CN206920923U - Robot and corresponding robot system - Google Patents
Robot and corresponding robot system Download PDFInfo
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- CN206920923U CN206920923U CN201720557046.2U CN201720557046U CN206920923U CN 206920923 U CN206920923 U CN 206920923U CN 201720557046 U CN201720557046 U CN 201720557046U CN 206920923 U CN206920923 U CN 206920923U
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Abstract
It the utility model is related to a kind of robot, including main control processor, radio communication device, positioning planning module, memory and mobile apparatus for work, radio communication device, positioning planning module, memory and mobile apparatus for work are electrically connected with main control processor respectively, radio communication device is used to receive control information, and obtain current location identity information, main control processor is used to parse control information, obtain goal task information and goal task region, positioning planning module is used to be matched current location identity information with sensed activity map, confirm current location and mobile route, mobile apparatus for work is used to reach goal task region according to mobile route and performs Job Operations.In addition, also provide a kind of robot system.Above-mentioned robot and robot system, it fast automatic can position and realize the task operating in specified location and region.
Description
Technical field
Automation field is the utility model is related to, more particularly to a kind of robot and corresponding robot system.
Background technology
With the fast development of automated control technology, clean robot obtains development at full speed and is widely applied, but
It is that traditional robot is often not ideal enough in cleaning path algorithm and planning, can not realizes that the fixed point in specified location and region is clear
Clean task.
The content of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of robot and corresponding robot system, can carry out
Quickly it is automatically positioned, realizes fixed point clean up task.
A kind of robot, the robot include：Including main control processor, radio communication device, positioning planning module, deposit
Reservoir and mobile apparatus for work, the radio communication device, positioning planning module, memory and mobile apparatus for work difference
It is electrically connected with the main control processor；
The radio communication device is used for the control information for receiving control terminal transmission, and the control information is sent to described
Main control processor, it is additionally operable to be communicated with Current terrestrial induction installation, current location identity information corresponding to acquisition is simultaneously sent
To the main control processor；
The main control processor is used to parse the control information, goal task information is obtained, according to the mesh
Mission bit stream is marked, obtains goal task region；
The positioning planning module is used to be matched the current location identity information with sensed activity map, confirms
Current location, according to the goal task region and the current location, it is determined that mobile route；
The mobile apparatus for work is used to be moved according to the mobile route, reaches the goal task region and root
Job Operations are performed according to the goal task information.
In one embodiment, the radio communication device is additionally operable to be communicated with Current terrestrial induction installation, obtains
Corresponding current region range information, the robot also include sensed activity map acquisition module, the sensed activity map
Acquisition module is used for using the current location identity information as map current basal point, by the current region range information pair
The current region scope answered is felt as map current base region, and to any adjacent ground of the Current terrestrial induction installation
Answer device to move detection, until obtaining corresponding all station location marker information in scope of activities, generate sensed activity map.
In one embodiment, radio communication device includes radio frequency discrimination RFID component, short-range communication NFC components, nothing
Line local area network communication WiFi components, bluetooth module, ultra long haul low power consumption data transmit LoRa components and based on cellular arrowbands
At least one of Internet of Things NB-IoT components.
In one embodiment, the goal task information also includes the goal task execution time, goal task performs frequency
Rate and goal task type, when the positioning planning module is additionally operable to perform time planning movement according to the goal task
Between, frequency planning operating frequency is performed according to the goal task, work pattern is determined according to the goal task type.
In one embodiment, the robot also includes：
Video frequency pick-up head, make for obtaining mobile Job execution information corresponding to mobile apparatus for work, and by the movement
Industry execution information returns control terminal described in being back to.
In one embodiment, the mobile apparatus for work is included in cleaning assemblies, transport assembly and spray assembly extremely
Few one kind, and moving assembly.
In one embodiment, the memory is used to store the robot movable information, the robot movable letter
Breath includes at least one of charge information, activity duration, homework type, job result and operation handing-over information.
In one embodiment, the radio communication device is additionally operable to send the robot movable information to described and worked as
Preceding ground induction installation.
A kind of robot system, the system include any one described robot in control terminal and above-described embodiment,
The control terminal is used to obtain control information, establishes and communicates to connect with the robot, and the control information is sent to institute
State robot.
In one embodiment, the system also includes ground induction installation, and the control terminal can also be with target floor
Induction installation establishes communication connection, for obtaining the target location identification information corresponding with the target floor induction installation,
Control information corresponding to generation, and the control control information is sent to the robot.
Above-mentioned robot and corresponding robot system, it is mutual by control terminal, robot and ground induction installation
Coordinate so that robot can obtain corresponding current location identity information and goal task information, then according to present bit
Identification information and goal task information are put, further by positioning planning module, realizes quick positioning confirmation present bit in real time
Put, then by moving operation and Job Operations corresponding to mobile Job Operations device execution, so as to complete appointing for specified location
Business operation so that the task operating of a certain regional location of setting that can be arbitrarily, overcome traditional robot system on task road
The shortcomings that fixed point task operating can not be realized in terms of footpath algorithm and planning, while the flexibility of task operating setting is also improved,
Also the relative operating efficiency for improving robot system.
Brief description of the drawings
Fig. 1 is a kind of applied environment figure of robot in one embodiment；
Fig. 2 is a kind of structured flowchart of ground induction installation in one embodiment；
Fig. 3 is a kind of structured flowchart of ground induction installation in another embodiment；
Fig. 4 is a kind of structured flowchart of robot in one embodiment；
Fig. 5 is a kind of structured flowchart of robot in another embodiment；
Fig. 6 is a kind of structured flowchart of robot in another embodiment；
Fig. 7 is a kind of structured flowchart of robot system in one embodiment；
Fig. 8 is a kind of structured flowchart of control terminal in one embodiment；
Fig. 9 is a kind of structured flowchart of robot system in another embodiment.
Embodiment
In one embodiment, the application environment of above-mentioned robot is as shown in figure 1, including control terminal 110, robot 120
And ground induction installation 130, wherein control terminal 110 and robot 120 can establish communication connection, robot 120 can be with
Ground induction installation 130 establishes communication connection, and wherein ground induction installation 130, which is arranged at, presets activity corresponding to robot 120
Region, default zone of action corresponding to robot 120 are generally divided into multiple predeterminable area scopes according to preset length and width,
Then each predeterminable area scope can set corresponding to ground induction installation 130, control terminal 110 include but is not limited to mobile phone,
Flat board and Intelligent worn device.
Wherein, control terminal 110 can also be arranged on corresponding to robot 120 in structure, be easy to directly be controlled
Operation.
Wherein, in one embodiment, as shown in Fig. 2 ground induction installation 130 includes floor main body 132, inductive component
134 and corresponding communication component 136, floor main body 132 can also use the form of floor tile or carpet, the inductive component
134 are electrically connected with the communication component 136, and inductive component 134 and the communication component 136 insertion is arranged on described
Inside floor main body 132, the inductive component 134 is used for the 130 generation sense when robot 120 enters Current terrestrial induction installation
Information is answered, according to the induction information, current location identity information corresponding to acquisition is simultaneously sent to the communication component 136, institute
State communication component 136 to be used to establish communication connection with the robot 120, and the current location identity information is sent to institute
State robot 120.
Wherein, in another embodiment, as shown in figure 3, ground induction installation 130, including floor main body 132, sensing
Communication component 138, inductive communication component 138 are arranged on inside floor main body 132, and inductive communication component 138 includes radio frequency identification
Any one in RFID component and short-range communication NFC components, every kind of ground induction installation 130 can set multiple sensings
Communication component 138, such as multiple RFID components or NFC components, robot 120 are felt by inductive communication component 138 and ground
Answer device 130 to establish communication connection, corresponding current induction information can be obtained.
Wherein, in one embodiment, the zone of action in the preset range of robot 120 is the ground in the range of a room
Zone of action, current room is divided into multiple predeterminable area scopes according to preset length and width, then each predeterminable area
Scope is respectively provided with corresponding ground induction installation 130.
Wherein, in one embodiment, size corresponding to each ground induction installation 130 and the length of above-mentioned predeterminable area
It is consistent, and can be layed in current preset zone of action with width.
In one embodiment, there is provided a kind of robot 120, using in above-mentioned application environment, as shown in figure 4, including：
Main control processor 121, radio communication device 122, positioning planning module 123, memory 124 and mobile apparatus for work 125, its
Middle radio communication device 122, positioning planning module 123, memory 124 and mobile apparatus for work 125 are handled with master control respectively
Device 121 is electrically connected with, and wherein radio communication device 122 is used for the control information for receiving the transmission of control terminal 110, and control information is sent out
Main control processor 210 is delivered to, is additionally operable to be communicated with Current terrestrial induction installation 130, current location identity corresponding to acquisition
Information is simultaneously sent to main control processor 121, and main control processor 121 is used to parse control information, obtains goal task letter
Breath, according to goal task information, goal task region is obtained, positioning planning module 123 is used for current location identity information is same
Sensed activity map is matched, and confirms current location, according to goal task region and current location, it is determined that mobile route, is moved
Dynamic apparatus for work 125 is used to be moved according to mobile route, reaches goal task region and is performed according to goal task information
Job Operations, wherein radio communication device 122 include corresponding communicate of matching with Current terrestrial inductive communication device 130 and filled respectively
Put, to ensure that both can establish communication connection.
Specifically, robot 120 can be established by wireless communication module 122 and control terminal 110 and communicated to connect, control terminal
110 can pass through bluetooth, short-range communication NFC (Near Field Communication, NFC) and wireless LAN communication
The modes such as WiFi (Wireless Fidelity, WiFi) are communicated with robot, can actively send control information to machine
People 120, can also send control information to robot 120 according to the request of robot 120, wherein control information is removed and included
Outside goal task information, other information, such as system time setting information, start information, ending message, pause letter may also include
Breath, translational speed information and recovery information etc..Robot 120 needs further to be solved after receiving corresponding control information
Analysis, obtain corresponding goal task information.
In one embodiment, control terminal 110 is smart mobile phone, and control terminal 110 and robot 120 are in same local
In net, connection is established by WiFi communication mode, control terminal 110 generates control information, control letter according to the input information of user
Breath includes goal task information, translational speed information and system time setting information, and mobile phone terminal is provided with corresponding application control
Processing procedure sequence APP (Application, APP), by controlling application APP corresponding to opening, mobile phone terminal can show corresponding
Control interface, the translational speed of robot 120 can be set, pass through the input system time with new destination mission bit stream
Configuration information adjusts the system time of robot, ensures synchronous with the holding of the time of control terminal 110.Robot 120 receives control letter
Parsed after breath by main control processor 121, can obtain corresponding to goal task information, according to goal task information,
Obtain goal task region and send to positioning planning module 123.
In one embodiment, the form of control information can also be the forms such as voice and gesture, and above-mentioned APP can lead to
Cross mobile phone control terminal 110 and conversion processing carried out to above-mentioned voice and gesture, obtain goal task information, translational speed information with
And system time setting information.
Further, radio communication device 122 is communicated with Current terrestrial induction installation 130, current corresponding to acquisition
Station location marker information is simultaneously sent to main control processor 121.
In one embodiment, the zone of action in the preset range of robot 120 is the land operations in the range of a room
Region, current room is divided into multiple predeterminable area scopes according to preset length and width, then each predeterminable area scope
There is corresponding station location marker information, and unique corresponding ground induction installation 130 is set, each predeterminable area scope is big
It is small identical with the holding of ground induction installation size, that is to say, that station location marker information is pre- with this corresponding to ground induction installation 130
If station location marker information is identical corresponding to region.In a specific embodiment, if robot 120 is located exactly at multiple ground
Regional extent intersection corresponding to induction installation, now, radio communication device 122 can obtain each ground induction installation respectively
Corresponding current location identity information is simultaneously sent to positioning planning module 123.
Further, positioning planning module 123 is matched current location identity information with sensed activity map, is confirmed
Current location, further according to goal task region and current location, it is determined that moving route, and send to mobile apparatus for work
125。
Specifically, after positioning planning module 123 obtains corresponding current location identity information, current location identity is believed
Breath is contrasted with sensed activity map, it may be determined that current location identity corresponding particular location in sensed activity map,
Current location is positioned, confirms current location.
In one embodiment, positioning planning module 123 receives multiple current location identity information simultaneously, can now enter
One step is matched above-mentioned each current location identity information with sensing cartographic information respectively, and then utilizes multiple current locations
Identification information carries out auxiliary judgment, more accurately confirms current location.
Then, positioning planning module 123 confirms result and goal task region according to current location, selects optimal route
As mobile route.
Specifically, generally the central point of predeterminable area scope corresponding to each ground induction installation is felt labeled as the ground
Station location marker information corresponding to device is answered, goal task region can include position corresponding to one or more ground induction installation
Put identification information.If goal task region includes station location marker information corresponding to the multiple ground induction installations of person, mesh is generally chosen
Station location marker information nearest with current location in mission area is marked as target initial position identification information, further basis ought
Front position and the mobile route of target initial position identification information planning.
In one embodiment, mobile route generally chooses current location and mesh corresponding to target initial position identification information
The straight line path between initial position is marked as mobile route.
Finally, mobile apparatus for work 125 moves according to above-mentioned mobile route, after reaching goal task region, root
Job Operations are performed according to goal task information.
Specifically, robot 120 carries out fast positioning to current location and after confirming current location, can further basis
Goal task information and current location, corresponding moving operation and Job Operations are performed by mobile apparatus for work 125, so as to real
Existing Fixed Point Operation operation.
In the present embodiment, robot is established with ground inductive communication device and control terminal respectively by radio communication device
Communication connection, current location identity information corresponding to acquisition and goal task information, then according to current location identity information
And goal task information, further by positioning planning module, quick positioning confirmation current location in real time is realized, is then passed through
Moving operation and Job Operations corresponding to mobile Job Operations device execution, so as to complete the task operating of specified location so that
The task operating of a certain regional location of setting that can be arbitrarily, overcomes traditional robot in terms of task routing algorithm and planning
The shortcomings that fixed point task operating can not be realized, while the flexibility of robot task operation setting is also improved, it is also relative to improve
Robot manipulating task efficiency.
In one embodiment, as shown in figure 5, radio communication device 122 is additionally operable to enter with Current terrestrial induction installation 130
Row communication, current region range information corresponding to acquisition, above-mentioned robot 120 also include：
Sensed activity map acquisition module 126, is connected with main control processor 121, for by the current location identity
Information is as map current basal point, using current region scope corresponding to the current region range information as the current base of map
Quasi- region, and detection is moved to any adjacent ground induction installation of the Current terrestrial induction installation, until obtaining pre-
If corresponding all station location marker information in scope of activities, sensed activity map is generated.
Specifically, robot 120 can be corresponded to independently in active probe acquisition by sensed activity map acquisition module 126
Sensing cartographic information, after current location identity information is obtained, a blank map newly-built first, then in the blank
A datum mark is chosen in figure, is current location identity information by the datum marks, obtains corresponding map current base point,
The current region scope according to corresponding to obtaining current region range information, and using current region scope as map current base area
Domain, then moved to any adjacent ground induction installation of Current terrestrial induction installation, obtain next ground sensing successively
Station location marker information corresponding to device and regional extent information, respectively as current newly-increased position identification information and current new
Increase regional extent information, then further according to corresponding to mobile message such as translational speed, position motion-vector and moving rail
The information such as mark, with reference to map current base point and map current base region, create ground in orientation corresponding to chart datum point
The current newly-increased point of figure and corresponding map currently increase region newly, and currently increase map newly point labeled as currently newly-increased position mark
Know information, then repeat to move detection according to above-mentioned detection steps, until obtaining corresponding all positions in zone of action
Identification information, generate sensed activity map.
Sensed activity map is generated by above-mentioned active probe, enables to robot in the feelings of no storage sensing map
It can still be detected under condition to continue subsequent job operation, improve the intelligence degree of whole robot, increase
The range of applicability and scene of robot.
In one embodiment, corresponding radio communication device 122 includes radio frequency discrimination RFID in above-mentioned robot 120
(Radio Frequency Identification, RFID) component, short-range communication NFC components, wireless LAN communication
WiFi components, bluetooth module, ultra long haul low power consumption data transmit LoRa components and based on cellular arrowband Internet of Things NB-IoT
At least one of component, wherein LoRa components represent ultra long haul low power consumption data transmission (Lang Range Wide-Area
Network, LoRa), NB-IoT components represent to be based on cellular arrowband Internet of Things (Narrow Band Internet of
Things, NB-IoT).
Specifically, radio communication device 122 matches and corresponding with the communicator in the induction installation of floor, can establish
Communicated.Wherein, can be led according to any of RFID and NFC components component, radio communication device 122
It is dynamic to be communicated with ground induction installation 130, according to WiFi components, bluetooth module and based on any group of NB-IoT components
Part, then communication can only passively with floor induction installation 130 establish communicate to connect and communicated.
In one embodiment, goal task information also include goal task perform the time, goal task perform frequency with
And goal task type, positioning planning module 122 is additionally operable to perform time planning traveling time according to goal task, according to target
Tasks carrying frequency planning operating frequency, work pattern is determined according to goal task type.
In one embodiment, as shown in fig. 6, above-mentioned robot 120 also includes video frequency pick-up head 127, handled with master control
Device 121 is electrically connected with, for obtaining mobile Job execution information corresponding to mobile apparatus for work 125, and will mobile Job execution
Information is back to control terminal 110.
Specifically, robot 120 is shot corresponding to recording when specifically performing current task operation by video frequency pick-up head
Video image, corresponding task operating execution information can be fed back to control terminal 110 so that control terminal 110 can be moved in real time
State understands state corresponding to robot 120, to make control decision at any time, generates control information.
In one embodiment, in above-mentioned robot 120 mobile apparatus for work 125 include cleaning assemblies, spray assembly and
At least one of transport assembly, and moving assembly.Specifically, robot 120 can be provided with cleaning assemblies, such as drag
Devices such as, broom and dust catchers, transport assembly, such as pallet can also be provided with, spraying operation component can also be set
Deng, with specific reference to actual functional capability need be configured.
In one embodiment, corresponding memory 124 is used to store robot movable information in robot 120, described
Robot movable information is included in charge information, activity duration, homework type, job result and operation handing-over information at least
It is a kind of.
Specifically, robot 120 can obtain robot movable corresponding to robot 120 by main control processor 121 and believe
Breath, and preserving to memory 124, robot movable information include charge information, the activity duration, homework type, job result with
And at least one of operation handing-over information, wherein charge information includes the charging robot number information of robot 120, charging
At least one of time started, charging end time, charging effect information and charge position identification information, activity duration bag
Operation time started information, end-of-job time information and the operation duration of robot 120 are included, homework type includes machine
Cleaning operation corresponding to device people 120, spraying operation and hauling operation are at least one, job result include operation complete information with
And at least one of job eveluation information, operation handing-over information includes flow chart handing-over information, job task joins information,
Activity duration joins at least one of information and manipulating object handing-over information.
In one embodiment, the radio communication device 122 is additionally operable to send the robot movable information to institute
State Current terrestrial induction installation 130.
Specifically, the mistake that robot 120 is communicated by radio communication device 122 with Current terrestrial induction installation 130
Cheng Zhong, robot movable information can be written in Current terrestrial induction installation 130, Current terrestrial induction installation 130 receives
Robot movable information is simultaneously preserved, and when next robot reaches Current terrestrial induction installation 130, can be obtained current
Robot movable information corresponding to robot 120, the then operation according to corresponding to performing robot movable information.
In one embodiment, current robot 120 is watering robot, and Current terrestrial induction installation 130 is current sense
Answer floor, the process that corresponding robot 120 is communicated by radio communication device 122 with Current terrestrial induction installation 130
In, robot movable information can be written in current sensing floor 130, robot movable information includes watering Job Operations
Activity duration, job result and operation handing-over information, operation join information and mopped floor process including follow-up cleaning, current machine
After corresponding current robot action message is write existing floor 130 by device people 120, the follow-up floor-mopping robot that cleans reaches currently
During floor 130, robot movable information corresponding to current robot 120 can be obtained, operation handing-over information is then obtained, starts
Cleaning is performed to mop floor operation.
By the way that robot movable information is written in Current terrestrial induction installation 130, multiple robots can be made simultaneously
Task operating is carried out, realizes the Cooperation controlling of multiple robots, is advantageous to the further overall efficiency for improving robot work.
In one embodiment, the Cooperation controlling of multiple robots can be realized further combined with ant algorithm.
In addition, a kind of robot system is additionally provided, as shown in fig. 7, comprises control terminal 110 and robot 120, control
End 110 is used to obtain control information, establishes and communicates to connect with the robot 120, and the control information is sent to described
Robot 120.
In one embodiment, as shown in figure 8, control terminal 110 includes terminal wireless communication device 112, terminal wireless leads to
T unit 112 with corresponding radio communication device 122 is corresponding in robot and can be communicated, for control information to be sent out
Deliver to robot 120.
Specifically, control terminal 110 can be communicated by terminal wireless communication device 112 with robot, terminal wireless
Communicator 112 can use the mode such as bluetooth, short-range communication NFC and wireless LAN communication WiFi any one, can
Actively to send control information to robot 120, machine can also be sent control information to according to the request of robot 120
People 120, and wherein control information may also include other information in addition to including goal task information, such as system time setting information,
Start information, ending message, pause information, translational speed information and recovery information etc..Robot 120 includes main control processor
121st, radio communication device 122, positioning planning module 123, memory 124 and mobile apparatus for work 125, wherein radio communication
Device 122, positioning planning module 123, memory 124 and mobile apparatus for work 125 electrically connect with main control processor 121 respectively
Connect, control terminal 110 can also be communicated due to including corresponding communicator respectively with ground induction installation 130, work as needs
When specifying the task operating in certain region, it can directly pass through corresponding terminal wireless communication device 112 and machine in control terminal 110
Radio communication device 122 in people 120 is communicated, and obtains the station location marker information for specifying certain sensed activity region, further
Control information is generated, and the control information is sent to robot 120.
Further, radio communication device 122 is used for the control information for receiving the transmission of control terminal 110, and control information is sent out
Main control processor 120 is delivered to, is additionally operable to be communicated with Current terrestrial induction installation 130, current location identity corresponding to acquisition
Information is simultaneously sent to main control processor 121, and main control processor 121 is used to parse control information, obtains goal task letter
Breath, according to goal task information, goal task region is obtained, positioning planning module 123 is used for current location identity information is same
Sensed activity map is matched, and confirms current location, according to goal task region and current location, it is determined that mobile route, is moved
Dynamic apparatus for work 125 is used to be moved according to mobile route, reaches goal task region and is performed according to goal task information
Job Operations, wherein radio communication device 122 include corresponding communicate of matching with Current terrestrial inductive communication device 130 and filled respectively
Put, to ensure that both can establish communication connection.
In one embodiment, control terminal 110 is smart mobile phone, and control terminal 110 and robot 120 are in same local
In net, terminal wireless communication device 122 is WiFi communication module, and control terminal 11 is built by WiFi communication module and robot 120
Vertical connection, control terminal 110 generate control information according to the input information of user, and control information includes goal task information, movement
Velocity information and system time setting information, mobile phone control end 110 are provided with corresponding utility control program APP
(Application, APP), by controlling application APP corresponding to opening, mobile phone control end 110 can show corresponding control
Interface processed, the translational speed of robot 120 can be set, set by the input system time with new destination mission bit stream
The system time of confidence breath adjustment robot, ensures synchronous with the holding of the time of control terminal 110.
Above-mentioned robot system, cooperated by control terminal and robot so that corresponding to robot can obtain
Current location identity information and goal task information, then according to current location identity information and goal task information, enter
One step is realized quick positioning confirmation current location in real time, then held by mobile Job Operations device by positioning planning module
Moving operation corresponding to row and Job Operations, so as to complete the task operating of specified location so that setting that can be random is a certain
The task operating of regional location, overcoming traditional robot system can not realize that fixed point is appointed in terms of task routing algorithm and planning
The shortcomings that business operation, while the flexibility of task operating setting is also improved, the also relative operation for improving robot system is imitated
Rate.
As shown in figure 9, in one embodiment, above-mentioned robot system also includes ground induction installation 130, control terminal
110 can also establish communication connection with ground induction installation 130, for obtaining the sensing corresponding with ground induction installation 130
The station location marker information of zone of action, control information corresponding to generation, and control control information is sent to robot 120.
Specifically, control terminal 110, ground induction installation 130 and robot 120 have been monolithically fabricated a system of robot
System, control terminal 110 include terminal wireless communication device 112, and robot 120 includes main control processor 121, radio communication device
122nd, positioning planning module 123, memory 124 and mobile apparatus for work 125, wherein radio communication device 122, positioning planning
Module 123, memory 124 and mobile apparatus for work 125 are electrically connected with main control processor 121 respectively, control terminal 110 due to
Corresponding communicator is included respectively with ground induction installation 130, can also be communicated, when the needing certain specified region of the task
During operation, directly it can be carried out by corresponding terminal wireless communication device 112 in control terminal 110 with ground induction installation 130
Communication, the station location marker information for specifying certain sensed activity region is obtained, further generates control information, and the control information is sent out
Deliver to robot 120.
Further, radio communication device 122 is used for the control information for receiving the transmission of control terminal 110, and control information is sent out
Main control processor 121 is delivered to, is additionally operable to be communicated with Current terrestrial induction installation 130, current location identity corresponding to acquisition
Information is simultaneously sent to main control processor 121, and main control processor 121 is used to parse control information, obtains goal task letter
Breath, according to goal task information, goal task region is obtained, positioning planning module 123 is used for current location identity information is same
Sensed activity map is matched, and confirms current location, according to goal task region and current location, it is determined that mobile route, is moved
Dynamic apparatus for work 125 is used to be moved according to mobile route, reaches goal task region and is performed according to goal task information
Job Operations, wherein radio communication device 122 include corresponding communicate of matching with Current terrestrial inductive communication device 130 and filled respectively
Put, to ensure that both can establish communication connection.
Above-mentioned robot system, cooperated by control terminal, robot and ground induction installation so that robot energy
Current location identity information and goal task information corresponding to enough acquisitions, then according to current location identity information and target
Mission bit stream, further by positioning planning module, quick positioning confirmation current location in real time is realized, is further made by mobile
Moving operation and Job Operations corresponding to the execution of industry operation device, so as to complete the task operating of specified location so that Ke Yisui
The task operating of a certain regional location of setting of meaning, overcomes traditional robot system nothing in terms of task routing algorithm and planning
Method realizes the shortcomings that fixed point task operating, while also improves the flexibility of task operating setting, also relative to improve robot
The operating efficiency of system.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of robot, it is characterised in that the robot includes：Including main control processor, radio communication device, positioning rule
Draw module, memory and mobile apparatus for work, the radio communication device, positioning planning module, memory and mobile work
Industry device is electrically connected with the main control processor respectively；
The radio communication device is used for the control information for receiving control terminal transmission, and the control information is sent to the master control
Processor, it is additionally operable to be communicated with Current terrestrial induction installation, current location identity information corresponding to acquisition is simultaneously sent to institute
State positioning planning module；
The main control processor is used to parse the control information, obtains goal task information, is appointed according to the target
Business information, obtain goal task region and simultaneously send the positioning planning module；
The positioning planning module is used to be matched the current location identity information with sensed activity map, confirms current
Position, according to the goal task region and the current location, it is determined that mobile route；
The mobile apparatus for work is used to be moved according to the mobile route, reaches the goal task region and according to institute
State goal task information and perform Job Operations.
2. robot according to claim 1, it is characterised in that the radio communication device is additionally operable to and Current terrestrial sense
Device is answered to be communicated, current region range information corresponding to acquisition, the robot also includes sensed activity map and obtains mould
Block, the sensed activity map acquisition module is used for using the current location identity information as map current basal point, by institute
Current region scope corresponding to current region range information is stated as map current base region, and is sensed to the Current terrestrial
Any adjacent ground induction installation of device moves detection, until obtaining corresponding all station location marker letters in scope of activities
Breath, generate sensed activity map.
3. robot according to claim 1, it is characterised in that the radio communication device includes radio frequency discrimination RFID group
Part, short-range communication NFC components, wireless LAN communication WiFi components, bluetooth module, ultra long haul low power consumption data transmission LoRa
Component and based at least one of cellular arrowband Internet of Things NB-IoT components.
4. robot according to claim 1, it is characterised in that the goal task information also includes goal task and performed
Time, goal task perform frequency and goal task type, the positioning planning module are additionally operable to according to the goal task
Time planning traveling time is performed, frequency planning operating frequency is performed according to the goal task, according to the goal task class
Type determines work pattern.
5. robot according to claim 1, it is characterised in that the robot also includes：
Video frequency pick-up head, for obtaining mobile Job execution information corresponding to mobile apparatus for work, and the mobile operation is held
Row information is back to the control terminal.
6. robot according to claim 1, it is characterised in that the mobile apparatus for work includes cleaning assemblies, transport
At least one of component and spray assembly, and moving assembly.
7. robot according to claim 1, it is characterised in that the memory is used to store robot movable information,
The robot movable information is included in charge information, activity duration, homework type, job result and operation handing-over information
It is at least one.
8. robot according to claim 7, it is characterised in that the radio communication device is additionally operable to the robot
Action message is sent to the Current terrestrial induction installation.
9. a kind of robot system, it is characterised in that the system includes any one institute in control terminal and claim 1-8
The robot stated, the control terminal are used to obtain control information, establish and communicate to connect with the robot, and the control is believed
Breath is sent to the robot.
10. system according to claim 9, it is characterised in that the system also includes ground induction installation, the control
End can also be established with target floor induction installation and communicate to connect, corresponding with the target floor induction installation for obtaining
Target location identification information, control information corresponding to generation, and the control information is sent to the robot.
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| CN201720557046.2U CN206920923U (en) | 2017-05-18 | 2017-05-18 | Robot and corresponding robot system |
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| CN201720557046.2U CN206920923U (en) | 2017-05-18 | 2017-05-18 | Robot and corresponding robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109375617A (en) * | 2018-09-26 | 2019-02-22 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter, furniture positioning identification system and method |
| CN109445427A (en) * | 2018-09-26 | 2019-03-08 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, furniture positioning device and furniture positioning system |
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| CN109589048A (en) * | 2018-12-21 | 2019-04-09 | 湖南酷陆网络科技有限公司 | Cleaning method cleans handset device, purging system and computer readable storage medium |
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| CN109375617A (en) * | 2018-09-26 | 2019-02-22 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter, furniture positioning identification system and method |
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| CN110973271A (en) * | 2019-12-16 | 2020-04-10 | 湖北第二师范学院 | Stone pestle bean curd robot |
| CN111328018A (en) * | 2020-02-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle, unmanned vehicle operation system and unmanned vehicle operation method |
| CN114911221A (en) * | 2021-02-09 | 2022-08-16 | 北京小米移动软件有限公司 | Robot control method and device and robot |
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