CN108634870A - A kind of Robot Cleaner Controlling System method and system based on Internet of Things - Google Patents
A kind of Robot Cleaner Controlling System method and system based on Internet of Things Download PDFInfo
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- CN108634870A CN108634870A CN201810251569.3A CN201810251569A CN108634870A CN 108634870 A CN108634870 A CN 108634870A CN 201810251569 A CN201810251569 A CN 201810251569A CN 108634870 A CN108634870 A CN 108634870A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000428 dust Substances 0.000 claims abstract description 116
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000002093 peripheral effect Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 abstract description 8
- 238000010408 sweeping Methods 0.000 abstract description 5
- 239000002699 waste material Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 16
- 230000004888 barrier function Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The Robot Cleaner Controlling System method based on Internet of Things that the invention discloses a kind of, including：Dust catcher connects network；Obtain the track that dust catcher is currently located；Obtain the control instruction that owner sends；Obtain the position of peripheral obstacle.The intellective dust collector system based on Internet of Things that invention additionally discloses a kind of, including：Main control module, position acquisition module, cleans module, mobile module, distance sensing module, obstacle detection module, power module, dust extractor, charging module at path planning module, the system also includes：Setup module, robot arm device, communication module.A kind of Robot Cleaner Controlling System method and system based on Internet of Things disclosed by the invention, on the one hand can plan the automatic running path of dust catcher, avoid sweeping back and forth and waste time and energy；On the other hand, it can assign dust catcher more functions so that dust catcher undertakes more affairs in the family.
Description
Technical field
The invention belongs to cleaner technology fields, and in particular to a kind of Robot Cleaner Controlling System method based on Internet of Things and
System.
Background technology
In the prior art, dust catcher often has a single function, and can only simply be swept the floor, dust-absorbing function.But due to people
Requirement to quality of the life and to the diversified demand of electrical function, dust catcher in the prior art can not integrate multinomial work(
Energy.
For this reason, it is necessary to propose a kind of Robot Cleaner Controlling System method and system based on Internet of Things, on the one hand can advise
The automatic running path for pulling dust catcher, avoids sweeping back and forth and wastes time and energy；On the other hand, dust catcher can be assigned more
More function so that dust catcher undertakes more affairs in the family.
Invention content
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of intellective dust collectors based on Internet of Things
On the one hand control method and system can plan the automatic running path of dust catcher, avoid sweeping back and forth and waste time and energy
Amount；On the other hand, it can assign dust catcher more functions so that dust catcher undertakes more affairs in the family.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of Robot Cleaner Controlling System method based on Internet of Things, including：
Dust catcher connects network；
Obtain the track that dust catcher is currently located；
Obtain the control instruction that owner sends；
Obtain the position of peripheral obstacle.
Wherein, the step obtains the track that dust catcher is currently located, including：
Obtain dust catcher motion track interior for a period of time；
By the motion track and Orbit Matching in a period of time；
The track where dust catcher is determined according to matching result.
Wherein, the step obtains the control instruction that owner sends, including：
Obtain the cleaning instruction that owner sends；
Obtain the monitoring instruction that owner sends；
Obtain owner's transmission takes object to instruct.
Wherein, the step obtains the position of peripheral obstacle, including：
Detect the distance of peripheral obstacle；
Detect the size of peripheral obstacle；
According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.
The intellective dust collector system based on Internet of Things that the present invention also provides a kind of, including：Main control module, path planning mould
Block, cleans module, mobile module, distance sensing module, obstacle detection module, power module, dust suction mould at position acquisition module
Block, charging module, which is characterized in that the system also includes：Setup module, robot arm device, communication module；The path rule
It draws module, position acquisition module, clean module, setup module, mobile module, robot arm device, distance sensing module, barrier
Detecting module, communication module, power module, dust extractor are electrically electrically connected with the main control module, the charging module electricity
Property the connection power module.
Wherein, the system also includes camera module, the camera module is used to obtain the scene on dust catcher periphery.
Wherein, the system also includes voice module, sound identification module, the voice module is used to receive the language of user
Sound order and voice reminder is sent out, the content of sound identification module voice for identification.
Wherein, the system also includes memory modules.
Wherein, the communication mode of the communication module can be Bluetooth communication, WiFi communication, in data network communications extremely
Few one kind.
Wherein, the setup module is planned and is adjusted for the driving path to dust catcher.
Compared with prior art, the present invention has the advantages that：
A kind of Robot Cleaner Controlling System method and system based on Internet of Things proposed by the present invention, on the one hand can plan
The automatic running path of dust catcher, avoids sweeping back and forth and wastes time and energy；On the other hand, can to assign dust catcher more
Function so that dust catcher undertakes more affairs in the family.
Description of the drawings
Fig. 1 is the flow diagram of one embodiment of the invention dust catcher control method；
Fig. 2 is the flow diagram of another embodiment of the present invention dust catcher control method；
Fig. 3 is the flow diagram of another embodiment of the present invention dust catcher control method；
Fig. 4 is the flow diagram of another embodiment of the present invention dust catcher control method；
Fig. 5 is the control block diagram of one embodiment of the invention cleaner system；
Fig. 6 is the control block diagram of another embodiment of the present invention cleaner system；
Fig. 7 is the control block diagram of another embodiment of the present invention cleaner system；
Fig. 8 is the control block diagram of another embodiment of the present invention cleaner system.
Specific implementation mode
Embodying the exemplary embodiment of feature of present invention and advantage will in detail describe in above specification.It should be understood that
Various variations can be had in different embodiments by being the present invention, neither be departed from the scope of the present invention, and therein
Illustrate and illustrate inherently to be illustrated as being used, rather than to limit the present invention.
Below in conjunction with attached drawing, invention is further explained.
Fig. 1 is the flow diagram of one embodiment of the invention dust catcher control method.Robot Cleaner Controlling System in the present invention
Method includes the following steps：
Step S101：Dust catcher connects network.The intellective dust collector based on Internet of Things of the present invention needs at work
Network is connected in advance.The dust catcher of the present invention, is connected to network, under networking state, dust catcher is got by communication module
Each instruction that owner sends, gets the position being presently in.
Step S102：Obtain the track that dust catcher is currently located.After getting the position that dust catcher is presently in, according to
The movement locus of dust catcher whithin a period of time, to determine track that dust catcher is currently located.It should be noted that determining dust suction
The track that device is currently located is the movement locus by obtaining dust catcher in a period of time, and with each pre-set rail
Road compares, and the track that dust catcher is currently located is determined according to comparison.
Step S103：Obtain the control instruction that owner sends.Dust catcher gets the control that owner is sent by intelligent terminal
System instruction, including clean instruction, monitoring instruction, take object instruction etc..Owner is by intelligent terminal to intellective dust collector of the present invention
Send control instruction, the work of remote control dust catcher.
Step S104：Obtain the position of peripheral obstacle.Dust catcher is detected surrounding enviroment in the present invention, and obtains
The position of peripheral obstacle.It should be noted that dust catcher obtains the position of peripheral obstacle in the present invention, need to combine dust suction
Distance of the device apart from barrier, the size for detecting barrier, position and the size of peripheral obstacle are determined with this.
As shown in Fig. 2, Fig. 2 is the flow diagram of another embodiment of the present invention dust catcher control method.Step S102 packets
Include following steps：
Step S1021：Obtain dust catcher motion track interior for a period of time.Whithin a period of time by acquisition dust catcher
Motion track, as sample, with Orbit Matching.Wherein, the motion track in a period of time specifically can be fixed according to actual conditions
Justice can be the motion track in one minute, the motion track in half a minute etc., be determined according to practical situations specific
Period.
Step S1022：By the motion track and Orbit Matching in a period of time.The dust catcher that step S1021 is got
Motion track in a period of time, and by the motion track of dust catcher in this period and the Orbit Matching delimited in advance, move
Track is then determined as closest to which track by the rail running.
Step S1023：The track where dust catcher is determined according to matching result.Matching result according to step S1022 is true
Determine the track where dust catcher, dust catcher motion track interior for a period of time is just sentenced closest to the motion track of which track
It is set to dust catcher to move by the track.
As shown in figure 3, Fig. 3 is the flow diagram of another embodiment of the present invention dust catcher control method.In the present invention
Step S103 is further comprising the steps of：
Step S1031：Obtain the cleaning instruction that owner sends.The intelligent terminal of dust catcher and owner in the present invention is established
Communication connection, and receive owner and instructed by the cleaning that intelligent terminal is sent.The cleaning of owner's transmission is received in dust catcher
After instruction, starts cleaning works and start to clean according to the position that the needs that the track or dust catcher of setting are got clean.
Step S1032：Obtain the monitoring instruction that owner sends.Dust catcher in the present invention and between the intelligent terminal of owner
It can be in communication with each other, owner can send control command by intelligent terminal to intellective dust collector of the present invention.It is received in dust catcher
After the monitoring instruction sent to owner, camera module is opened, the environment of surrounding is monitored, the monitoring figure of surrounding is obtained
Picture.
Step S1033：Obtain owner's transmission takes object to instruct.Dust catcher in the present invention is communicated with the intelligent terminal of owner
Connection, owner can control dust catcher on intelligent terminal.When owner sends and object is taken to instruct, dust catcher starts mechanical arm dress
Set, with complete owner transmission take object to instruct.
As shown in figure 4, Fig. 4 is the flow diagram of another embodiment of the present invention dust catcher control method.In the present invention
Step S104 is further comprising the steps of：
Step S1041：Detect the distance of peripheral obstacle.Dust catcher in the present invention, the detecting module that breaks the barriers are visited
Barrier around surveying, the distance by distance sensing module senses peripheral obstacle apart from dust catcher.
Step S1042：Detect the size of peripheral obstacle.According to the barrier that obstacle detection module detects, and tie
The distance that distance sensing module senses go out is closed, judges the size of peripheral obstacle.
Step S1043：According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.Root
According to the size for the peripheral obstacle that the distance and step S1042 of the step S1041 peripheral obstacles detected detect, come
Determine the position of peripheral obstacle.
As shown in figure 5, Fig. 5 is the control block diagram of intellective dust collector system of the one embodiment of the invention based on Internet of Things.This
Invention also provides a kind of cleaner system, the system comprises：Main control module 101, path planning module 102, position acquisition mould
Block 103, clean module 104, mobile module 106, distance sensing module 108, obstacle detection module 109, power module 111,
Dust extractor 112,113 pieces of mould of charging, setup module 105, robot arm device 107, communication module 110.Path planning module
102, position acquisition module 103, cleaning module 104, setup module 105, mobile module 106, robot arm device 107, distance perspective
Survey module 108, obstacle detection module 109, communication module 110, power module 111, dust extractor 112 and the main control module
101 are electrically connected.The charging module 113 is electrically connected the power module 111.
Path planning module 102 to ensure that room is all swept time, is avoided for planning the mobile route of dust catcher
Leave corner or spot as yet untouched by a clean-up campaign.Path planning module 102 can be by artificially changing, when owner thinks to need to change road to the planning in path
It when diameter, can be modified to the mobile route of dust catcher by intelligent terminal, can be specifically that owner passes through in intelligent terminal
Again route, and more variation route delimited or adjusted on screen, you can the modification of complete paired pathways.In addition, dust catcher can be with
Building structure is learnt, travel route is adjusted, avoids repeating to move.
Position acquisition module 103 is for obtaining the position that intellective dust collector is presently in, it should be noted that position of the present invention
It sets acquisition module 103 and obtains the position that intellective dust collector is presently in refers to which the specific room for obtaining dust catcher and being presently in
Between, which position in room etc. information.
Module 104 is cleaned for being cleaned to house, in the moving process of intellective dust collector, in its cleaning range
Rubbish and dust cleaned.
For being configured to dust catcher, owner can carry out intellective dust collector by intelligent terminal setup module 105
Be arranged, the driving path of dust catcher planned and adjusted, for example, to the change and setting of mobile route, to cleaning frequency
Change and setting etc..
Mobile module 106 includes driving motor, transmission shaft, wheel etc. mobile mechanism, for driving dust catcher to move.
Robot arm device 107 is for taking object, and when dust catcher receives when object being taken to instruct of owner's transmission, dust catcher is moved to
Position where article, robot arm device 107 are started to work, and take article away, dust catcher again moves into the position that owner specifies.
Distance sensing module 108 is for sensing distance of the dust catcher apart from barrier.
Obstacle detection module 109 is used to detect the barrier on intellective dust collector periphery.The spy of obstacle detection module 109
Survey mode can be ultrasonic listening, infrared induction etc..
Communication module 110 between intellective dust collector and the intelligent terminal of owner for communicating, the communication party of communication module 110
Formula can be at least one of Bluetooth communication, WiFi communication, data network communications.
Power module 111 is used to provide electric energy for dust catcher, and power module 111 is electrically connected with charging module 113.Power supply
Module 111 includes rechargeable battery.
Dust extractor 112 is used to siphon away the dust on ground.
As shown in fig. 6, Fig. 6 is the control block diagram of another embodiment of the present invention cleaner system.The dust catcher of the present invention is also
Including camera module 114, camera module 114 is used to obtain the scene on dust catcher periphery.In the dust catcher course of work, take the photograph
As the image on the crawl of head module 114 periphery, auxiliary obtains the barrier of surrounding, also, the image that camera module 114 is captured can
With for monitoring the scene of surrounding.
As shown in fig. 7, Fig. 7 is the control block diagram of another embodiment of the present invention cleaner system.The dust catcher system of the present invention
System further includes voice module 115, sound identification module 116, and voice module 115 is used to receive the voice command of user and sends out
Voice reminder, the content of the voice for identification of sound identification module 116.Owner can send voice command, voice to dust catcher
Module 115 receives voice command, and sound identification module 116 identifies the content of voice command, when needing to send out voice reminder,
Voice module 115 sends out voice reminder.
As shown in figure 8, Fig. 8 is the control block diagram of another embodiment of the present invention cleaner system.The dust catcher system of the present invention
System further includes memory module 117, the hardware address of terminal of the memory module 117 for storing owner, the dust catcher periphery of acquisition
Image, storage path etc. information.
In conclusion a kind of Robot Cleaner Controlling System method and system based on Internet of Things proposed by the present invention, on the one hand
The automatic running path that can have planned dust catcher, avoids sweeping back and forth and wastes time and energy；On the other hand, suction can be assigned
The more functions of dirt device so that dust catcher undertakes more affairs in the family.
Although describing the present invention with reference to exemplary embodiment, it is to be understood that, term used is explanation and example
Property, term and not restrictive.Due to the present invention spirit or essence that can be embodied in a variety of forms without departing from invention,
It should therefore be appreciated that the above embodiment is not limited to any details above-mentioned, and should be spiritual defined by appended claims
Accompanying is all should be with the whole variations and remodeling widely explained, therefore fallen into claim or its equivalent scope in range to weigh
Profit requires to be covered.
Claims (10)
1. a kind of Robot Cleaner Controlling System method based on Internet of Things, which is characterized in that including：
Dust catcher connects network；
Obtain the track that dust catcher is currently located；
Obtain the control instruction that owner sends；
Obtain the position of peripheral obstacle.
2. according to the method described in claim 1, it is characterized in that, the track that step acquisition dust catcher is currently located, packet
It includes：
Obtain dust catcher motion track interior for a period of time；
By the motion track and Orbit Matching in a period of time；
The track where dust catcher is determined according to matching result.
3. according to the method described in claim 1, it is characterized in that, the step obtain owner send control instruction, including：
Obtain the cleaning instruction that owner sends；
Obtain the monitoring instruction that owner sends；
Obtain owner's transmission takes object to instruct.
4. according to the method described in claim 1, it is characterized in that, the step obtain peripheral obstacle position, including：
Detect the distance of peripheral obstacle；
Detect the size of peripheral obstacle；
According to the distance of current location and peripheral obstacle, size, the position of peripheral obstacle is determined.
5. a kind of intellective dust collector system based on Internet of Things, including：Main control module, path planning module, position acquisition module,
Module, mobile module, distance sensing module, obstacle detection module, power module, dust extractor, charging module are cleaned, it is special
Sign is, the system also includes：Setup module, robot arm device, communication module；The path planning module, position acquisition
Module cleans module, setup module, mobile module, robot arm device, distance sensing module, obstacle detection module, communication mould
Block, power module, dust extractor and the main control module are electrically connected, and the charging module is electrically connected the power module.
6. system according to claim 5, which is characterized in that the system also includes camera module, the camera
Module is used to obtain the scene on dust catcher periphery.
7. system according to claim 5, which is characterized in that the system also includes voice module, sound identification module,
The voice module is used to receive the voice command of user and sends out voice reminder, sound identification module language for identification
The content of sound.
8. system according to claim 5, which is characterized in that the system also includes memory modules.
9. according to claim 5-8 any one of them systems, which is characterized in that the communication mode of the communication module can be
At least one of Bluetooth communication, WiFi communication, data network communications.
10. system according to claim 9, which is characterized in that the setup module, for the driving path to dust catcher
It is planned and is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251569.3A CN108634870A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251569.3A CN108634870A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
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| Publication Number | Publication Date |
|---|---|
| CN108634870A true CN108634870A (en) | 2018-10-12 |
Family
ID=63744483
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| CN201810251569.3A Pending CN108634870A (en) | 2018-03-26 | 2018-03-26 | A kind of Robot Cleaner Controlling System method and system based on Internet of Things |
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Cited By (1)
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Application publication date: 20181012 |