CN217723394U

CN217723394U - Intelligent floor sweeping robot for route collaborative planning

Info

Publication number: CN217723394U
Application number: CN202221657512.1U
Authority: CN
Inventors: 庄建龙; 李和娟
Original assignee: Shenzhen Haituo Tiancheng Technology Co ltd
Current assignee: Shenzhen Haituo Tiancheng Technology Co ltd
Priority date: 2022-06-28
Filing date: 2022-06-28
Publication date: 2022-11-04
Anticipated expiration: 2032-06-28

Abstract

The utility model discloses an intelligence robot of sweeping floor that carries out route planning in coordination, include: the robot sweeping robot comprises a main control module, a path planning module, a Bluetooth connecting module and a wireless connecting module, wherein the main control module is electrically connected with the path planning module, the Bluetooth connecting module and the wireless connecting module, the wireless connecting module is remotely connected with a cloud platform, and different sweeping robots are communicated through the Bluetooth connecting module. The utility model discloses a bluetooth link module realizes the different connection communication of sweeping floor between the robot to distribute the planning to border and repetitive area, improve and clean efficiency, and can sweep floor the robot and appear unusually and can not carry out the cleaning during operation in certain platform, will sweep floor sweeping the floor that the robot cleans regional distribution to other robots of sweeping floor, thereby guarantee to set for regional effect of cleaning.

Description

Intelligent floor sweeping robot for route collaborative planning

Technical Field

The utility model relates to an intelligent robot technical field especially relates to an intelligence robot of sweeping floor that carries out route planning in coordination.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot. At present, the floor sweeping robot becomes the first choice for cleaning indoor bottom surfaces of many people. However, the sweeping robot in the market can only be applied to a small space, if the space area to be swept is large, the cruising ability of the sweeping robot is relatively insufficient, the sweeping robot needs to be charged frequently and then continues to sweep, and the efficiency is low. If throw into simultaneously and sweep a lot of robots and clean, then because the operating condition mutual independence between the robot of sweeping the floor of current, unable collaborative work leads to different robots of sweeping the floor to clean same position, influences whole efficiency of cleaning.

Thus, the prior art is deficient and needs improvement.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of prior art, provide an intelligence robot of sweeping floor that carries out route collaborative planning.

The technical scheme of the utility model as follows: the utility model provides an intelligence robot of sweeping floor of carrying out route collaborative planning, includes: the robot sweeping robot comprises a main control module, a path planning module, a Bluetooth connecting module and a wireless connecting module, wherein the main control module is electrically connected with the path planning module, the Bluetooth connecting module and the wireless connecting module, the wireless connecting module is remotely connected with a cloud platform, and different sweeping robots are communicated through the Bluetooth connecting module.

Further, the path planning module includes: the map cleaning system comprises a first map data determining module, a cleaning path determining module and a second map data determining module, wherein the first map data determining module, the cleaning path determining module and the second map data determining module are respectively connected with a main control module.

Further, the main control module is connected with an ultrasonic sensor.

Furthermore, the main control module is connected with an infrared distance measuring sensor.

Furthermore, the main control module is connected with a contact sensor.

Furthermore, the main control module is connected with a camera.

According to the above technical scheme, the utility model discloses a bluetooth link module realizes the different connection communication of sweeping floor between the robot to distribute the planning to border and repetitive area, improve and clean efficiency, and can sweep floor the robot when unusual and can not carry out cleaning work in a certain platform, with the regional distribution of sweeping floor of this robot to other robots of sweeping floor, thereby guarantee to set for regional effect of cleaning.

Drawings

Fig. 1 is a system connection block diagram of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the utility model provides an intelligence robot of sweeping floor that carries out route collaborative planning, include: the system comprises a main control module, a path planning module, a Bluetooth connection module and a wireless connection module. The master control module is electrically connected with the path planning module, the Bluetooth connecting module and the wireless connecting module. The wireless connection module is remotely connected with a cloud platform. The different sweeping robots are connected and communicated through the Bluetooth connecting module. When the sweeping robot is started, the sweeping robot is automatically connected with the upper cloud platform through the wireless connection module, and is connected with other sweeping robots through the Bluetooth connection module. When a user sets a cleaning area in the system, a path planning module of the sweeping robot plans a path of the area, and simultaneously sends the path plan to a cloud platform and other sweeping robots, so that the connected or overlapped cleaning areas are distributed. When the network condition is abnormal, the sweeping robots can still carry out region distribution through the Bluetooth connection module. When one sweeping robot breaks down, corresponding signals can be sent to the sweeping robots around, so that the sweeping area which is responsible for the sweeping robot is distributed to the sweeping robots in adjacent areas, the sweeping effect is guaranteed, and the cooperative work is realized.

The path planning module comprises: the map cleaning system comprises a first map data determining module, a cleaning path determining module and a second map data determining module, wherein the first map data determining module, the cleaning path determining module and the second map data determining module are respectively connected with a main control module.

The first map data determining module is used for acquiring the existing map data of the sweeping robot to obtain first map data if a sweeping instruction is received. And the cleaning path determining module is used for planning a cleaning path according to the first map data. And the second map data determining module is used for redistributing the boundary and the overlapped area after comparing the second map data with the first map data of other sweeping robots, and determining the second map data.

In some embodiments, an ultrasonic sensor is connected to the master control module. Ultrasonic wave is a sound wave in a certain frequency range, and has the characteristic of propagating at a constant speed in the same medium, and the effect of measuring distance can be achieved by measuring the time interval between the transmitted wave and the reflected wave by utilizing the characteristic that reflection phenomenon is generated at the interface of different media. When the ultrasonic signal emitted by the ultrasonic sensor meets an obstacle, a reflected wave is generated, and after the reflected wave is received by a receiver, the distance of the obstacle can be accurately judged according to the distance measuring principle; meanwhile, the size of the obstacle can be preliminarily determined according to the amplitude of the signal.

In some embodiments, the master control module is connected with an infrared distance measuring sensor. The infrared distance measuring sensor detects the distance between obstacles by utilizing the principle that the intensity of different reflections of infrared signals meeting the obstacles is different. The infrared distance measuring sensor is provided with a pair of infrared signal transmitting and receiving diodes, the transmitting tube transmits an infrared signal with specific frequency, the receiving tube receives the infrared signal with the frequency, when the infrared detection direction meets an obstacle, the infrared signal is reflected back to be received by the receiving tube, and after processing, the change of the surrounding environment can be identified by utilizing the return signal of the infrared ray.

In some embodiments, a contact sensor is connected to the master control module. The contact type thickness measurement is carried out through contact type sensors such as an inductive displacement sensor, a capacitive displacement sensor, a potentiometer type displacement sensor, a Hall type displacement sensor and the like, the height and the space of an object can be measured, so that the height of the obstacle is detected, and the obstacle avoidance is further judged.

In some embodiments, the master control module is connected with a camera. And acquiring an image through a camera, detecting and identifying the acquired image, estimating the scale information and determining a rotation matrix and a translation vector.

To sum up, the utility model discloses a bluetooth connection module realizes the different connection communication of sweeping floor between the robot to distribute the planning to border and repetitive area, improve and clean efficiency, and can sweep floor the robot and appear unusually and can not carry out the cleaning during operation in a certain platform, with the regional distribution of sweeping floor of this robot to other robots of sweeping floor, thereby guarantee to set for regional effect of cleaning.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An intelligent floor sweeping robot for collaborative route planning, comprising: the robot sweeping robot comprises a main control module, a path planning module, a Bluetooth connecting module and a wireless connecting module, wherein the main control module is electrically connected with the path planning module, the Bluetooth connecting module and the wireless connecting module, the wireless connecting module is remotely connected with a cloud platform, and different sweeping robots are communicated through the Bluetooth connecting module.

2. The intelligent floor sweeping robot for collaborative planning of a route according to claim 1, wherein the path planning module comprises: the map cleaning system comprises a first map data determining module, a cleaning path determining module and a second map data determining module, wherein the first map data determining module, the cleaning path determining module and the second map data determining module are respectively connected with a main control module.

3. The intelligent floor sweeping robot for collaborative route planning according to claim 1, wherein the main control module is connected with an ultrasonic sensor.

4. The intelligent floor sweeping robot for collaborative route planning according to claim 1, wherein the master control module is connected with an infrared distance measuring sensor.

5. The intelligent floor sweeping robot for collaborative route planning according to claim 1, wherein the master control module is connected with a contact sensor.

6. The intelligent floor sweeping robot for collaborative route planning according to claim 1, wherein a camera is connected to the main control module.