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Sweeping robot navigated by smart phone and navigation sweeping method of sweeping robot

A technology for cleaning robots and smart phones, applied in the field of navigation, can solve problems such as increasing costs and being unsuitable for autonomous navigation of cleaning robots.

Active Publication Date: 2013-01-09
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Chinese patent CN201010251088.6 discloses "A Method for Autonomous Navigation and Comprehensive Cleaning Coverage of a Cleaning Robot", but additional laser emitting and receiving devices need to be installed on the cleaning robot, which increases the cost
In addition, CN200710020820.7 discloses "A Mobile Cleaning Robot Control Device Based on Bluetooth Technology", which requires an additional digital signal processing chip to control the movement of the cleaning robot, and is not suitable for the autonomous navigation of the cleaning robot

Method used

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  • Sweeping robot navigated by smart phone and navigation sweeping method of sweeping robot
  • Sweeping robot navigated by smart phone and navigation sweeping method of sweeping robot
  • Sweeping robot navigated by smart phone and navigation sweeping method of sweeping robot

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Embodiment Construction

[0117] The present invention will be described below in combination with specific embodiments and with reference to the accompanying drawings.

[0118] a kind of like Figure 1-8 The shown cleaning robot using smart phone navigation includes a cleaning robot module 2, and the cleaning robot module 2 includes a second Bluetooth communication module 11, a robot control sub-module 12, an obstacle avoidance sensor and a walking wheel control module 17, wherein the obstacle avoidance sensor includes The infrared wall detection sensor 13 for collecting the surrounding obstacles or walls of the cleaning robot, the infrared ground detection sensor 14 for collecting the surrounding ground environment of the cleaning robot, the virtual wall detection sensor 15 for collecting the surrounding restriction signals of the cleaning robot, and The seat filling detection sensor 16 for collecting the surrounding refilling seat signal of the cleaning robot.

[0119] The second bluetooth communic...

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Abstract

A sweeping robot navigated by a smart phone comprises a sweeping robot module and further comprises a smart phone module which comprises a smart phone camera, an image processing submodule, a camera calibrating submodule, an EKF-SLAM (Extended Kalman Filter for Simultaneous Localization And Mapping) submodule, a map maintenance and routine planning submodule, a sensor submodule and a sensor data acquisition submodule. A navigation sweeping method sequentially comprises the following steps of: 1, calibrating parameters in the smart phone camera with a calibrating template; 2, establishing bluetooth communication connection; 3, activating the EKF-SLAM submodule for accurate localization and creating a three-dimensional environment map; 4, establishing an obstacle covering map of an indoor environment; 5, automatically planning a sweeping routine of the sweeping robot; and 6, controlling the next motion of walling wheels of the sweeping robot. Sensors and hardware equipment of navigation localization and the like do not need to be directly arranged on the sweeping robot. The sweeping robot has the advantages of simplicity in realization, small modification on hardware, accurate localization, large sweeping covering area and high sweeping efficiency.

Description

technical field [0001] The invention relates to navigation, in particular to a cleaning robot using a smart phone for navigation and a navigation cleaning method thereof. Background technique [0002] The cleaning robot can quickly and effectively cover the cleaning area in an environment with obstacles, move autonomously towards the target, and complete the cleaning work quickly. It needs to have the function of autonomous navigation and positioning. Chinese patent CN201010251088.6 discloses "A Method for Autonomous Navigation and Comprehensive Cleaning Coverage of a Cleaning Robot", but it is necessary to additionally install a laser emitting and receiving device on the cleaning robot, which increases the cost. In addition, CN200710020820.7 discloses "A Mobile Cleaning Robot Control Device Based on Bluetooth Technology", which requires an additional digital signal processing chip to control the movement of the cleaning robot, and is not suitable for autonomous navigation o...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 顾照鹏
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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