Automatic patrol system based on storage-type home robot

Abstract

The present invention relates to the field of robot patrol technology, and in particular to an automatic patrol system based on a storage-type household robot, comprising: a storage module, used to store household items in a space to be sorted into the interior of the household robot by patrolling; a detection module, which is connected to the storage module, including an infrared sensor connected to the household robot for detecting obstacles, a vibration sensor connected to the household robot for detecting the vibration intensity when the household robot is running, and a collision sensor connected to the household robot for detecting the number of collisions of the household robot; a control module, which is respectively connected to the storage module and the detection module, and is used to determine the smoothness of the motion trajectory of the household robot according to the error rate of the household robot's obstacle detection or determine the damping strength of the household robot according to the vibration intensity when the household robot is running. The present invention improves the patrol stability of the household robot.

Description

Technical Field

[0001] The present invention relates to the field of robot patrol technology, and in particular to an automatic patrol system based on a storage-type household robot. Background Art

[0002] In the prior art, a storage-type household robot is an intelligent robot designed to help organize, clean and organize items in the home environment. These robots usually have functions such as storage, organization and cleaning, and can perform various tasks in the home, thereby reducing the household burden of residents. However, during the patrol process of the robot, it may be affected by various situations, resulting in the inability to complete the patrol task. Therefore, it is necessary to design an automatic patrol system to improve the patrol stability of the storage-type household robot.

[0003] Chinese Patent Publication No.: CN114035572A discloses an obstacle avoidance patrol method and system for a lawn mowing robot, the method comprising: step 1, obtaining a topological map of the lawn mowing area based on GPS coordinates, the topological map including the starting position of the lawn mowing robot, the location of the charging station and the boundaries of each obstacle; step 2, expanding the obstacle boundary in the topological map according to the turning radius of the lawn mowing robot, and after expansion, using the approximate unit decomposition method to approximate the expanded obstacle boundary to a polygonal area, and using the polygonal area as the obstacle area of ​​the corresponding obstacle; step 3, taking the current position of the lawn mowing robot as the starting point, the location of the charging station as the end point, and the starting point, the end point and the vertices of each obstacle area as the position points, using the line The segments are connected to adjacent position points to obtain the visual graph corresponding to the topological map; Step 4, based on each line segment in the visual graph, the Dijkstra algorithm is used to obtain the shortest broken line path of the lawn mower robot from the starting point to the end point; Step 5, the robot turning radius is used as the vertical distance to generate parallel lines on both sides of each broken line of the shortest broken line path, and the parallel lines on the same side of the shortest broken line path are connected to obtain two peripheral paths relative to the shortest broken line path; Step 6, take the vertex of the shortest broken line path that belongs to the obstacle area, determine the two points corresponding to the vertex in the two peripheral paths, and select the point that is not in the obstacle area of ​​the two points as the reference point; Step 7, using the starting point, the end point, and the reference point selected in step 6 as control points, use the De Casteljau algorithm to draw a Bezier curve, and use the drawn Bezier curve as the shortest smooth curve path for the lawn mower robot to return from the current position to the charging station position. It can be seen that the obstacle avoidance patrol method and system of the lawn mower robot have the problem that the sensor's perception ability is reduced due to the accumulation of dust on the robot's sensor surface, thereby causing the patrol stability of the home robot to decrease. Summary of the invention

[0004] To this end, the present invention provides an automatic patrol system based on a storage-type household robot, which is used to overcome the problem in the prior art that dust accumulates on the sensor surface of the robot, resulting in a decrease in the sensor's perception ability, thereby causing a decrease in the patrol stability of the household robot.

[0005] To achieve the above-mentioned purpose, the present invention provides an automatic patrol system based on a storage-type household robot, comprising: a storage module, which is used to store household items in a space to be sorted into the interior of the household robot by patrolling, and comprises a gripper for grabbing the household items, a universal wheel connected to the household robot for movement, and a battery pack arranged inside the household robot for providing required power; a detection module, which is connected to the storage module, and comprises an infrared sensor connected to the household robot for detecting obstacles, a vibration sensor connected to the household robot for detecting the vibration intensity of the household robot when it is running, and a collision sensor connected to the household robot for detecting the number of collisions of the household robot; a control module, which is respectively connected to the storage module and the detection module, and is used to determine the smoothness of the motion trajectory of the household robot according to the error rate of the household robot detecting obstacles or determine the damping strength of the household robot according to the vibration intensity of the household robot when it is running, and determine the charging rate of the household robot according to the vibration intensity of the household robot when it is running and the discharge depth of the battery pack of the household robot.

[0006] Furthermore, the control module is used to determine whether the patrol stability of the home robot meets the requirements based on the error rate of the home robot's obstacle detection. If the error rate of the home robot's obstacle detection is greater than a preset first error rate, it is determined that the patrol stability of the home robot does not meet the requirements.

[0007] Furthermore, the control module is used to preliminarily determine that the operation consistency of the household robot does not meet the requirements when the error rate of the household robot's obstacle detection is greater than the preset first error rate and less than or equal to a preset second error rate, and further determine whether the operation consistency of the household robot meets the requirements based on the vibration intensity during the operation of the household robot.

[0008] Furthermore, the control module is used to increase the smoothness of the motion trajectory of the household robot when the error rate of the household robot detecting the obstacle is greater than the preset second error rate;

[0009] The increase in the smoothness of the motion trajectory of the home robot is determined by the difference between the error rate of obstacle detection by the home robot and a preset second error rate.

[0010] Furthermore, the control module is used to further determine whether the operation consistency of the home robot meets the requirements based on the vibration intensity of the home robot during operation. If the vibration intensity of the home robot during operation is greater than a preset first vibration intensity, it is further determined that the operation consistency of the home robot does not meet the requirements.

[0011] Furthermore, the control module is used to preliminarily determine that the patrol continuity of the household robot does not meet the requirements when the vibration intensity of the household robot during operation is greater than a preset second vibration intensity, and further determine whether the patrol continuity of the household robot meets the requirements based on the discharge depth of the battery pack of the household robot.

[0012] Furthermore, the control module is used to increase the damping strength of the household robot when the vibration intensity of the household robot during operation is greater than the preset first vibration intensity and less than or equal to the preset second vibration intensity.

[0013] Furthermore, the increase range of the damping strength of the household robot is determined by the difference between the vibration strength of the household robot during operation and a preset first vibration strength.

[0014] Furthermore, the control module is used to further determine whether the patrol continuity of the household robot meets the requirements based on the discharge depth of the battery pack of the household robot. If the discharge depth of the battery pack of the household robot is greater than a preset depth, it is further determined that the patrol continuity of the household robot does not meet the requirements, and the charging rate of the household robot is reduced.

[0015] Furthermore, the reduction range of the charging rate of the household robot is determined by the difference between the discharge depth of the battery pack of the household robot and a preset depth.

[0016] Compared with the prior art, the beneficial effect of the present invention lies in that the system of the present invention determines the smoothness of the motion trajectory of the household robot according to the error rate of the household robot's obstacle detection by setting a storage module, a detection module and a control module. Since a lot of dust accumulates on the sensor surface of the robot, the sensor's perception ability is reduced, thereby reducing the ability to identify obstacles. By increasing the smoothness of the motion trajectory of the household robot, the risk of collision caused by sudden turns or acceleration is reduced, so that the robot has more time to re-evaluate the surrounding environment during movement. Even if the sensor performance is not good, it can better deal with potential obstacles through slower and more stable movements. The damping strength of the household robot is determined according to the vibration intensity of the household robot during operation. Due to long-term use, the sealing ring inside the robot ages and loses its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal movement. Vibration, resulting in unstable operation. By increasing the damping strength of the home robot, the movement speed and amplitude of the components can be slowed down, making the robot's movement smoother, helping to avoid sudden vibrations or instability, thereby reducing the noise level and improving the robot's operational stability. The charging rate of the home robot is determined based on the discharge depth of the home robot's battery pack. Since the robot works for a long time and is always under high load during patrol tasks, the battery may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in a decrease in continuity. By reducing the charging rate of the home robot, the heat generation and chemical reaction of the battery during the charging process can be slowed down, thereby reducing the internal pressure of the battery and reducing the possibility of over-discharge. The battery charging process can be managed more stably, battery loss can be reduced, battery life can be extended, and the continuity and reliability of the robot can be improved, thereby improving the patrol stability of the home robot.

[0017] Furthermore, the system of the present invention determines the smoothness of the motion trajectory of the household robot by setting a preset first error rate and a preset second error rate. Since a lot of dust accumulates on the sensor surface of the robot, the sensor's perception ability is reduced, resulting in a reduced ability to identify obstacles. By increasing the smoothness of the motion trajectory of the household robot and reducing the risk of collision due to sudden turns or acceleration, the robot has more time to re-evaluate the surrounding environment during movement. Even if the sensor performance is poor, it can better cope with potential obstacles through slower and more stable movements, further improving the patrol stability of the household robot.

[0018] Furthermore, the system of the present invention determines the damping strength of the household robot by setting a preset first vibration intensity and a preset second vibration intensity. Due to long-term use, the sealing ring inside the robot ages and loses its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal vibration during movement, thereby causing unstable operation. By increasing the damping strength of the household robot, the movement speed and amplitude of the components can be slowed down, making the robot's movement smoother, helping to avoid sudden vibrations or instability, thereby reducing the noise level, improving the robot's operating stability, and further improving the patrol stability of the household robot.

[0019] Furthermore, the system of the present invention determines the charging rate of the household robot by setting a preset depth. Since the robot works for a long time and is always under high load during the patrol mission, the battery may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in decreased continuity. By reducing the charging rate of the household robot, the heat generation and chemical reactions of the battery during the charging process can be slowed down, thereby reducing the internal pressure of the battery and reducing the possibility of over-discharge. The battery charging process can be managed more stably, battery loss can be reduced, battery life can be extended, and the continuity and reliability of the robot can be improved, further improving the patrol stability of the household robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structural block diagram of the automatic patrol system based on the storage-type home robot according to an embodiment of the present invention;

[0021] Figure 2 It is a logic flow chart of an automatic patrol system based on a storage-type home robot according to an embodiment of the present invention;

[0022] Figure 3 A specific structural block diagram of a storage module of an automatic patrol system based on a storage-type household robot according to an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of the overall structure of an automatic patrol system based on a storage-type household robot according to an embodiment of the present invention;

[0024] The reference numerals are as follows: 1 - gripper, 2 - storage box, 3 - vibration sensor, 4 - universal wheel, 5 - chassis, 6 - collision sensor, 7 - camera, 8 - infrared sensor, 9 - battery pack. DETAILED DESCRIPTION

[0025] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0027] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively an overall structural block diagram, a logic flow chart, a specific structural block diagram of a storage module and an overall structural schematic diagram of an automatic patrol system based on a storage-type household robot according to an embodiment of the present invention. An automatic patrol system based on a storage-type household robot according to the present invention comprises:

[0030] A storage module, used for storing household items in the space to be sorted into the interior of the home robot in a patrolling manner, comprising a gripper 1 for grabbing the household items, a universal wheel 4 connected to the home robot for movement, and a battery pack 9 arranged inside the home robot for providing required power;

[0031] A detection module connected to the storage module, comprising an infrared sensor 8 connected to the home robot for detecting obstacles, a vibration sensor 3 connected to the home robot for detecting the vibration intensity of the home robot when it is running, and a collision sensor 6 connected to the home robot for detecting the number of collisions of the home robot;

[0032] The control module is respectively connected to the storage module and the detection module, and is used to determine the smoothness of the motion trajectory of the household robot according to the error rate of the household robot in detecting obstacles or to determine the damping strength of the household robot according to the vibration strength during the operation of the household robot, and to determine the charging rate of the household robot according to the vibration strength during the operation of the household robot and the discharge depth of the battery pack 9 of the household robot.

[0033] Specifically, the storage module also includes:

[0034] A chassis 5, which is arranged above the universal wheel 4 and is used to support the home robot;

[0035] A camera 7, which is arranged above the chassis 5 and is used to collect information about household items;

[0036] The storage box 2 is arranged above the battery pack 9 and is used for storing the household items.

[0037] Specifically, the patrol mode is a way in which the home robot moves autonomously within a designated area.

[0038] Specifically, the spaces to be organized include the living room, bedroom, and storage room.

[0039] Specifically, household items include books, ornaments, and toys.

[0040] Specifically, the smoothness of the motion trajectory of a home robot is an indicator that measures the consistency and fluency of the motion trajectory of a home robot during its automatic patrol.

[0041] Specifically, the damping strength of a household robot refers to the amount of resistance encountered by the household robot during movement.

[0042] Specifically, the discharge depth of the battery pack 9 of the household robot is the ratio of the amount of electricity that has been discharged from the battery pack 9 from the fully charged state to the current state to the total capacity of the battery.

[0043] Specifically, the home robot constructs a home map through the data collected by the camera 7 and the infrared sensor 8, and marks obstacles and passable areas. According to the cleaning route set by the user or the automatically generated path planning, the home robot can effectively patrol and avoid obstacles.

[0044] In implementation, the system of the present invention determines the smoothness of the motion trajectory of the home robot according to the error rate of the home robot's obstacle detection by setting a storage module, a detection module and a control module. Since a lot of dust accumulates on the sensor surface of the robot, the sensor's perception ability is reduced, resulting in a reduction in the ability to identify obstacles. By increasing the smoothness of the motion trajectory of the home robot, the risk of collision caused by sudden turns or acceleration is reduced, so that the robot has more time to re-evaluate the surrounding environment during movement. Even if the sensor performance is not good, it can better deal with potential obstacles through slower and more stable movements. The damping strength of the home robot is determined according to the vibration intensity of the home robot during operation. Due to long-term use, the sealing ring inside the robot ages and loses its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal vibration during movement, thereby causing The robot can reduce the speed and amplitude of movement of components and make the robot move more smoothly, which helps to avoid sudden vibration or instability, thereby reducing noise level and improving the operation stability of the robot. The charging rate of the robot is determined according to the discharge depth of the battery pack 9 of the robot. Since the robot works for a long time and is always under high load during patrol tasks, the battery may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in decreased continuity. By reducing the charging rate of the robot, the heat generation and chemical reaction of the battery during the charging process can be slowed down, thereby reducing the internal pressure of the battery and reducing the possibility of over-discharge. The charging process of the battery can be managed more stably, battery loss can be reduced, battery life can be extended, and the continuity and reliability of the robot can be improved, thereby improving the patrol stability of the robot.

[0045] Specifically, the control module is used to obtain the number of incorrect obstacle detection judgments and the total number of obstacle detections made by the household robot in several patrol cycles, and to calculate the error rate of obstacle detection by the household robot. If the error rate of obstacle detection by the household robot is greater than a preset first error rate, it is determined that the patrol stability of the household robot does not meet the requirements.

[0046] Specifically, the control module is used to preliminarily determine that the operation consistency of the household robot does not meet the requirements when the error rate of the household robot's obstacle detection is greater than the preset first error rate and less than or equal to the preset second error rate, and further determine whether the operation consistency of the household robot meets the requirements based on the vibration intensity during the operation of the household robot.

[0047] It can be understood that the three intervals corresponding to the preset first error rate and the preset second error rate correspond to three situations respectively:

[0048] The first interval is when the error rate of obstacle detection by the home robot is less than or equal to the preset first error rate, corresponding to the situation where the patrol stability of the home robot meets the requirements;

[0049] The second interval is that the error rate of the household robot's obstacle detection is greater than the preset first error rate and less than or equal to the preset second error rate. Long-term use causes the sealing ring inside the robot to age and lose its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal vibration during movement, and thus unstable operation. The third interval is that the error rate of the household robot's obstacle detection is greater than the preset second error rate. More dust has accumulated on the sensor surface of the robot, resulting in a decrease in the sensor's perception ability, thereby causing a decrease in the ability to identify obstacles.

[0050] In practice, the preset first error rate is generally selected in the range of [2%, 4%], and the preset second error rate is generally selected in the range of [4%, 6%].

[0051] Preferably, the preferred embodiment of the preset first error rate is 3%, and the preferred embodiment of the preset second error rate is 5%.

[0052] Specifically, the error rate of obstacle detection by the home robot is the ratio of the number of times the home robot makes incorrect judgments on obstacle detection to the total number of obstacle detections.

[0053] In implementation, the system of the present invention determines the patrol stability of the home robot by setting a preset first error rate and a preset second error rate, thereby reducing the impact of the reduced patrol accuracy of the home robot due to inaccurate determination of the patrol stability of the home robot, and further improving the patrol stability of the home robot.

[0054] Specifically, the control module increases the smoothness of the motion trajectory of the home robot when the error rate of the home robot detecting obstacles is greater than the preset second error rate;

[0055] The increase in the smoothness of the motion trajectory of the home robot is determined by the difference between the error rate of obstacle detection by the home robot and a preset second error rate.

[0056] Specifically, when the difference between the error rate of obstacle detection by the household robot and the preset second error rate is within 3%, the smoothness of the motion trajectory of the household robot increases to 1.1 times the original; when the difference between the error rate of obstacle detection by the household robot and the preset second error rate exceeds 3%, the smoothness of the motion trajectory of the household robot increases by 0.05 for every 1% exceeding it. For example, the difference between the error rate of obstacle detection by the household robot and the preset second error rate is 5%, the current infrared scanning frequency is 0.7, and the increased infrared scanning frequency is 0.7×1.1+0.05×2=0.87.

[0057] In implementation, the system of the present invention determines the smoothness of the motion trajectory of the household robot by setting a preset first error rate and a preset second error rate. Since a lot of dust accumulates on the sensor surface of the robot, the sensor's perception ability is reduced, resulting in a reduced ability to identify obstacles. By increasing the smoothness of the motion trajectory of the household robot and reducing the risk of collision due to sudden turns or acceleration, the robot has more time to re-evaluate the surrounding environment during movement. Even if the sensor performance is poor, it can better cope with potential obstacles through slower and more stable movements, further improving the patrol stability of the household robot.

[0058] Specifically, the control module is used to obtain the vibration intensity of the home robot during operation, and when the vibration intensity of the home robot during operation is greater than a preset first vibration intensity, further determine that the operation consistency of the home robot does not meet the requirements.

[0059] Specifically, the control module is used to preliminarily determine that the patrol continuity of the home robot does not meet the requirements when the vibration intensity of the home robot during operation is greater than a preset second vibration intensity, and further determine whether the patrol continuity of the home robot meets the requirements based on the discharge depth of the battery pack 9 of the home robot.

[0060] It can be understood that the three intervals corresponding to the preset first vibration intensity and the preset second vibration intensity correspond to three situations respectively:

[0061] The first interval is when the vibration intensity of the home robot during operation is less than or equal to the preset first vibration intensity, corresponding to the situation where the operation consistency of the home robot meets the requirements;

[0062] The second interval is when the vibration intensity of the home robot during operation is greater than the preset first vibration intensity and less than or equal to the preset second vibration intensity. Long-term use causes the sealing ring inside the robot to age and lose its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal vibration during movement, thereby causing unstable operation.

[0063] The third interval is when the vibration intensity of the home robot during operation is greater than the preset second vibration intensity. The battery of the corresponding robot may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in a decrease in continuity.

[0064] In practice, the preset first vibration intensity is generally selected in the range of [12mm / s 2 , 14mm / s 2 ], the preset second vibration intensity is generally selected in the range of [14mm / s 2 , 16mm / s 2 ].

[0065] Preferably, the preferred embodiment of the preset first vibration intensity is 13 mm / s 2 The preferred embodiment of the preset second vibration intensity is 15 mm / s 2 .

[0066] In implementation, the system of the present invention further determines the operational consistency of the home robot by setting a preset first vibration intensity and a preset second vibration intensity, thereby reducing the impact of a decrease in the patrol stability of the home robot due to inaccurate further determination of the operational consistency of the home robot, and further improving the patrol stability of the home robot.

[0067] Specifically, the control module is used to increase the damping strength of the household robot when the vibration intensity of the household robot during operation is greater than the preset first vibration intensity and less than or equal to the preset second vibration intensity.

[0068] Specifically, the increase range of the damping strength of the household robot is determined by the difference between the vibration strength of the household robot during operation and a preset first vibration strength.

[0069] Specifically, the difference between the vibration intensity of the home robot during operation and the preset first vibration intensity is 3 mm / s 2 When the vibration intensity of the home robot during operation is within the preset first vibration intensity, the damping strength of the home robot increases to 1.1 times of the original value; when the difference between the vibration intensity of the home robot during operation and the preset first vibration intensity exceeds 3 mm / s 2 When the speed exceeds 2 mm / s 2 , the damping strength of the home robot increases by 3N·s / m. For example, the difference between the vibration intensity of the home robot during operation and the preset first vibration intensity is 7mm / s 2 The current damping strength of the home robot is 60 N·s / m, and the difference in damping strength of the increased home robot is 60×1.1+3×2=72 N·s / m.

[0070] Specifically, N·s / m is the damping strength of the home robot, which means Newton seconds per meter.

[0071] In implementation, the system of the present invention determines the damping strength of the household robot by setting a preset first vibration intensity and a preset second vibration intensity. Due to long-term use, the sealing ring inside the robot ages and loses its sealing performance, which may cause dust to enter the mechanical structure, resulting in abnormal vibration during movement, thereby causing unstable operation. By increasing the damping strength of the household robot, the movement speed and amplitude of the components can be slowed down, making the robot's movement smoother, helping to avoid sudden vibrations or instability, thereby reducing the noise level, improving the robot's operating stability, and further improving the patrol stability of the household robot.

[0072] Specifically, the control module is used to obtain the discharge depth of the battery pack 9 of the household robot. If the discharge depth of the battery pack 9 of the household robot is greater than a preset depth, it is further determined that the patrol continuity of the household robot does not meet the requirements, and the charging rate of the household robot is reduced.

[0073] It can be understood that the two intervals corresponding to the preset depth correspond to two situations:

[0074] The first interval is when the discharge depth of the battery pack 9 of the household robot is less than the preset depth, and the battery of the corresponding robot may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in a decrease in continuity;

[0075] The second interval is when the discharge depth of the battery pack 9 of the home robot is greater than or equal to the preset depth, corresponding to the situation where the patrol continuity of the home robot meets the requirements.

[0076] In practice, the preset depth is generally selected in the range of [75%, 85%].

[0077] Preferably, the preferred embodiment of the preset depth is 80%.

[0078] Specifically, the discharge depth of the battery pack 9 of the household robot is the ratio of the total depth of the household robot in several patrol cycles to the number of patrol cycles.

[0079] In implementation, the system of the present invention further determines the patrol continuity of the home robot by setting a preset depth, thereby reducing the impact of the decreased patrol stability of the home robot due to inaccurate further determination of the patrol continuity of the home robot, and further improving the patrol stability of the home robot.

[0080] Specifically, the reduction range of the charging rate of the household robot is determined by the difference between the discharge depth of the battery pack 9 of the household robot and a preset depth.

[0081] Specifically, when the difference between the preset depth and the discharge depth of the battery pack 9 of the household robot is within 5%, the charging rate of the household robot is reduced to 0.9 times the original; when the difference between the preset depth and the discharge depth of the battery pack 9 of the household robot exceeds 5%, the charging rate of the household robot is reduced by 12W for every 2% exceeding it. For example, the difference between the preset depth and the discharge depth of the battery pack 9 of the household robot is 9%, the current charging rate of the household robot is 130W, and the reduced charging rate of the household robot is 130×0.9-12×2=93W.

[0082] In implementation, the system of the present invention determines the charging rate of the household robot by setting a preset depth. Since the robot works for a long time and is always under high load during the patrol mission, the battery may be over-discharged, affecting power management and battery life, thereby interrupting the task before completing the task, resulting in decreased continuity. By reducing the charging rate of the household robot, the heat generation and chemical reaction of the battery during the charging process can be slowed down, thereby reducing the internal pressure of the battery and reducing the possibility of over-discharge. The battery charging process can be managed more stably, battery loss can be reduced, battery life can be extended, and the continuity and reliability of the robot can be improved, further improving the patrol stability of the household robot.

[0083] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An automatic patrol system based on a storage-type home robot, characterized in that: include: A storage module, used for storing household items in the space to be sorted into the interior of the home robot in a roving manner, including a gripper for grabbing the household items, universal wheels connected to the home robot for movement, and a battery pack arranged inside the home robot for providing required power; a detection module connected to the storage module, comprising an infrared sensor connected to the home robot for detecting obstacles, a vibration sensor connected to the home robot for detecting the vibration intensity of the home robot when it is running, and a collision sensor connected to the home robot for detecting the number of collisions of the home robot; a control module, which is connected to the storage module and the detection module respectively, and is used to determine the smoothness of the motion trajectory of the home robot according to the error rate of the home robot in detecting obstacles or to determine the damping strength of the home robot according to the vibration strength of the home robot when it is running, and to determine the charging rate of the home robot according to the vibration strength of the home robot when it is running and the discharge depth of the battery pack of the home robot; The control module is used to preliminarily determine that the patrol continuity of the home robot does not meet the requirements when the vibration intensity of the home robot during operation is greater than a preset second vibration intensity, and further determine whether the patrol continuity of the home robot meets the requirements according to the discharge depth of the battery pack of the home robot; The control module is used to further determine whether the patrol continuity of the home robot meets the requirements based on the discharge depth of the battery pack of the home robot. If the discharge depth of the battery pack of the home robot is greater than the preset depth, it is further determined that the patrol continuity of the home robot does not meet the requirements and the charging rate of the home robot is reduced.

2. The automatic patrol system based on the storage type home robot according to claim 1 is characterized in that: The control module is used to determine whether the patrol stability of the home robot meets the requirements based on the error rate of the home robot in detecting obstacles. If the error rate of the home robot in detecting obstacles is greater than a preset first error rate, it is determined that the patrol stability of the home robot does not meet the requirements.

3. The automatic patrol system based on the storage type home robot according to claim 2 is characterized in that: The control module is used to preliminarily determine that the operation consistency of the household robot does not meet the requirements when the error rate of the household robot's obstacle detection is greater than the preset first error rate and less than or equal to the preset second error rate, and further determine whether the operation consistency of the household robot meets the requirements based on the vibration intensity during the operation of the household robot.

4. The automatic patrol system based on the storage-type home robot according to claim 3 is characterized in that: The control module is used to increase the smoothness of the motion trajectory of the household robot when the error rate of the household robot detecting obstacles is greater than the preset second error rate; The increase in the smoothness of the motion trajectory of the home robot is determined by the difference between the error rate of obstacle detection by the home robot and a preset second error rate.

5. The automatic patrol system based on the storage-type home robot according to claim 3 is characterized in that: The control module is used to further determine whether the operation consistency of the home robot meets the requirements based on the vibration intensity of the home robot during operation. If the vibration intensity of the home robot during operation is greater than a preset first vibration intensity, it is further determined that the operation consistency of the home robot does not meet the requirements.

6. The automatic patrol system based on the storage-type home robot according to claim 5, characterized in that: The control module is used to increase the damping strength of the household robot when the vibration strength of the household robot during operation is greater than the preset first vibration strength and less than or equal to the preset second vibration strength.

7. The automatic patrol system based on the storage-type home robot according to claim 6, characterized in that: The increase range of the damping strength of the household robot is determined by the difference between the vibration strength of the household robot during operation and a preset first vibration strength.

8. The automatic patrol system based on the storage-type home robot according to claim 7, characterized in that: The reduction range of the charging rate of the household robot is determined by the difference between the discharge depth of the battery pack of the household robot and a preset depth.

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