CN207067798U - Ground induction installation and ground induction system - Google Patents
Ground induction installation and ground induction system Download PDFInfo
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- CN207067798U CN207067798U CN201720560419.1U CN201720560419U CN207067798U CN 207067798 U CN207067798 U CN 207067798U CN 201720560419 U CN201720560419 U CN 201720560419U CN 207067798 U CN207067798 U CN 207067798U
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Abstract
It the utility model is related to a kind of ground induction installation, including agent structure, inductive component and corresponding communication component, inductive component is electrically connected with communication component, inductive component and communication component insertion are set in the agent structure, agent structure includes floor, any one in floor tile and carpet, inductive component includes pressure sensor, at least one of piezoelectric transducer and capacitance sensor, communication component includes WiFi components, bluetooth module, ultra long haul low power consumption data transmits LoRa components and based at least one of cellular arrowband Internet of Things NB IoT component, inductive component is used to generate induction information and sent to communication component, communication component is used to send induction information to robot, a kind of corresponding ground induction system is also provided in addition.In addition, also provide a kind of ground induction installation and ground induction system.Above-mentioned ground induction installation and ground induction system, overcome the shortcomings that traditional ground can not realize the fixed point task operating in specified location and region.
Description
Technical field
Automation field is the utility model is related to, is felt more particularly to a kind of ground induction installation and corresponding ground
Answer 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 when cleaning traditional floor, floor tile or carpet using clean robot, can not often realizes specified location and region
Pinpoint clean up task.
The content of the invention
Based on this, it is necessary in view of the above-mentioned problems, a kind of ground induction installation and corresponding ground induction system are provided,
Specified ground location and the fixed point task operating in region can quickly be realized.
A kind of ground induction installation, including agent structure, inductive component and corresponding communication component, the inductive component with
The communication component is electrically connected with, and the inductive component and communication component insertion are arranged in the agent structure, institute
Stating agent structure includes any one in floor, floor tile and carpet, and the inductive component includes pressure sensor, piezoelectric sensing
At least one of device and capacitance sensor, the communication component include wireless LAN communication WiFi components, bluetooth module,
Ultra long haul low-power consumption wide area network LoRa components and based at least one of cellular arrowband Internet of Things NB-IoT components, it is described
Inductive component is used to generate induction information and sent to the communication component, and the induction information, which includes sensing with Current terrestrial, to be filled
Current location identity information corresponding to putting, the communication component, which is used to establish with robot, to be communicated to connect, and the sensing is believed
Breath is sent to the robot.
Above-mentioned ground induction installation, including agent structure, inductive component and corresponding communication component, agent structure include ground
Any one in plate, floor tile and carpet, inductive component and communication component are embedded in agent structure, given birth to by inductive component
Into induction information, and send to the communication component, communication component, which is used to establish with robot, to be communicated to connect, and induction information is sent out
Robot is delivered to, induction information is included with current location identity information corresponding to Current terrestrial induction installation so that robot is first
Initial position is first able to confirm that, and operation or operation can further be moved according to current initial position and control information
Operation, secondly can be when robot reaches target floor induction installation, and by obtaining, target floor induction installation is corresponding to be sensed
Target location identification information in information, it is able to confirm that and reaches current goal position, be further able to be performed according to control information
Corresponding Job Operations, realize when robot is in arbitrary zone of action, can position itself current location in real time,
The control information corresponding to is further able to, the task operating in specified location and region is completed, overcomes on traditional ground
The shortcomings that fixed point task operating can not be realized, while the needs of daily ground surface finishing are also met, economic benefit is improved, is improved
The intelligence degree of household.
In one embodiment, the ground induction installation also includes memory, and the memory is respectively the same as the communication
Component and inductive component are electrically connected with, and the memory is used to store the induction information.
In one embodiment, the ground induction installation is additionally operable to obtain robot movable corresponding to the robot and believed
Ceasing and preserving to the memory, the robot movable information includes charge information, activity duration, homework type, operation knot
At least one of fruit and operation handing-over information.
In one embodiment, the ground induction installation is additionally operable to obtain default control instruction, and generation control information is simultaneously
Send to the robot.
In addition, also providing a kind of ground induction system, the system includes：It is any one in robot and above-described embodiment
Ground induction installation described in, the ground induction installation can be established with the robot and communicated to connect, feel for generating
Answering information and sending to the robot, the induction information is included with current location identity corresponding to Current terrestrial induction installation
Information, the robot are used to obtain control information, according to the induction information, current location identity information are obtained, according to institute
Current location identity validation of information current location is stated, according to the control information and the current location, performs corresponding appoint
Business operation.
In one embodiment, the system also includes control terminal, and the control terminal is used to generate control information, and
The control information is sent to the robot.
Above-mentioned ground induction system, met cooperation by ground induction installation and robot, ground induction installation is set
It can establish and communicate to connect with robot, for generating induction information, induction information is included corresponding to Current terrestrial induction installation
Current location identity information, and above-mentioned induction information is sent to robot, robot is used to obtain control information, according to current
Station location marker validation of information current location, the task operating according to corresponding to performing current location and control information so that robot
Initial position is able to confirm that first, and operation can further be moved according to current initial position and control information or made
Industry operates, secondly can be when robot reaches target floor induction installation, by obtaining corresponding to target floor induction installation
Target location identification information, current goal position corresponding to confirmation, it is further able to perform corresponding Job Operations, realizes and work as
When robot is in arbitrary zone of action, itself current location can be positioned in real time, be further able to be controlled according to corresponding
Information processed, the task operating in specified location and region is completed, fixed point task operating can not be realized on traditional ground by overcoming
Shortcoming.
In addition, a kind of ground induction installation is also provided, including agent structure and inductive communication component, the inductive communication
Component insertion is arranged in the agent structure, and the agent structure includes any one in floor, floor tile and carpet, described
Inductive communication component includes at least one of radio frequency discrimination RFID component and short-range communication NFC components, and the sensing is logical
Believe that component is used to establish with robot to communicate to connect, there is provided induction information is simultaneously sent to the robot, the induction information bag
Include with current location identity information corresponding to the Current terrestrial induction installation.
Above-mentioned ground induction installation, including agent structure and corresponding inductive communication component, agent structure include floor,
Any one in brick and carpet, inductive communication component is embedded in agent structure, passes through the same robot of inductive communication component
Communication connection is established, generates induction information, and induction information is sent to robot, induction information includes sensing with Current terrestrial
Current location identity information corresponding to device so that robot is able to confirm that initial position first, and according to current initial position
Operation or Job Operations can be further moved with control information, secondly can reach target floor sensing in robot
During device, target location identification information in induction information is corresponded to by obtaining target floor induction installation, is able to confirm that arrival
Current goal position, the Job Operations according to corresponding to performing control information are further able to, realized when robot is in any
Zone of action when, can position itself current location in real time, be further able to according to corresponding to control information, complete specify
Position and the task operating in region, the shortcomings that pinpointing task operating can not realized by overcoming on traditional ground, while also be met
The needs of daily ground surface finishing, improve economic benefit, improve the intelligence degree of household.
In one embodiment, the ground induction installation also includes memory, and the memory is the same as the inductive communication
Component is electrically connected with, and the memory is used to store the induction information.
In one embodiment, the ground induction installation is additionally operable to obtain action message corresponding to the robot and protected
Depositing to the memory, the action message includes charge information, activity duration, homework type, Job execution result and work
At least one of industry handing-over information.
In one embodiment, the ground induction installation is additionally operable to obtain default control instruction, and generation control information is simultaneously
Send to the robot.
In addition, also providing a kind of ground induction system, the system includes：It is any one in robot and above-described embodiment
Ground induction installation described in, the ground induction installation are arranged on corresponding to the robot and preset in zone of action, energy
Enough established with the robot communicates to connect, for providing induction information and sending to robot, the induction information bag
Include with current location identity information corresponding to the Current terrestrial induction installation, the robot is used to obtain control information, root
According to the induction information, current location identity information is obtained, according to the current location identity validation of information current location, according to
The control information and the current location, task operating corresponding to execution.
In one embodiment, the system also includes control terminal, and the control terminal is used to generate control information, and
The control information is sent to the robot.
Above-mentioned ground induction system, met cooperation by ground induction installation and robot, ground induction installation is set
It can establish and communicate to connect with robot, for generating induction information, induction information is included corresponding to Current terrestrial induction installation
Current location identity information, and above-mentioned induction information is sent to robot, robot is used to obtain control information, according to current
Station location marker validation of information current location, the task operating according to corresponding to performing current location and control information so that robot
Initial position is able to confirm that first, and operation can further be moved according to current initial position and control information or made
Industry operates, secondly can be when robot reaches target floor induction installation, by obtaining corresponding to target floor induction installation
Target location identification information, current goal position corresponding to confirmation, it is further able to perform corresponding Job Operations, realizes and work as
When robot is in arbitrary zone of action, itself current location can be positioned in real time, be further able to be controlled according to corresponding
Information processed, the task operating in specified location and region is completed, fixed point task operating can not be realized on traditional ground by overcoming
Shortcoming.
Brief description of the drawings
Fig. 1 is a kind of applied environment figure of ground induction installation 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 ground induction system in one embodiment；
Fig. 5 is a kind of structured flowchart of ground induction system in another embodiment；
Fig. 6 is a kind of structured flowchart of ground induction installation in one embodiment；
Fig. 7 is a kind of structured flowchart of ground induction installation in one embodiment；
Fig. 8 is a kind of structured flowchart of ground induction system in one embodiment；
Fig. 9 is a kind of structured flowchart of ground induction system in another embodiment.
Embodiment
In one embodiment, above-mentioned ground induction control method application environment as shown in figure 1, including robot 10 with
And ground induction installation 20, wherein robot 10 can be established with ground induction installation 20 and communicated to connect, wherein ground sensing fills
Put 20 and be arranged at default zone of action corresponding to robot 10.Robot 10 includes but is not limited to clean robot, spraying robot
People and transportation robot.
Wherein, in one embodiment, ground corresponding to robot 10 preset zone of action generally according to preset length and
Width is divided into multiple predeterminable area scopes, and then each predeterminable area scope can set corresponding ground induction installation 20.
Wherein, in one embodiment, size corresponding to each ground induction installation 20 and the length of above-mentioned predeterminable area
It is consistent, and can be layed in current preset regional extent with width.
In one embodiment, robot can be preset to preset areas corresponding to the induction installation of each ground in zone of action
Domain station location marker information and predeterminable area range information are drawn on scale, with obtaining sensed activity corresponding to robot
Figure, then can further be preserved to robot.
Wherein, in one embodiment, ground corresponding to robot 10 preset zone of action generally according to preset length and
Width is divided into multiple predeterminable area scopes, and then each predeterminable area scope can set corresponding ground induction installation 20.
Wherein, in one embodiment, size corresponding to each ground induction installation 20 and the length of above-mentioned predeterminable area
It is consistent, and can be layed in current preset regional extent with width.
In one embodiment, there is provided a kind of ground induction installation 120, using in use above environment, such as Fig. 2 institutes
Show, including agent structure 122, inductive component 124 and corresponding communication component 126, agent structure 122 include floor, floor tile and
Any one in carpet, inductive component 124 is electrically connected with communication component 126, inductive component 124 and communication component 126
Insertion is arranged in agent structure 122, and inductive component 124 is included in pressure sensor, piezoelectric transducer and capacitance sensor
At least one, communication component 126 include wireless LAN communication WiFi (Wireless Fidelity, WiFi) component, bluetooth
Component, ultra long haul low power consumption data transmit LoRa (Lang Range Wide-Area Network, LoRa) components and are based on
At least one in cellular arrowband Internet of Things NB-IoT (Narrow Band Internet of Things, NB-IoT) component
Kind, inductive component 124 is used to generate induction information and sent to communication component 126, and communication component 126 is used to build with robot 20
Vertical communication connection, and induction information is sent to robot 110, wherein, each ground induction installation 120 can set multiple senses
Answer component 124 and corresponding communication component 126.
Specifically, the default zone of action in ground corresponding to robot 110 is generally divided into more according to preset length and width
Individual predeterminable area scope, then each predeterminable area scope can set corresponding to ground induction installation 120, such as ground sensing
Device 120, which is layed in, presets zone of action surface, big I corresponding to each ground induction installation 120 corresponding to robot 110
With being consistent with the length and width of above-mentioned predeterminable area.When robot 110 reaches Current terrestrial induction installation 120, when
Preceding ground induction installation 120 generates induction information by inductive component 124 and preserved to memory, then further sends to logical
Believe component 126, Current terrestrial induction installation 120 is established with robot 110 by communication component 126 and communicates to connect and can carry out
Communication, further sends induction information to robot 110 so that robot 110 can be according to current location in induction information
Identification information is automatically positioned, and confirms current location, then performs further operation, by with above-mentioned ground induction installation
120 cooperate, and when robot is in arbitrarily default zone of action, itself current location can be positioned in real time, so as to enter
Task operating corresponding to the completion of one step.
In one embodiment, robot 110 is in initial position, and Current terrestrial induction installation 120 is worked as robot 110
Ground induction installation corresponding to preceding initial position (abbreviated here as current initial ground induction installation), robot obtains current first
After current initial induction information corresponding to beginning ground induction installation 120, obtained currently initially according to current initial induction information
Current initial position identification information corresponding to face induction installation 120, then by current initial position identification information with default sense
Answer activity map to be matched, can confirm that current initial position, so as to carry out the movement of next step or Job Operations.
In one embodiment, robot 110 reaches target location, and Current terrestrial induction installation 120 is that robot is current
Ground induction installation corresponding to target location (abbreviated here as current goal ground induction installation), robot 110 obtains currently
After current goal induction information corresponding to target floor induction installation 120, current goal is obtained according to current goal induction information
Current goal station location marker information corresponding to ground induction installation 120, then by current goal station location marker information with default
Sensed activity map is matched, and be can confirm that and is reached current goal position, so as to carry out the Job Operations of next step.
In one embodiment, robot 110 is clean robot, and zone of action is preset on ground corresponding to robot 110
Multiple predeterminable area scopes generally are divided into according to preset length and width, then each predeterminable area scope sets a correspondence
Ground induction installation 120, so since, each predeterminable area scope and each ground induction installation respectively correspond to, then
Whole ground can be obtained and preset sensed activity map corresponding to zone of action, and sensed activity map can be uploaded to machine
People 110, and robot 110 obtains goal-selling mission area, then according to goal-selling mission area, rule according to control information
Mobile route is drawn, then reaches current goal ground induction installation 120 in goal-selling mission area, is felt with current goal ground
Answer device 120 to establish to communicate to connect and can be communicated, when robot 110 reaches current goal ground induction installation 120,
Current goal ground induction installation 120 generates induction information by inductive component 124 and sent to communication component 126, and sends extremely
Robot 110, robot 110 is by obtaining corresponding current goal station location marker information in induction information, and same sensed activity
Map is compared, and finally confirms the clean up task for up to current goal ground induction installation, then performing next step.
In one embodiment, induction information may also include current region scope corresponding to Current terrestrial induction installation 120
Information, Current terrestrial induction installation 120 can also send current region range information to robot 110 so that robot 110
Geomery corresponding to Current terrestrial induction installation 120 can further being identified, be advantageous to robot 110 and make more reasonably determine
Plan and action.
In one embodiment, each ground induction installation 120 can set multiple inductive components 124 and corresponding communication
Component 126.
Above-mentioned ground induction installation, including agent structure, inductive component and corresponding communication component, agent structure include ground
Any one in plate, floor tile and carpet, inductive component and communication component are embedded in agent structure, given birth to by inductive component
Into induced signal, induction information is generated, and is sent to communication component, communication component, which is used to establish with robot, to be communicated to connect, will
Induction information, which is sent to robot, induction information, to be included with current location identity information corresponding to Current terrestrial induction installation, makes
Obtain robot and be able to confirm that initial position first, and behaviour can further be moved according to current initial position and control information
Work or Job Operations, secondly can be when robot reaches target floor induction installation, by obtaining target floor sensing dress
The target location identification information in corresponding induction information is put, is able to confirm that and reaches current goal position, be further able to according to control
Job Operations corresponding to information execution processed, realize when robot is in arbitrary zone of action, can position in real time certainly
Body current location, the control information corresponding to is further able to, completes the task operating in specified location and region, overcome
The shortcomings that fixed point task operating can not be realized on traditional ground, while also meet the needs of daily ground surface finishing, improve through
Ji benefit, improve the intelligence degree of household.
In one embodiment, as shown in figure 3, above-mentioned ground induction installation 120 also includes memory 128, above-mentioned storage
Device 128 is electrically connected with communication component 122 and inductive component 124 respectively, and memory 128 is used to store induction information.
Specifically, ground induction installation 120 can also set memory 128, and memory 128 is respectively the same as communication component 122
And inductive component 124 is electrically connected with, can be preserved to memory 128 after inductive component 124 generates induction information.
In one embodiment, ground induction installation 120 is additionally operable to obtain robot movable information corresponding to robot 110
And preservation to memory 128, robot movable information includes charge information, activity duration, homework type, job result and work
At least one of industry handing-over information.
Specifically, robot 110 can record robot movable information corresponding to itself, and robot movable information includes filling
At least one of power information, activity duration, homework type, job result and operation handing-over information, wherein charge information bag
Include the charging robot number information of robot 110, time started of charging, charging end time, charging effect information and fill
At least one of electric position identification information, when the activity duration includes the operation time started information of robot 110, the end of job
Between information and operation duration, homework type includes cleaning operation corresponding to robot 110, spraying operation and transport and makees
Industry is at least one, and job result includes operation and completes at least one of information and job eveluation information, operation handing-over information
Including in flow chart handing-over information, job task handing-over information, activity duration handing-over information and manipulating object handing-over information
At least one.
Robot 110 can believe robot movable after Current terrestrial induction installation 120 performs corresponding Job Operations
Breath is written in Current terrestrial induction installation 120, and Current terrestrial induction installation 120 receives robot action message and preserved to depositing
Reservoir, when next robot reaches Current terrestrial induction installation 120, machine corresponding to current robot 110 can be obtained
People's action message, further operation is then performed according to robot movable information.
In one embodiment, robot 110 is watering robot, Current terrestrial induction installation 120 for it is current inductively
Plate, during corresponding robot 110 is communicated by same Current terrestrial induction installation 120, current sensing floor 120 can
With robot movable information corresponding to robot corresponding to acquisition 110, robot movable information includes the work of watering Job Operations
Industry time, job result and operation handing-over information, operation join information and mopped floor process including follow-up cleaning, currently inductively
After plate 120 obtains robot movable information corresponding to robot 110, the follow-up floor-mopping robot that cleans reaches current sensing floor
When 120, robot movable information corresponding to current robot 110 can be obtained, operation handing-over information is then obtained, starts to perform
Clean the operation that mops floor.
In above-described embodiment, ground induction installation can cooperate with multiple robots by obtaining robot movable information
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, ground induction installation 120 is additionally operable to obtain default control instruction, and generation control information is concurrent
Deliver to robot 110.
Specifically, Current terrestrial induction installation 120 can also obtain the default control instruction of user, generate corresponding control
Information, and send to robot 110.
In one embodiment, Current terrestrial induction installation 120 includes floor, piezoelectric transducer and WiFi components, machine
When device people 110 is clean robot, current goal ground induction installation 120 gets default artificial Current terrestrial of patting and senses dress
The control instruction of corresponding number or default artificial number of stamping one's foot is put, control information is generated, is then forwarded to clean robot
110 so that clean robot 110 moves according to control information, and then can reach current goal ground induction installation 120
Carry out cleaning operation.
In above-described embodiment, ground induction installation is instructed by obtaining default control, is generated control information and is sent to machine
Device people, the task operating in any given position and region is further realized, enhance the convenience of control.
In addition, as shown in figure 4, additionally provide a kind of ground induction system, the ground in robot 110 and above-described embodiment
Face induction installation 120, it can establish and communicate to connect with robot 110, for generating induction information, induction information includes current position
Current location identity information corresponding to face induction installation 120, and above-mentioned induction information is sent to robot 110, robot 110
For obtaining control information, according to current location identity validation of information current location, performed according to current location and control information
Corresponding task operating.
Specifically, the operational order that robot 110 can be inputted by receiving user obtains control information, control information bag
Goal task region, goal task execution time, goal task execution at least one of frequency and goal task type are included,
Robot 110 is after current location identity information corresponding to being got by Current terrestrial induction installation 120, according to current location
Identification information confirms current location, and the task operating according to corresponding to performing current location and control information, task operating generally wraps
Include moving operation and at least one of Job Operations.
In one embodiment, robot 120 is clean robot, and robot architecture surface is provided with control panel, machine
Device people obtains control information by control panel, and control information includes goal task region, goal task performs the time, target is appointed
Business performs frequency and goal task type, after robot 120 gets current location identity information and control information, according to
Predetermined inductive cartographic information, current location is can confirm that with reference to current location identity information, according to goal task region, with reference to working as
Front position and goal task execution time can cook up corresponding mobile route and traveling time, then move behaviour
Make, corresponding target location in confirming up to goal task region, then start corresponding Job Operations.
Above-mentioned ground induction system, met cooperation by ground induction installation and robot, ground induction installation is set
It can establish and communicate to connect with robot, for generating induction information, induction information is included corresponding to Current terrestrial induction installation
Current location identity information, and above-mentioned induction information is sent to robot, robot is used to obtain control information, according to current
Station location marker validation of information current location, the task operating according to corresponding to performing current location and control information so that robot
Initial position is able to confirm that first, and operation can further be moved according to current initial position and control information or made
Industry operates, secondly can be when robot reaches target floor induction installation, by obtaining corresponding to target floor induction installation
Target location identification information, current goal position corresponding to confirmation, it is further able to perform corresponding Job Operations, realizes and work as
When robot is in arbitrary zone of action, itself current location can be positioned in real time, be further able to be controlled according to corresponding
Information processed, the task operating in specified location and region is completed, fixed point task operating can not be realized on traditional ground by overcoming
Shortcoming.
In one embodiment, as shown in figure 5, said system also includes control terminal 130, control terminal 130 can basis
The operational order of user's input, control information corresponding to generation, and send to robot.
Wherein, control terminal 130 includes but is not limited to mobile phone, flat board and Intelligent worn device, can be built with robot 120
Vertical communication connection.
In one embodiment, control terminal 130 is additionally operable to obtain the corresponding target position of target floor induction installation 120
Put identification information and send to the control terminal, so that control terminal 130 generates control information.
For example, ground induction installation 120 is sensing floor, inductive communication component 124 is NFC components, and control terminal 130 is
Mobile phone, a certain specified floor location region can be obtained by mobile phone and be used as target sensing floor, then by mobile phone with the mesh
Mark sensing floor is communicated, and is obtained to right target location identification information, control information corresponding to generation.
By being communicated with control terminal, control terminal can be made to clean specified location area as needed, more favorably
In the Job Operations for realizing specified location, the convenience of operation is improved, also further increases operating efficiency.
In one embodiment, control terminal 130 can also be integrally disposed in the structure of robot 120, be easy to directly carry out
Control operation.
In addition, a kind of ground induction installation 220 is additionally provided, as shown in fig. 6, above-mentioned ground induction installation 220 includes master
Body structure 222 and inductive communication component 224, inductive communication component 224 include radio frequency discrimination RFID component and closely led to
Believe at least one of NFC components, agent structure 222 includes any one in floor, floor tile and carpet, inductive communication component
224 insertions are arranged in agent structure 222, i.e., inside any one in floor, floor tile and carpet, ground induction installation 220
It can be established and communicated to connect with robot by inductive communication component 224, there is provided induction information is simultaneously sent to robot 210, sense
Information is answered to include with current location identity information corresponding to Current terrestrial induction installation 220, wherein every kind of ground induction installation can
To set multiple inductive communication components 224, such as multiple RFID components or NFC (Near Field Communication,
NFC) component.
Specifically, the default zone of action in ground corresponding to robot 210 is generally divided into more according to preset length and width
Individual predeterminable area scope, then each predeterminable area scope can set corresponding to ground induction installation 220, such as ground sensing
Device 220 is layed in and zone of action surface is preset corresponding to robot 210, such as corresponding to each ground induction installation 220 greatly
I with the length and width of above-mentioned predeterminable area with being consistent.When robot 210 reaches Current terrestrial induction installation 220
When, Current terrestrial induction installation 220 is established with robot 210 by inductive communication component 224 and communicates to connect and can be led to
Letter, there is provided induction information is simultaneously sent to robot 210, and induction information is included with current corresponding to Current terrestrial induction installation 220
Station location marker information so that robot 210 can be automatically positioned according to current location identity information, confirm current location,
Then further operation is performed, by being cooperated with above-mentioned ground induction installation 220, robot is in arbitrarily default and lived
During dynamic region, itself current location can be positioned in real time, so that task operating corresponding to further completing.
In one embodiment, robot 210 is in initial position, and Current terrestrial induction installation 220 is worked as robot 210
Ground induction installation corresponding to preceding initial position (abbreviated here as current initial ground induction installation), robot obtains current first
After current initial induction information corresponding to beginning ground induction installation 220, obtained currently initially according to current initial induction information
Current initial position identification information corresponding to face induction installation 220, then by current initial position identification information with default sense
Answer activity map to be matched, can confirm that current initial position, so as to carry out the movement of next step or Job Operations.
In one embodiment, robot 210 reaches target location, and Current terrestrial induction installation 220 is that robot is current
Ground induction installation corresponding to target location (abbreviated here as current goal ground induction installation), robot 210 obtains currently
After current goal induction information corresponding to target floor induction installation 220, current goal is obtained according to current goal induction information
Current goal station location marker information corresponding to ground induction installation 220, then by current goal station location marker information with default
Sensed activity map is matched, and be can confirm that and is reached current goal position, so as to carry out the Job Operations of next step.
In one embodiment, robot 210 is clean robot, and zone of action is preset on ground corresponding to robot 210
Multiple predeterminable area scopes generally are divided into according to preset length and width, then each predeterminable area scope sets a correspondence
Ground induction installation 220, so since, each predeterminable area scope and each ground induction installation respectively correspond to, then
Whole ground can be obtained and preset sensed activity map corresponding to zone of action, and sensed activity map can be uploaded to machine
People 210, and robot 210 obtains goal-selling mission area, then according to goal-selling mission area, rule according to control information
Mobile route is drawn, then reaches current goal ground induction installation 220 in goal-selling mission area, is felt with current goal ground
Answer device 220 to establish to communicate to connect and can be communicated, when robot 210 reach current goal ground induction installation 220 (or
Person enters the communication range of current goal ground induction installation 220) when, current goal ground induction installation 220 is the same as robot 210
Establish communication connection, there is provided induction information is simultaneously sent to robot, and is sent to robot 210, robot 210 and felt by obtaining
Corresponding current goal station location marker information in information is answered, and is compared with sensed activity map, is finally confirmed up to current
Target floor induction installation 220, then perform the clean up task of next step.
In one embodiment, induction information may also include current region scope corresponding to Current terrestrial induction installation 220
Information so that robot 210 can further identify Current terrestrial induction installation 220 corresponding to geomery, be advantageous to machine
People 210 makes more reasonably decision-making and action.
In one embodiment, Current terrestrial induction installation 220 is that NFC senses floor, and agent structure 222 is floor, sense
It is NFC components to answer communication component 224, and robot 210 is clean robot, and zone of action is preset on ground corresponding to robot 210
Multiple predeterminable area scopes generally are divided into according to preset length and width, then each predeterminable area scope sets a correspondence
Ground induction installation 220, so since, each predeterminable area scope and each ground induction installation respectively correspond to, then
Whole ground can be obtained and preset sensed activity map corresponding to zone of action, and sensed activity map can be uploaded to machine
People 210, and robot 210 obtains goal-selling mission area, then according to goal-selling mission area, rule according to control information
Mobile route is drawn, current goal ground induction installation 220 in goal-selling mission area is then reached and (or or enters current mesh
Mark the communication range of ground induction installation 220), established with current goal ground induction installation 220 and communicate to connect and can carry out
Communication, when robot 210 reaches current goal ground induction installation 220, current goal ground induction installation is the same as robot 210
Establish communication connection, there is provided induction information, induction information include current location identity information, then send induction information to machine
Device people 210, robot 210 by induction information obtain corresponding to current location identity information, and with sensed activity map carry out
Compare, finally confirm the clean up task for up to target floor induction installation, then performing next step.
Above-mentioned ground induction installation, including agent structure and corresponding inductive communication component, agent structure include floor,
Any one in brick and carpet, inductive communication component is embedded in agent structure, passes through the same robot of inductive communication component
Communication connection is established, generates induction information, induction information is sent to robot, induction information, which includes sensing with Current terrestrial, to be filled
Current location identity information corresponding to putting so that robot is able to confirm that initial position first, and according to current initial position and
Control information can further move operation or Job Operations, secondly can reach target floor sensing dress in robot
When putting, target location identification information in induction information is corresponded to by obtaining target floor induction installation, is able to confirm that arrival is worked as
Preceding target location, the Job Operations according to corresponding to performing control information are further able to, realized when robot is in arbitrary
During zone of action, itself current location can be positioned in real time, is further able to the control information corresponding to, complete specific bit
The task operating with region is put, the shortcomings that pinpointing task operating can not realized by overcoming on traditional ground, while also be met
The needs of daily ground surface finishing, improve economic benefit, improve the intelligence degree of household.
In one embodiment, as Fig. 7 shows, above-mentioned ground induction installation 220 also includes memory 228, above-mentioned memory
228 are electrically connected with communication component 222 and inductive component 224 respectively, and memory 228 is used to store induction information.
Specifically, ground induction installation 220 can also set memory 228, and memory 228 is respectively the same as communication component 222
And inductive component 224 is electrically connected with, can be preserved to memory 228 after inductive component 224 generates induction information.
In one embodiment, ground induction installation 220 is additionally operable to obtain robot movable information corresponding to robot 220
And preservation to memory 228, robot movable information includes charge information, activity duration, homework type, job result and work
At least one of industry handing-over information.
Specifically, robot 220 can record robot movable information corresponding to itself, and robot movable information includes filling
At least one of power information, activity duration, homework type, job result and operation handing-over information, wherein charge information bag
Include the charging robot number information of robot 220, time started of charging, charging end time, charging effect information and fill
At least one of electric position identification information, when the activity duration includes the operation time started information of robot 220, the end of job
Between information and operation duration, homework type includes cleaning operation corresponding to robot 220, spraying operation and transport and makees
Industry is at least one, and job result includes operation and completes at least one of information and job eveluation information, operation handing-over information
Including in flow chart handing-over information, job task handing-over information, activity duration handing-over information and manipulating object handing-over information
At least one.
Robot 220 can believe robot movable after Current terrestrial induction installation 220 performs corresponding Job Operations
Breath is written in Current terrestrial induction installation 220, and Current terrestrial induction installation 220 receives robot action message and preserved to depositing
Reservoir, when next robot reaches Current terrestrial induction installation 220, machine corresponding to current robot 220 can be obtained
People's action message, further operation is then performed according to robot movable information.
In one embodiment, robot 220 is watering robot, Current terrestrial induction installation 220 for it is current inductively
Plate, during corresponding robot 220 is communicated by same Current terrestrial induction installation 220, current sensing floor 220 can
With robot movable information corresponding to robot corresponding to acquisition 220, robot movable information includes the work of watering Job Operations
Industry time, job result and operation handing-over information, operation join information and mopped floor process including follow-up cleaning, currently inductively
After plate 220 obtains robot movable information corresponding to robot 220, the follow-up floor-mopping robot that cleans reaches current sensing floor
When 220, robot movable information corresponding to current robot 220 can be obtained, operation handing-over information is then obtained, starts to perform
Clean the operation that mops floor.
In above-described embodiment, ground induction installation can cooperate with multiple robots by obtaining robot movable information
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, ground induction installation 220 is additionally operable to obtain default control instruction, and generation control information is concurrent
Deliver to robot 220.
Specifically, Current terrestrial induction installation 220 can also obtain the default control instruction of user, generate corresponding control
Information, and send to robot 220.
In one embodiment, Current terrestrial induction installation 220 includes floor, piezoelectric transducer and WiFi components, machine
When device people 220 is clean robot, current goal ground induction installation 220 gets default artificial Current terrestrial of patting and senses dress
The control instruction of corresponding number or default artificial number of stamping one's foot is put, control information is generated, is then forwarded to clean robot
220 so that clean robot 220 moves according to control information, and then can reach current goal ground induction installation 220
Carry out cleaning operation.
In above-described embodiment, ground induction installation is instructed by obtaining default control, is generated control information and is sent to machine
Device people, the task operating in any given position and region is further realized, enhance the convenience of control.
In addition, as shown in figure 8, additionally provide a kind of ground induction system, the ground in robot 220 and above-described embodiment
Face induction installation 220, it can establish and communicate to connect with robot 220, for generating induction information, induction information includes current position
Current location identity information corresponding to face induction installation 220, and above-mentioned induction information is sent to robot 220, robot 220
For obtaining control information, according to current location identity validation of information current location, performed according to current location and control information
Corresponding task operating.
Specifically, the operational order that robot 220 can be inputted by receiving user obtains control information, control information bag
Goal task region, goal task execution time, goal task execution at least one of frequency and goal task type are included,
Robot 220 is after current location identity information corresponding to being got by Current terrestrial induction installation 220, according to current location
Identification information confirms current location, and the task operating according to corresponding to performing current location and control information, task operating generally wraps
Include moving operation and at least one of Job Operations.
In one embodiment, robot 220 is clean robot, and robot architecture surface is provided with control panel, machine
Device people obtains control information by control panel, and control information includes goal task region, goal task performs the time, target is appointed
Business performs frequency and goal task type, after robot 220 gets current location identity information and control information, according to
Predetermined inductive cartographic information, current location is can confirm that with reference to current location identity information, according to goal task region, with reference to working as
Front position and goal task execution time can cook up corresponding mobile route and traveling time, then move behaviour
Make, corresponding target location in confirming up to goal task region, then start corresponding Job Operations.
Above-mentioned ground induction system, met cooperation by ground induction installation and robot, ground induction installation is set
It can establish and communicate to connect with robot, for generating induction information, induction information is included corresponding to Current terrestrial induction installation
Current location identity information, and above-mentioned induction information is sent to robot, robot is used to obtain control information, according to current
Station location marker validation of information current location, the task operating according to corresponding to performing current location and control information so that robot
Initial position is able to confirm that first, and operation can further be moved according to current initial position and control information or made
Industry operates, secondly can be when robot reaches target floor induction installation, by obtaining corresponding to target floor induction installation
Target location identification information, current goal position corresponding to confirmation, it is further able to perform corresponding Job Operations, realizes and work as
When robot is in arbitrary zone of action, itself current location can be positioned in real time, be further able to be controlled according to corresponding
Information processed, the task operating in specified location and region is completed, fixed point task operating can not be realized on traditional ground by overcoming
Shortcoming.
In one embodiment, as shown in figure 9, said system also includes control terminal 230, control terminal 230 can basis
The operational order of user's input, control information corresponding to generation, and send to robot.
Wherein, control terminal 230 includes but is not limited to mobile phone, flat board and Intelligent worn device, can be built with robot 220
Vertical communication connection.
In one embodiment, it is defeated to include but is not limited to voice, gesture and button for the operational order form of user's input
The form such as enter.
In one embodiment, control terminal 230 is additionally operable to obtain the corresponding target position of target floor induction installation 220
Put identification information and send to the control terminal, so that control terminal 230 generates control information.
For example, ground induction installation 220 is sensing floor, inductive communication component 224 is NFC components, and control terminal 230 is
Mobile phone, a certain specified floor location region can be obtained by mobile phone and be used as target sensing floor, then by mobile phone with the mesh
Mark sensing floor is communicated, and is obtained to right target location identification information, control information corresponding to generation.
By being communicated with control terminal, control terminal can be made to clean specified location area as needed, more favorably
In the Job Operations for realizing specified location, the convenience of operation is improved, also further increases operating efficiency.
In one embodiment, control terminal 230 can also be integrally disposed in corresponding to robot 220 in structure, be easy to straight
Connect input control operation instruction.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, lance is not present in the combination of these technical characteristics
Shield, all it is considered to be the scope of this specification record.
Above example only expresses several embodiments of the present utility model, and its description is more specific and detailed, but simultaneously
Therefore the limitation to utility model patent scope can not be interpreted as.It should be pointed out that the ordinary skill people for this area
For member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this reality
With new protection domain.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (12)
1. a kind of ground induction installation, including agent structure, inductive component and corresponding communication component, the inductive component and institute
Communication component electric connection is stated, the inductive component and communication component insertion are arranged in the agent structure, described
Agent structure includes any one in floor, floor tile and carpet, and the inductive component includes pressure sensor, piezoelectric transducer
And at least one of capacitance sensor, the communication component include wireless LAN communication WiFi components, bluetooth module, surpassed
Length is away from low-power consumption wide area network LoRa components and based at least one of cellular arrowband Internet of Things NB-IoT components, the sense
Component is answered to be used to generate induction information and send to the communication component, the induction information to include with Current terrestrial induction installation
Corresponding current location identity information, the communication component, which is used to establish with robot, to be communicated to connect, and by the induction information
Send to the robot.
2. according to the ground induction installation described in claim 1, it is characterised in that the ground induction installation also includes storage
Device, the memory are electrically connected with the communication component and inductive component respectively, and the memory is used to store the sense
Answer information.
3. according to the ground induction installation described in claim 2, it is characterised in that the ground induction installation is additionally operable to obtain
Robot movable information corresponding to the robot is simultaneously preserved to the memory, and the robot movable information includes charging and believed
At least one of breath, activity duration, homework type, job result and operation handing-over information.
4. according to the ground induction installation described in claim 1, it is characterised in that the ground induction installation is additionally operable to obtain
Default control instructs, and generates control information and sends to the robot.
5. a kind of ground induction system, the system include：Ground in robot and claim 1-4 described in any one
Induction installation, the ground induction installation can be established with the robot and communicated to connect, for generating induction information and sending
To the robot, the induction information is included with current location identity information corresponding to Current terrestrial induction installation, the machine
Device people is used to obtain control information, according to the induction information, obtains current location identity information, is marked according to the current location
Know validation of information current location, according to the control information and the current location, task operating corresponding to execution.
6. according to the system described in claim 5, the system also includes control terminal, and the control terminal, which is used to generate, to be controlled
Information processed, and the control information is sent to the robot.
7. a kind of ground induction installation, including agent structure and inductive communication component, the inductive communication component insertion is set
In the agent structure, the agent structure includes any one in floor, floor tile and carpet, the inductive communication component
Including at least one of radio frequency discrimination RFID component and short-range communication NFC components, the inductive communication component is used for same
Robot establishes communication connection, there is provided induction information simultaneously sends to the robot, the induction information and includes same Current terrestrial
Current location identity information corresponding to induction installation.
8. according to the ground induction installation described in claim 7, it is characterised in that the ground induction installation also includes storage
Device, the memory are electrically connected with the inductive communication component, and the memory is used to store the induction information.
9. according to the ground induction installation described in claim 8, it is characterised in that the ground induction installation is additionally operable to obtain
Action message corresponding to the robot is simultaneously preserved to the memory, the action message include charge information, the activity duration,
At least one of homework type, Job execution result and operation handing-over information.
10. according to the ground induction installation described in claim 7, it is characterised in that the ground induction installation is additionally operable to obtain
Take default control to instruct, generate control information and send to the robot.
11. a kind of ground induction system, the system include：Ground in robot and claim 7-10 described in any one
Face induction installation, the ground induction installation are arranged on corresponding to the robot and preset in zone of action, can be with the machine
Device people establishes communication connection, and for providing induction information and sending to robot, the induction information includes working as with described
Current location identity information corresponding to preceding ground induction installation, the robot is used to obtain control information, according to the sensing
Information, current location identity information is obtained, according to the current location identity validation of information current location, believed according to the control
Breath and the current location, task operating corresponding to execution.
12. system according to claim 11, it is characterised in that the system also includes control terminal, and the control is eventually
Hold for generating control information, and the control information is sent to the robot.
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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