficult to maintain, and not only exceeds the disposable range of most of families, but also is inconvenient. The charging of cleaning staff is higher, and the staff is needed to watch at home. The above problems cause that the cleaning problem in the residential area and the household is not solved completely all the time. Therefore, the application provides a shared sweeping robot and a control method thereof, and flexible calling of the shared sweeping robot can be realized through remote control, so that convenience of family sweeping is improved, and sweeping cost is reduced.
Referring to fig. 1, an embodiment of the present application discloses a shared sweeping robot, including:
the wireless communication module 11 is used for acquiring a motion instruction sent by a remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
the central control module 12 is configured to control the driving module 13 to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the movement instruction is obtained;
the cleaning module 14 is configured to start cleaning after acquiring a cleaning instruction issued by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
It can be seen that the shared floor sweeping robot disclosed in the embodiment of the present application includes: the wireless communication module is used for acquiring a motion instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal; the central control module is used for controlling the driving module to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained; the cleaning module is used for starting cleaning after acquiring the cleaning instruction sent by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path. That is, the embodiment of the application obtains the motion instruction issued by the remote control center, then drives the shared robot to reach the user gate according to the first planned path, and then cleans according to the second planned path under the control of the cleaning instruction, so that the sharing floor cleaning robot can be flexibly called through remote control, and the convenience of family cleaning is improved and the cleaning cost is reduced.
The central control module 12 is further configured to send corresponding arrival information to the remote control center after the shared floor sweeping robot arrives at a corresponding user doorway, so that the remote control center issues a corresponding unlocking instruction to the dedicated channel intelligent door lock corresponding to the current user, the dedicated channel intelligent door lock acquires the unlocking instruction, detects and matches the shared floor sweeping robot, if the shared floor sweeping robot detects and matches the corresponding unlocking instruction, the intelligent door lock is opened, and after the shared floor sweeping robot enters the user room, the robot enters the remote control center and closes the intelligent door lock. And the remote control center starts timing after receiving the entry notification.
It can be understood that the dedicated channel intelligent door lock detects and matches the shared floor-sweeping robot after acquiring the unlocking instruction, and if the shared floor-sweeping robot is detected and matched correspondingly, the intelligent door lock is opened, so that other robots can be prevented from entering a user room.
The central control module 12 is further configured to issue the cleaning instruction to the cleaning module after the second planned path is acquired; and the second planned path is a cleaning path sent to the central control module by the remote control center after the robot entering notification is obtained.
Further, the central control module 12 is further configured to send a request for returning to an initial position to the remote control center after the shared floor-sweeping robot completes sweeping, so that the remote control center sends a corresponding unlocking instruction to the dedicated channel intelligent door lock after receiving the request for returning to the initial position, the dedicated channel intelligent door lock detects and matches the shared floor-sweeping robot after receiving the unlocking instruction, if the shared floor-sweeping robot corresponding to the detection and matching is detected and matched, the intelligent door lock is opened, and after the shared floor-sweeping robot moves to the outside of the user room, the robot leaves to notify the remote control center and closes the intelligent door lock. And the remote control center finishes timing after receiving the departure notification, deducts fees according to the timing time, sends corresponding information to a corresponding user terminal to notify a user of finishing cleaning, and sends a corresponding control instruction to the central control module, and the central control module is also used for controlling the driving module to drive the shared sweeping robot to return to the initial position or reach a user door corresponding to a new cleaning task according to a third planned path after obtaining the control instruction corresponding to the initial position returning request.
In addition, after the shared floor sweeping robot enters the room and closes the intelligent door lock, the dedicated channel intelligent door lock in the embodiment turns on a yellow light to indicate that the work is in progress. And after the shared floor sweeping robot moves to the outside of the user and the intelligent door lock is closed, the green light is turned on. For example, referring to fig. 2, fig. 2 is a schematic view of an intelligent door lock for a dedicated channel disclosed in an embodiment of the present application.
The sharing robot of sweeping the floor still includes: and the planned path storage module is used for storing the first planned path and the second planned path issued by the remote control center. The first planned path is a path determined according to a cell plan, and the second planned path is a path determined according to a user room plan. The cell resident needs to determine the room number when registering through the user terminal. In this embodiment, the remote control center can search a corresponding room plan according to the room number, determine the room size, and plan the cleaning path; meanwhile, the special channel intelligent door lock number can be searched according to the room number, and the remote control is realized by connecting communication.
In a specific embodiment, a residential quarter selects and reserves cleaning time through a user terminal such as a smart phone, sends a cleaning request to a remote control center, and the remote control center sends a room code, a first path plan and a motion instruction to the shared sweeping robot. The central control module receives information through the wireless communication module, controls the driving module, plans according to the first path, reaches a user door at a reservation time point, then sends a completion instruction to the remote control center, and waits for the intelligent door lock of the special channel to open the door. The intelligent door lock detects and matches the robot of sweeping the floor, opens the intelligent door lock, waits for the robot of sweeping the floor to get into. After entering, the intelligent door lock sends a completion instruction to the remote control center, closes the door lock, and lights a yellow light to indicate that the work is in progress. And the remote control center confirms that the sweeping robot enters the room, sends the cleaning planned path of the room, namely the second planned path, and starts timing. The sweeping robot downloads and stores the planned path to the planned path storage module through the wireless communication module, opens the sweeping module and starts to sweep the room according to the path. After cleaning is completed, the sweeping robot moves to a fixed position, sends an instruction to the remote control center and requests to return to the initial position. And after receiving the instruction, the remote control center communicates with the intelligent door lock of the special channel to control the intelligent door lock to open the door lock. The intelligent door lock detects and matches the robot of sweeping the floor, opens the intelligent door lock, waits to sweep the robot and remove outside the room. The remote control center sends an instruction, and the sweeping robot starts to move. When the door lock of the special channel is detected to be finished outside the room, the door lock is automatically closed, the green light is turned on, and the remote control center is informed. And after receiving the instruction, the remote control center stops timing, deducts the fee and informs the user that the timing is finished. And sends a return path to the sweeping robot. And after receiving the instruction, the sweeping robot returns to the initial position or receives a new task according to the regression path.
It can be understood that the embodiment realizes multi-device communication and linkage through a wireless communication technology; the robot can enter a room to clean through control, and manual door opening or guard is not needed; the room door lock can detect and match the robot, and prevent other robots from entering the room; the problems of expensive sweeping robot, high maintenance cost and resource waste can be solved; moreover, maintenance personnel can check the door regularly, and the problem of idle waste caused by equipment damage and incapability of use is solved.
Further, in this embodiment, detection and matching of the dedicated channel intelligent door lock to the shared floor sweeping robot can be realized by using voiceprint recognition or radio frequency identification RFID or image recognition technology.
Referring to fig. 3, an embodiment of the present application discloses a specific shared sweeping robot, including:
the wireless communication module 21 is used for acquiring a motion instruction sent by a remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
the central control module 22 is configured to control the driving module 23 to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained;
the cleaning module 24 is configured to start cleaning after acquiring a cleaning instruction issued by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
The scanning module 25 is configured to scan a current scene in a cleaning process, so that the shared sweeping robot avoids the scanned obstacle.
That is, the shared sweeping robot of the embodiment can realize the obstacle avoidance function through the scanning module in the sweeping process.
A positioning module 26, configured to detect position information of the shared sweeping robot; correspondingly, the central control module 22 is further configured to send the location information to the remote control center.
Namely, the remote control center determines the position of the shared sweeping robot in real time through the positioning module.
And the battery power module 27 is used for sending power alarm information when the battery power is lower than a preset power threshold value, so that the remote control center informs the shared floor sweeping robot to pause after acquiring the power alarm information and to charge when the shared floor sweeping robot reaches a preset charging position.
Therefore, the shared sweeping robot can reach the preset charging position to be charged, and continues to work after charging is completed. That is, during the work of the sweeping robot, if the battery power is too low to alarm, the remote control center informs the sweeping robot to suspend work, returns to the designated position to charge, waits for the completion again, and continues to work.
The garbage amount detection module 28 is configured to detect the amount of garbage loaded by the current shared floor-sweeping robot, and if the amount of garbage is greater than a preset garbage amount threshold, send out excessive garbage alarm information, so that the remote control center notifies the shared floor-sweeping robot to suspend working after obtaining the excessive garbage alarm information, and to unload the garbage when reaching a preset garbage unloading position.
Therefore, the shared sweeping robot can reach the preset garbage unloading position to unload garbage, and continues to work after the garbage is unloaded. That is, during the work of the sweeping robot, if the garbage amount detection module gives an alarm, the remote control center informs the sweeping robot to suspend work, returns to the designated position, and continues to work after waiting for unloading of garbage.
For example, referring to fig. 4, an embodiment of the present application discloses an overall workflow diagram of a shared sweeping robot. The shared sweeping robot comprises: the sweeping robot comprises a sweeping robot body, a central control unit, a wireless communication module, a positioning module, a driving module, a scanning module, a sweeping module, a charging/battery module, a path planning/storing module and a garbage amount detecting module. The residential community carries out registration application and cleaning application to the remote control center through the user terminal, and obtains related information sent by the remote control center. The remote control center communicates with the intelligent door lock of the special channel to control the opening and closing of the door lock. The remote control center is communicated with the central control unit through the wireless communication module to control the robot to complete the cleaning task.
Referring to fig. 5, an embodiment of the present application discloses a shared sweeping robot control method, including:
step S11: acquiring a motion instruction sent by a remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal.
Step S12: and after the movement instruction is obtained, the shared sweeping robot is driven to reach a corresponding user gate according to a first planned path.
In a specific implementation manner, after the shared floor-sweeping robot reaches a corresponding user door, corresponding arrival information is sent to the remote control center, so that the remote control center issues a corresponding unlocking instruction to a dedicated channel intelligent door lock corresponding to a current user, after the dedicated channel intelligent door lock acquires the unlocking instruction, detection and matching for the shared floor-sweeping robot are performed, if the corresponding shared floor-sweeping robot is detected and matched, the intelligent door lock is opened, and after the shared floor-sweeping robot enters a user room, a robot entering notification is sent to the remote control center and the intelligent door lock is closed. The remote control center starts timing.
Step S13: after the cleaning instruction is obtained, cleaning is started; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
And the second planned path is a cleaning path sent by the remote control center after the robot entering notification is obtained.
In addition, in the embodiment, the current scene can be scanned in the cleaning process, so that the shared sweeping robot avoids the scanned obstacles, the position information of the shared sweeping robot is detected, and the position information is sent to the remote control center.
Further, after the shared floor sweeping robot finishes sweeping, a request of returning to an initial position is sent to the remote control center, so that the remote control center sends a corresponding unlocking instruction to the dedicated channel intelligent door lock after receiving the request of returning to the initial position, the dedicated channel intelligent door lock takes the unlocking instruction, detection and matching are carried out on the shared floor sweeping robot, if the corresponding shared floor sweeping robot is detected and matched, the intelligent door lock is opened, and after the shared floor sweeping robot moves to the outside of a user room, a robot leaving notice is sent to the remote control center and the intelligent door lock is closed. And the remote control center stops timing and deducts fees according to the timing time.
In addition, after the control instruction corresponding to the request for returning to the initial position is obtained, the driving module is controlled to drive the shared sweeping robot to return to the initial position or reach the user door corresponding to the new sweeping task according to the third planned path.
In addition, the implementation can send out electric quantity alarm information when the electric quantity of the battery is lower than a preset electric quantity threshold value, so that the remote control center informs the shared floor sweeping robot to suspend working after acquiring the electric quantity alarm information and to reach a preset charging position for charging.
The embodiment can also detect the amount of garbage loaded by the current shared sweeping robot, and if the amount of garbage is greater than a preset garbage amount threshold value, send out excessive garbage alarm information so that the remote control center can notify the shared sweeping robot to suspend working after acquiring the excessive garbage alarm information and can unload garbage when reaching a preset garbage unloading position.
The embodiment may further store the first planned path and the second planned path issued by the remote control center.
Therefore, the method and the device for controlling the movement of the mobile terminal acquire the movement instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal; after the movement instruction is obtained, the shared sweeping robot is driven to reach a corresponding user door according to a first planned path; after the cleaning instruction is obtained, cleaning is started; and when cleaning, the travel path of the shared sweeping robot is a second planned path. That is, this application acquires the motion instruction that remote control center issued, then drives shared robot and reaches the user gate according to first planning route, then cleans according to the second planning route under the control of cleaning the instruction, like this, can realize sharing the nimble of sweeping the floor robot and call to promote the convenience that the family cleaned and reduce and clean the cost.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The shared sweeping robot and the control method thereof provided by the application are described in detail above, specific examples are applied in the description to explain the principle and the implementation manner of the application, and the description of the above embodiments is only used to help understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A shared sweeping robot, comprising:
the wireless communication module is used for acquiring a motion instruction sent by the remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
the central control module is used for controlling the driving module to drive the shared sweeping robot to reach a corresponding user gate according to a first planned path after the motion instruction is obtained;
the cleaning module is used for starting cleaning after acquiring the cleaning instruction sent by the central control module; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
2. The shared sweeping robot of claim 1,
the central control module is further used for sending corresponding arrival information to the remote control center after the shared floor-sweeping robot arrives at a corresponding user gate, so that the remote control center sends a corresponding unlocking instruction to the dedicated channel intelligent door lock corresponding to the current user, the dedicated channel intelligent door lock detects and matches the shared floor-sweeping robot after acquiring the unlocking instruction, if the shared floor-sweeping robot detects and matches the corresponding unlocking instruction, the intelligent door lock is opened, and after the shared floor-sweeping robot enters a user room, the robot enters a notice to the remote control center and closes the intelligent door lock.
3. The shared sweeping robot of claim 2,
the central control module is further configured to issue the cleaning instruction to the cleaning module after the second planned path is acquired;
and the second planned path is a cleaning path sent to the central control module by the remote control center after the robot entering notification is obtained.
4. The shared sweeping robot of claim 1, further comprising:
and the scanning module is used for scanning the current scene in the cleaning process so that the shared sweeping robot can avoid the scanned obstacles.
5. The shared sweeping robot of claim 1, further comprising:
the positioning module is used for detecting the position information of the shared sweeping robot;
correspondingly, the central control module is also used for sending the position information to the remote control center.
6. The shared sweeping robot of claim 2,
the central control module is further used for sending a request of returning to an initial position to the remote control center after the shared floor sweeping robot finishes sweeping, so that the remote control center receives the request of returning to the initial position and then sends a corresponding unlocking instruction to the dedicated channel intelligent door lock, after the dedicated channel intelligent door lock gets the unlocking instruction, detection and matching of the shared floor sweeping robot are carried out, if the shared floor sweeping robot is detected and matched to correspond, the intelligent door lock is opened, and after the shared floor sweeping robot moves to the outside of a user room, the robot is sent to leave the remote control center and the intelligent door lock is closed.
7. The shared sweeping robot of claim 6,
and the central control module is further used for controlling the driving module to drive the shared sweeping robot to return to the initial position or reach a user gate corresponding to a new sweeping task according to a third planned path after the control instruction corresponding to the initial position returning request is obtained.
8. The shared sweeping robot of claim 1, further comprising:
and the battery power module is used for sending power alarm information when the battery power is lower than a preset power threshold value, so that the remote control center informs the shared floor sweeping robot to suspend working after acquiring the power alarm information and reach a preset charging position for charging.
9. The shared sweeping robot of claim 1, further comprising:
the garbage amount detection module is used for detecting the amount of garbage loaded by the current shared sweeping robot, and if the garbage amount is larger than a preset garbage amount threshold value, sending garbage excess alarm information so that the remote control center can inform the shared sweeping robot to stop working after acquiring the garbage excess alarm information and can unload the garbage when reaching a preset garbage unloading position;
and the planned path storage module is used for storing the first planned path and the second planned path issued by the remote control center.
10. A shared sweeping robot control method is characterized by comprising the following steps:
acquiring a motion instruction sent by a remote control center; the motion instruction is issued by the remote control center according to the reserved time in the cleaning application when the remote control center acquires the cleaning application sent by the user terminal;
after the movement instruction is obtained, the shared sweeping robot is driven to reach a corresponding user door according to a first planned path;
after the cleaning instruction is obtained, cleaning is started; and when cleaning, the travel path of the shared sweeping robot is a second planned path.
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