CN105259898A - Floor sweeping robot controlled by smart phone - Google Patents
Floor sweeping robot controlled by smart phone Download PDFInfo
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- CN105259898A CN105259898A CN201510673634.8A CN201510673634A CN105259898A CN 105259898 A CN105259898 A CN 105259898A CN 201510673634 A CN201510673634 A CN 201510673634A CN 105259898 A CN105259898 A CN 105259898A
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- 238000004140 cleaning Methods 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010926 purge Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005034 decoration Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000002184 metal Substances 0.000 description 7
- 229910052751 metal Inorganic materials 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Abstract
The invention discloses a floor sweeping robot controlled by a smart phone. The floor sweeping robot comprises a core control system, a wireless charging device, a wireless communication device, a power moving mechanism, a sweeping mechanism, an environment monitoring module, a vision system, a voice system and a humidifying system; wherein the vision system comprises an infrared sensor, a distance sensor and a photographing system. The floor sweeping robot is wirelessly charged through a charging pile. A user can set the operation mode of the floor sweeping robot by means of a smart phone control system, and furthermore can transmit an instruction through speech. In the sweeping process, the robot can determine whether to humidify the environment. All information which comprises analog three-dimensional pictures, real-time cleaning video pictures and indoor environment information is transmitted to the smart phone for viewing by the user. The floor sweeping robot according to the invention has advantages of reducing potential safety hazard, realizing more convenient and quicker user operation and improving user experience.
Description
Technical field
The invention belongs to small intelligent household appliance technical field, particularly relate to a kind of intelligent sweeping robot, and can be controlled by smart mobile phone by user.
Background technology
At present, sweeping robot obtains the favor of users, is widely used in the family.But sweeping robot of the prior art is all carry out setting operation by traditional telepilot, cannot remote monitoring, also cannot carry out Voice command, cleaning information cannot feed back to user in time.On the other hand, the mode that existing sweeping robot all uses sheet metal to contact is charged, and has potential safety hazard and adds the difficulty of charging and locating.
Summary of the invention
Along with the development of cell phone intelligent science and technology, increasing smart mobile phone is dissolved in the middle of household electronic products, substantially increases the comfortable convenience of people's life.Therefore the present invention is in order to solve the problems of the technologies described above, provide a kind of use smart mobile phone to control can the sweeping robot of wireless charging, utilize mobile radio telecommunications technology, real-time supervisory-controlled robot cleaning process, can utilize speech recognition system to send to robot core control system to move simultaneously, clean, take pictures, the instruction such as charging.Ripe smart mobile phone control system and voice dialogue function is introduced in sweeping robot system, more convenient to operate, convenient, improve the scientific and technological experience sense of user.
It is imperfect that problem to be solved by this invention is for prior art, there is provided a kind of use smart mobile phone to control can the sweeping robot of wireless charging, utilize mobile radio telecommunications technology, real-time supervisory-controlled robot cleaning process, can utilize speech recognition system to send to robot core control system to move simultaneously, clean, take pictures, the instruction such as charging.
Technical matters to be solved by this invention is achieved by the following scheme: a kind of use smart mobile phone to control can the sweeping robot of wireless charging, near radio charging is carried out by wireless charging device, wireless charging receiving coil is sticked in robot device, such robot moves to optional position near charging pile and all can charge, without the need to accurate location, also can charge to multiple robot simultaneously, instead of external Metal Contact sheet charging modes, reduce the pinpoint difficulty of conventional machine floor sweeper people.
By installing the application software of customization on mobile phone, operation interface is provided to user, can be used for sending operating mode instruction to robot, comprise " mode of operation ", " cleaning picture ", " environmental monitoring ", " Operation system setting " " voice assistant " etc., sweeping robot carries out cleaning works according to mode of operation order.Further, in robot cleaning process, environmental sensor module detects atmospheric temperature, humidity parameter in real time, starts inner humidification system when air humidity is too low.Cleaning works is carried out in power walking mechanism drive machines people motion, vision system is recorder people sweep-out pattern at any time, roadblock is detected by infrared scan and range sensor, system draws out perform region stimulated three-dimensional image, and formulate effective sweep-out pattern, real-time Taking Pictures recording cleaning result, and video, photographic intelligence are integrated, feed back in mobile phone by radio communication device, carry out judging whether to need again to clean or the cleaning of defined area emphasis for user.
Sweeping robot sets voice content and action corresponding to voice thereof by smartphone software " voice assistant ", send voice command to robot and control its work, intelligent voice system identifiable design user voice command, can report current operating state and detection case by voice simultaneously.After battery electric quantity is too low or cleaning process terminates, sweeping robot is charged by positioning system Automatic-searching wireless charging base.
Patent tool of the present invention has the following advantages:
What a kind of smart mobile phone of patent of the present invention controlled the sweeping robot of wireless charging can carry out near radio charging process by wireless charging mode, the difficult orientation problem of the conventional metals sheet contact charging process of reduction.The mode of operation of sweeping robot can be controlled by smart mobile phone, according to the mode of operation that different working environments regulates setting different, regulate sweeping robot operating power, be conducive to saves energy, avoid repeated work to promote work efficiency, simultaneously, mobile phone can carry out far distance controlled, convenient and swift.Pass through robotic vision system, can in cleaning process, real time record cleaning process, route, roadblock, draw out perform region 3-D view and formulate effective sweep-out pattern, and video, photographic intelligence are carried out integration and feed back in mobile phone, user formulates new work order and setting purging zone by mobile phone feedback information and analog map.Can man-machine interaction be realized by intelligent voice system, user by phonetic order start the machine people work.Atmospheric temperature, humidity can be detected in real time by environment monitoring module, simultaneously when indoor environment humidity is too low, inner humidification system can be started, optimize indoor environment.
Accompanying drawing explanation
Fig. 1, Fig. 2: the body construction schematic diagram of sweeping robot of the present invention;
Fig. 3: the systematic square frame schematic diagram of sweeping robot of the present invention;
Fig. 4: the mode of operation schematic diagram that sweeping robot mobile phone of the present invention controls
Embodiment
Below in conjunction with the accompanying drawing in patent of the present invention, clear, complete description is carried out to art solutions of the present invention.See Fig. 1-3, Intelligent robot for sweeping floor of the present invention comprises radio communication device 2, voice system 3, vision system 4, core control system 5, wireless charging device 6, environment monitoring module 7, cleaning agency 8, power walking mechanism 9, humidification system 10.In addition, user's smart mobile phone also has smart mobile phone control system 1, vision system 4 comprises again infrared scan 41, range sensor 42, photographic system 43.Core control system 5 is connected with radio communication device 2, voice system 3, vision system 4, wireless charging device 6, environment monitoring module 7, power walking mechanism 9, humidification system 10 respectively, smart mobile phone control system 1 is connected with radio communication device 2, voice system 3 respectively, and cleaning agency 8 is connected with power walking mechanism 9.
Make introductions all round the function and efficacy of each building block below:
Core control system 5, for controlling all parts of sweeping robot, is the brain of sweeping robot.Power walking mechanism 9 moves for driving sweeping robot, and sweeping robot moves, while cleaned by cleaning agency 8 pairs of ground.
Wireless charging device 6 carries out near radio charging for giving sweeping robot of the present invention.Sweeping robot of the prior art is all that the mode contacted by sheet metal is charged, and this charging modes needs sheet metal to be exposed to outside, thus people may be made to get an electric shock, and has potential safety hazard; Sweeping robot needs to aim at sheet metal on the other hand, also has the difficulty of location.The mode of wireless charging solves the problems referred to above, wireless charging device 6 comprises a wireless charging receiving coil, user installs the charging pile of a wireless charging at home, like this when sweeping robot moves near charging pile, wireless charging receiving coil just can carry out wireless charging by charging pile, without the need to accurately aiming at sheet metal, also can charge to multiple robot simultaneously.
Smart mobile phone control system 1 is arranged on the smart mobile phone of user, can be communicated with core control system 5 by radio communication device 2 (such as WIFI or bluetooth), this smart mobile phone control system 1 provides the operation interface of operation sweeping robot to user, user to the long-range transmission instruction of sweeping robot and can arrange this sweeping robot by this operation interface, one embodiment of the present of invention as shown in Figure 4, the function that this operation interface provides to user comprises " mode of operation ", " cleaning picture ", " environmental monitoring ", " Operation system setting " " voice assistant " etc.
Described " mode of operation " provides the selection of sweeping robot mode of operation to user, after user selects " mode of operation " on operation interface, interface will be listed all predefined sweeping robot mode of operations and self-defined mode of operation.User can select predefine mode of operation, such as random motion cleaning, straight line are cleaned, along limit cleaning, zigzag, spirality cleaning etc., also self-defined mode of operation can be selected, by the cleaning mode of self-defined mode of operation instruction sweeping robot, concrete self-defined mode describes later.After user have selected concrete mode of operation, smart mobile phone control system 1 will send operating mode instruction by radio communication to sweeping robot, after core control system 5 receives this instruction, according to this instruction, sweeping robot is set as corresponding mode of operation.
Described " voice assistant " can allow user set voice content and action corresponding to voice thereof, thus user sends voice command by voice system 3 to robot, such as, start, stop or revise cleaning process.In cleaning process, voice system 3 identifies user voice command, also can report current operating state and detection case, the such as testing result of environment monitoring module 7 by voice simultaneously.
Described " Operation system setting " can allow user arrange the correlation parameter of smart mobile phone control system 1 and sweeping robot.
When user selects " environmental monitoring " on operation interface, the testing result of environment monitoring module 7 can be obtained.This environment monitoring module 7 can detect air themperature and humidity in real time, feeds back to core control system 5, and core control system 5 is according to the algorithm preset and threshold values, and multilevel iudge carries out humidification the need of startup humidification system 10 pairs of room airs.On the other hand, when user obtains described testing result, also can be issued an order to core control system 5 by smart mobile phone, start humidification system 10, also can be set the open mode of humidification system 10 in advance by smart mobile phone control system 1.Wherein, humidification system 10 in the present invention arranges on robot body, and be connected with described core control system 5, by water spray, humidification is carried out to air, cleaning humidification can be set start voluntarily, also can be judged to determine according to feedback information by user, start humidification function by smart mobile phone control system 1 or voice system 3.
In robot cleaning process, advance traffic information is collected by infrared scan 41 and range sensor 42 in vision system 4, vision system 4 draws out perform region 3-D view according to this traffic information, formulate effective sweep-out pattern, photographic system 43 is by real-time Taking Pictures recording cleaning result, and photo is integrated, all parameters (comprising the photo of perform region 3-D view and cleaning result) feed back in smart mobile phone control system 1 by radio communication device 2, when user selects " cleaning picture ", these parameters can be watched, carry out judging whether to need again to clean or the cleaning of defined area emphasis for user.
Self-defined mode of operation
According to one embodiment of present invention, user can use smart mobile phone control system, the mode of operation of self-defined sweeping robot.First smart mobile phone control system 1 needs the planimetric map obtaining sweeping robot perform region, this planimetric map can be inputted in advance by user, and the perform region 3-D view also can drawn according to vision system 4 by smart mobile phone control system 1 draws out this planimetric map voluntarily.User can use smart mobile phone to edit this planimetric map and revise afterwards, includes but not limited to following several editor and amendment:
1) on planimetric map, specify the position of charging pile, thus after battery electric quantity is too low or cleaning process terminates, sweeping robot is charged by this charging pile of positioning system Automatic-searching.
2) on planimetric map, off-limits region delimited, such as the region etc. at frangible vase place.
3) on planimetric map, delimit the region that cannot sweep, the such as region at some furniture and electrical equipment place, sweeping robot cannot enter.
4) after house decoration or layout change, planimetric map is revised accordingly.
Smart mobile phone control system 1 is after having had described planimetric map, user just can specify the cleaning mode of sweeping robot in self-defined mode of operation, such as can draw a sweep-out pattern in the planimetric map on smart mobile phone, sweeping robot is specified to clean according to this sweep-out pattern, also can draw a purging zone on planimetric map, specify sweeping robot to clean this region.Planimetric map and user-defined cleaning mode, after user completes self-defined mode of operation, are sent to core control system 5 by radio communication by smart mobile phone control system 1, and core control system 5 controls sweeping robot accordingly and cleans.
Sweeping robot also has a positioning system matched with vision system, this positioning system is after sweeping robot obtains perform region 3-D view by vision system, by the comparison with described planimetric map, sweeping robot can determine oneself position on planimetric map, obtain charging pile position, off-limits region, the region that cannot sweep etc. simultaneously, thus sweeping robot can charge to charging pile by Automatic-searching, the region also can avoided above-mentioned off-limits region when walking He cannot sweep.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (7)
1. the sweeping robot of a smart mobile phone control, it is characterized in that, described sweeping robot comprises radio communication device (2), voice system (3), vision system (4), core control system (5), wireless charging device (6), environment monitoring module (7), cleaning agency (8), power walking mechanism (9) and humidification system (10), wherein
Core control system (5) controls all parts of this sweeping robot, and is communicated with described smart mobile phone control system (1) by radio communication device (2);
Wireless charging device (6) carries out wireless charging for giving described sweeping robot, and it comprises a wireless charging receiving coil, when described sweeping robot moves near charging pile, carries out wireless charging by this charging pile.
The voice command of voice system (3) identifiable design user, also can report current operating state and detection case by voice;
Vision system (4) comprises infrared scan (41), range sensor (42) and photographic system (43), in described sweeping robot cleaning process, described vision system (4) collects traffic information by infrared scan (41) and range sensor (42), simultaneously by photographic system (43) Taking Pictures recording cleaning in real time result, photo is integrated, and draw out the 3-D view of perform region, described 3-D view and photo are sent to smart mobile phone control system (1) by radio communication device (2);
Environment monitoring module (7) can the temperature and humidity in the region of testing in real time, testing result is fed back to core control system (5), core control system (5), according to this testing result, determines whether start humidification system (10);
Humidification system (10) is arranged on the body of described sweeping robot, carries out humidification by water spray to air;
Described smart mobile phone control system (1) is installed on the smart mobile phone of user, there is provided the operation interface operating described sweeping robot to user, user to the long-range transmission instruction of described sweeping robot and can arrange this sweeping robot by this operation interface; By described smart mobile phone control system (1), user can set the mode of operation of described sweeping robot on smart mobile phone, and this mode of operation comprises predefine mode of operation and User Defined mode of operation; Voice and action corresponding to this voice can also be set, thus make these voice of voice system (3) identifiable design and notify that core control system (5) performs this action; According to the 3-D view obtained and cleaning photo, sweeping robot can also be set and again clean or defined area is cleaned.
2. sweeping robot as claimed in claim 1, the 3-D view of described perform region that wherein smart mobile phone control system (1) is fed back according to vision system (4) draws out the planimetric map of perform region, user can use smart mobile phone to edit this planimetric map and revise, and described self-defined mode of operation is set based on this planimetric map, be included on planimetric map and specify sweep-out pattern or purging zone, described planimetric map and user-defined mode of operation are sent to core control system (5) by smart mobile phone control system (1), core control system (5) controls sweeping robot according to this self-defined mode of operation and cleans.
3. the sweeping robot as described in claim 1-2 any one, wherein user comprises the editor of this planimetric map and amendment: the position of specifying charging pile on planimetric map, planimetric map delimited off-limits region, planimetric map delimited the region that cannot sweep, according to house decoration or layout changing amendment planimetric map.
4. the sweeping robot as described in claim 2-3 any one, wherein said planimetric map is that user inputs in advance.
5. sweeping robot as claimed in claim 3, wherein said sweeping robot also has positioning system, this positioning system is after vision system (4) obtains perform region 3-D view, by the comparison with described planimetric map, determine the position of described sweeping robot on planimetric map, obtain charging pile position simultaneously, off-limits region, the region etc. that cannot sweep, by this positioning system, the region that sweeping robot is avoided above-mentioned off-limits region when walking and cannot be swept, and after at battery electric quantity, too low or cleaning process terminates, Automatic-searching carries out wireless charging to charging pile.
6. sweeping robot as claimed in claim 1, wherein the testing result of environment monitoring module (7) is sent to smart mobile phone control system (1) by core control system (5), and user obtains this testing result by smart mobile phone and determines whether start humidification system (10).
7. sweeping robot as claimed in claim 1, wherein radio communication device (2) is WIFI or bluetooth.
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| CN201510673634.8A CN105259898B (en) | 2015-10-13 | 2015-10-13 | A kind of sweeping robot of smart mobile phone control |
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| CN201510673634.8A CN105259898B (en) | 2015-10-13 | 2015-10-13 | A kind of sweeping robot of smart mobile phone control |
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| CN105259898B CN105259898B (en) | 2017-11-28 |
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