Cleaning robot information transmission system

Abstract

The invention is suitable for the technical field of data transmission, and particularly relates to a cleaning robot information transmission system which comprises a cleaning robot body, a base station and a man-machine interaction device, WiFi-Mesh modules are arranged in the cleaning robot body and the man-machine interaction device, and the cleaning robot body and the man-machine interaction device are in communication connection through the WiFi-Mesh modules; the base station is fixedly arranged at a preset position and stores the cleaning robot body when the cleaning operation is finished; in the absence of an Internet server or in an offline state, the cleaning robot body receives the cleaning control information through the set WiFi-Mesh module, performs cleaning operation based on the cleaning control information, constructs cleaning work information in real time and sends the cleaning work information to the man-machine interaction device; the man-machine interaction device receives cleaning control information and sends the cleaning control information to the cleaning robot body through the set WiFi-Mesh module; the cleaning work information sent by the cleaning robot body is received and displayed, and the real-time performance of transmission of the cleaning robot information under the offline condition is improved.

Description

Technical Field

[0001] The present application relates to the technical field of data transmission, and in particular to an information transmission system for a cleaning robot. Background Art

[0002] Cleaning robots are special robots that serve humans, mainly engaged in sanitary cleaning and washing. With the development of science and technology, cleaning robots have been applied to many scenarios.

[0003] During the operation of the cleaning robot, map information and control information need to be transmitted in real time to meet the needs of human-computer interaction. However, in special cases such as large areas, multiple rooms or uneven network signal distribution, robot control information and map information cannot be transmitted in real time, which affects the monitoring and control of human-computer interaction, reduces the user experience, and even affects the behavior execution of the cleaning robot.

[0004] Therefore, how to improve the real-time performance of information transmission when the cleaning robot is working has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present application provides a cleaning robot information transmission system, which improves the real-time performance of information transmission when the cleaning robot is working.

[0006] In a first aspect, an embodiment of the present application provides an information transmission system for a cleaning robot, the system comprising a cleaning robot body, a base station and a human-computer interaction device, wherein a first WiFi-Mesh module is provided in the cleaning robot body, a second WiFi-Mesh module is provided in the human-computer interaction device, the cleaning robot body and the human-computer interaction device are communicatively connected through the first WiFi-Mesh module and the second WiFi-Mesh module, and the base station is fixedly arranged at a preset position; the cleaning robot body is used to receive cleaning control information through the first WiFi-Mesh module when there is no Internet server or in an offline state, and perform a cleaning operation based on the cleaning control information; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module through the first WiFi-Mesh module; the human-computer interaction device is used to receive cleaning control information, and send the cleaning control information to the first WiFi-Mesh module through the second WiFi-Mesh module when there is no Internet server or in an offline state; receive the cleaning work information sent by the first WiFi-Mesh module, and display the cleaning work information; the base station is used to store the cleaning robot body when the cleaning robot body finishes performing the cleaning operation.

[0007] In a possible implementation manner, the human-computer interaction device includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station.

[0008] In a possible implementation, the system also includes a routing device, in which a third WiFi-Mesh module is provided; the cleaning robot body, the human-computer interaction device and the routing device are communicatively connected through the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module respectively; the routing device is used to receive and forward the cleaning work information and the cleaning control information through the third WiFi-Mesh module when there is no Internet server or in an offline state.

[0009] In a possible implementation, any target WiFi-Mesh module among the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module is used to: when a candidate WiFi-Mesh module is detected in the absence of an Internet server or in an offline state, Mesh networking is performed with the candidate WiFi-Mesh module to enable the cleaning robot body, the human-computer interaction device and the routing device to communicate and connect; the candidate WiFi-Mesh module is any WiFi-Mesh module among the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module except the target WiFi-Mesh module.

[0010] In a possible implementation, the target WiFi-Mesh module is specifically used to: send a first beacon frame on each channel, the first beacon frame includes first identification information of a target node device, the target node device is a node device provided with the target WiFi-Mesh module; the node device includes the cleaning robot body, the human-computer interaction device and the routing device; listen to a second beacon frame on each channel, the second beacon frame includes second identification information, and the second identification information is used to identify any node device except the target node device; perform identity authentication based on the first identification information and the second identification information, and if the verification passes, determine that a candidate WiFi-Mesh module is detected.

[0011] In a possible implementation, the target WiFi-Mesh module is specifically used to: send a first Mesh peer connection request message to the candidate WiFi-Mesh module; after receiving a first Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module based on the first Mesh peer connection request message, send a second Mesh peer connection request message to the candidate WiFi-Mesh module; after receiving a second Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module based on the second Mesh peer connection request message, send a first security negotiation message to the candidate WiFi-Mesh module, the first security negotiation message carrying a first key of the target node device; after receiving a second security negotiation message fed back by the candidate WiFi-Mesh module based on the first security negotiation message, perform a security check according to the first key and the second key, and if the security check passes, perform Mesh networking with the candidate WiFi-Mesh module, the second security negotiation message carrying a second key of the candidate node device, and the candidate node device is a node device equipped with the candidate WiFi-Mesh module.

[0012] In a possible implementation, the target WiFi-Mesh module is specifically used to: send a Mesh peer connection closing request message to the candidate WiFi-Mesh module; after receiving a Mesh peer connection closing confirmation message fed back by the candidate WiFi-Mesh module based on the Mesh peer connection closing request message, disconnect the Mesh networking between the target node device and the candidate node device.

[0013] In a possible implementation, the target WiFi-Mesh module is specifically used to: monitor the signal strength between the target node device and the candidate node device in real time; when the signal strength between the target node device and the candidate node device is less than a first preset threshold, send a Mesh network reconstruction request message to the candidate WiFi-Mesh module; after receiving the Mesh network reconstruction confirmation message fed back by the candidate WiFi-Mesh module based on the Mesh network reconstruction request message, reconstruct the Mesh network of the target node device.

[0014] In one possible implementation, the target WiFi-Mesh module is specifically used to: monitor in real time the signal strength between the target node device and the adjacent node device, the adjacent node device being any node device among the node devices except the target node device and the candidate node device; when the signal strength between the target node device and the adjacent node device is greater than a second preset threshold, return to the step of monitoring the second beacon frame on each channel.

[0015] In a possible implementation, the cleaning robot body is also used to send the cleaning work information and the third identification information of the cleaning robot to the second WiFi-Mesh module through the first WiFi-Mesh module when there is no Internet server or in an offline state; the human-computer interaction device is also used to send the cleaning control information and the fourth identification information of the human-computer interaction device to the first WiFi-Mesh module through the second WiFi-Mesh module when there is no Internet server or in an offline state.

[0016] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: when there is no Internet server or in an offline state, the human-machine interaction device sends cleaning control information to the cleaning robot body through the second WiFi-Mesh module, and the cleaning robot body receives it in real time through the first WiFi-Mesh module. Based on the characteristics of the dynamic network, multi-hop communication, and long communication distance of the WiFi-Mesh module, the cleaning robot body can receive the cleaning control information sent by the human-machine interaction device in real time within the local area network on the basis of the WiFi-Mesh module, respond to the user's cleaning needs in a timely manner, and send the cleaning work information to the human-machine interaction device in real time during the cleaning process according to the received cleaning control information, thereby improving the real-time performance of local information transmission; at the same time, the human-machine interaction device can receive and display the cleaning work information sent by the cleaning robot body in real time, so that the user can view the cleaning progress of the cleaning robot in real time, avoiding the situation in which the cleaning robot is disconnected and cannot communicate when it moves to a position far away from the human-machine interaction device in special cases such as large areas, multiple rooms, or uneven distribution of network signals, thereby improving the real-time performance of the transmission of cleaning control information and cleaning work information, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the structure of a cleaning robot information transmission system provided in Example 1 of the present application;

[0019] Figure 2 A flowchart of a Mesh networking method of a first WiFi-Mesh module 140 and a second WiFi-Mesh module 150 provided in Embodiment 1 of the present application;

[0020] Figure 3 A schematic diagram of a flow chart of a method for disconnecting a Mesh link of a first WiFi-Mesh module 140 and a second WiFi-Mesh module 150 provided in Embodiment 1 of the present application;

[0021] Figure 4 A schematic diagram of a flow chart of a Mesh network reconstruction method of a first WiFi-Mesh module 140 and a second WiFi-Mesh module 150 provided in Embodiment 1 of the present application;

[0022] Figure 5 A schematic diagram of the structure of a cleaning robot information transmission system provided in Example 2 of the present application;

[0023] Figure 6 A flowchart of a method for transmitting information between the first WiFi-Mesh module 550 and the second WiFi-Mesh module 560 through the third WiFi-Mesh module 570 provided in the second embodiment of the present application;

[0024] Figure 7 A schematic diagram of the structure of a cleaning robot information transmission system provided in Example 3 of the present application;

[0025] Figure 8 A schematic diagram of the structure of a cleaning robot information transmission system provided in Embodiment 4 of the present application;

[0026] Fig. 9 This is a schematic diagram of the structure of a cleaning robot information transmission system provided in Example 5 of the present application. DETAILED DESCRIPTION

[0027] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0028] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0029] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0031] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0033] Robot map is the key to human-machine interaction of cleaning robots. In large indoor scenes, network signal distribution is limited and uneven. In some special cases, the control information and map information of the cleaning robot cannot be transmitted in real time, which affects the monitoring and control of human-machine interaction, reduces the user experience, and even affects the behavior execution of the cleaning robot.

[0034] The current offline information transmission scheme for cleaning robots generally uses applications or screens on base stations for display and human-computer interaction. In complex scenarios, the real-time performance of information transmission is relatively poor, and the human-computer interaction experience is lacking. For multi-story residential buildings or large-area houses, the signal coverage of cleaning robots is limited or the network may have signal blind spots, and it is difficult for cleaning robot information such as maps to be fed back to the screen or interface of the human-computer interaction device in a timely manner. For families deploying multi-robot systems, the current scheme cannot centrally and uniformly control and share map information in real time, which increases the complexity of human-computer interaction. The current offline map schemes are mostly concentrated between the robot host and the base station, or through cloud storage forwarding, which may pose certain security risks.

[0035] The traditional cleaning robot information transmission system mainly uses message queuing telemetry transport (MQTT) or wireless serial port to communicate between the cleaning robot body and the base station screen, which will face the following challenges: 1) Hardware limitations. Usually, wireless serial port or MQTT is used, with limited transmission rate and poor real-time performance. It is only suitable for offline map transmission after the cleaning robot returns to the base station, which is more challenging for real-time operation. 2) The transmission data is large. For example, the maximum map is 400*400*4=64 kilobytes, and the longest trajectory is 1 megabyte. As the cleaning continues, the map data will increase without limit. It may take several minutes to transmit a frame of map data. The user experience is very poor, and it is impossible to perceive the walking trajectory and cleaning status of the sweeper in real time, which loses the meaning of map display. 3) Unstable transmission. Due to the limitation of its own transmission rate and microcontroller unit (MCU) memory, it is easy to lose data packets. Once packet loss occurs, due to incremental transmission, it will cause map dislocation and trajectory offset, and it is impossible to display a relatively normal map. If the serial port is occupied during the packet sending process, problems will occur when parsing the data packet, and errors may occur.

[0036] In addition, the existing cleaning robot information transmission system uses a traditional wireless relay network, and the traditional wireless relay network has the following characteristics: 1) The network topology of the wireless relay is fixed and is defined by the user at the beginning of the setting, and the entire network cannot guarantee the optimal effect. When a node goes offline, it may cause all subsequent nodes to be paralyzed and cannot be automatically repaired; 2) Several routers in the wireless relay system do not know each other's status and cannot actively guide the device to connect to a better node. When the device connects from the main router to the relay router, there will be obvious disconnection; 3) The wireless relay needs to configure the service set identifier (SSID), password one by one, and select the network that needs to be relayed. The steps are cumbersome and the threshold is high.

[0037] In order to solve the above technical problems, the present application provides a cleaning robot information transmission system, which adopts an information network and information transmission method based on WiFi-Mesh. In the absence of an Internet server or offline state, it gives full play to its dynamic network discovery, networking and autonomous management characteristics, so that the cleaning robot can work in a larger range and meet the real-time cleaning robot information transmission. The advantage of WiFi-Mesh lies in the information transmission in a large range of indoor environments and dynamic motion states of cleaning robots. Its advantages include: convenient configuration of network structure, autonomous discovery and multi-hop communication, self-organizing network and self-healing network, easy deployment and expansion, connection to external network, large bandwidth up to 150 megabits (Mbps), long communication distance, etc.

[0038] WiFi-Mesh networking is a wireless mesh network with multi-hop interconnection and mesh topology characteristics. When wireless WiFi-Mesh networking is in progress, when there are more than two nodes, the WiFi-Mesh nodes are no longer connected by a single line, but are connected like a net. When a line has a problem, it will automatically connect to another node. The connection modes of Mesh networking are divided into: wired connection, wireless connection, and wired and wireless hybrid connection, and are divided into chain type, tree type, star type, and hybrid type according to the topological structure. WiFi-Mesh networking can adopt any one of them in the specific implementation. Preferably, in the large indoor scene of the cleaning robot, the tree structure is a relatively efficient way. The process of its network implementation mainly includes network configuration, adjacent node discovery, network self-organization healing and other operations, so as to meet the dynamic self-organization network and reorganization network during the movement of the cleaning robot body.

[0039] Wireless Mesh Network uses wireless technology to connect nodes. In a wireless mesh network, nodes are connected to each other, and each node can act as a router and terminal device, transmitting and forwarding data at the same time. Nodes in a wireless mesh network can join or leave the network at any time, so the wireless mesh network has strong flexibility and scalability.

[0040] For ease of understanding, the technical solution of the present application will be described in detail below with reference to the accompanying drawings.

[0041] Embodiment 1

[0042] Figure 1 This is a schematic diagram of the structure of a cleaning robot information transmission system provided in this embodiment. Figure 1As shown, the cleaning robot information transmission system 100 includes a cleaning robot body 110, a base station 120 and a human-machine interaction device 130. Among them, the cleaning robot body 110 is provided with a first WiFi-Mesh module 140, and the human-machine interaction device 130 is provided with a second WiFi-Mesh module 150. The cleaning robot body 110 and the human-machine interaction device 130 are connected in communication through the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150, and the base station 120 is fixedly arranged at a preset position.

[0043] Specifically, the cleaning robot body 110 is used to receive cleaning control information through the first WiFi-Mesh module 140 when there is no Internet server or in an offline state, and perform cleaning operations based on the cleaning control information; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module 150 through the first WiFi-Mesh module 140.

[0044] Specifically, the base station 120 is used to store the cleaning robot body 110 when the cleaning robot body 110 finishes performing the cleaning operation.

[0045] Specifically, the human-computer interaction device 130 is used to receive cleaning control information, and when there is no Internet server or in an offline state, send the cleaning control information to the first WiFi-Mesh module 140 through the second WiFi-Mesh module 150; receive the cleaning work information sent by the first WiFi-Mesh module 140, and display the cleaning work information.

[0046] As an example, the human-machine interaction device 130 includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station 120. The human-machine interaction device 130 includes a touch screen for displaying a map and inputting cleaning control information.

[0047] Exemplarily, the human-machine interaction device 130 may be a mobile interaction terminal, such as a mobile phone, etc.; or a fixed interaction terminal disposed on the base station 120. Figure 1 In the cleaning robot information transmission system 100 shown, the human-machine interaction device 130 is a mobile interaction terminal.

[0048] In a specific implementation, the human-computer interaction device 130 receives the cleaning control information input by the user, and in the absence of an Internet server or in an offline state, sends the cleaning control information to the first WiFi-Mesh module 140 through the second WiFi-Mesh module 150. After receiving the cleaning control information through the first WiFi-Mesh module 140, the cleaning robot body 110 performs a cleaning operation based on the cleaning control information, constructs cleaning work information in real time during the execution of the cleaning operation, and sends the cleaning work information to the second WiFi-Mesh module 150 through the first WiFi-Mesh module 140. The human-computer interaction device 130 receives the cleaning work information through the second WiFi-Mesh module 150 and displays the cleaning work information. The user can understand the real-time situation of the cleaning operation performed by the cleaning robot body 110 and the work progress of the cleaning robot body 110 through the cleaning work information displayed by the human-computer interaction device 130. At the same time, based on this, new cleaning control information can be input through the human-computer interaction device 130 to continuously adjust the cleaning operation of the cleaning robot body 110, thereby improving the work efficiency of the cleaning robot body 110 and improving the user experience. When the cleaning robot body 110 finishes the cleaning operation according to the received cleaning control information, it returns to the base station 120. When the cleaning robot body 110 is stored in the base station 120, operations such as cleaning the mop and charging can be performed.

[0049] Exemplarily, the cleaning control information input by the user includes edited map information, navigation target information, and cleaning-related setting information, etc.; the cleaning work information constructed in real time by the cleaning robot body 110 during the cleaning operation includes current environment map information, cleaning information, sensor information, and other reported information, etc.

[0050] In a specific implementation, when there is no Internet server or in an offline state, the cleaning robot body 110 and the human-machine interaction device 130 perform operations such as Mesh networking, link disconnection, and network reconstruction through the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150. The following takes the first WiFi-Mesh module 140 as an example to introduce the specific implementation process of the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 performing Mesh networking, link disconnection, and network reconstruction.

[0051] In a possible implementation, the first WiFi-Mesh module 140 first determines whether the second WiFi-Mesh module 150 is a candidate WiFi-Mesh module. After determining that the second WiFi-Mesh module 150 is a candidate WiFi-Mesh module of the first WiFi-Mesh module 140, the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 perform Mesh networking.

[0052] As an example, the first WiFi-Mesh module 140 sends a first beacon frame on each channel, the first beacon frame includes the first identification information of the cleaning robot body 110, and at the same time monitors the second beacon frame on each channel, the second beacon frame includes the second identification information of the human-computer interaction device 130, and performs identity authentication based on the first identification information and the second identification information. If the verification passes, the second WiFi-Mesh module 150 is determined as a candidate WiFi-Mesh module.

[0053] Optionally, the first identification information includes a Mesh identification (ID) code or communication protocol information of the cleaning robot body 110, and the second identification information includes a Mesh ID or communication protocol information of the human-machine interaction device 130. The process of the first WiFi-Mesh module 140 performing identity authentication based on the first identification information and the second identification information can be to verify whether the Mesh ID of the cleaning robot body 110 is consistent with the Mesh ID of the human-machine interaction device 130, and when the Mesh IDs of the two are consistent, the verification is passed; it can also be based on the communication protocol of the cleaning robot body 110 and the human-machine interaction device 130. Whether the two can communicate, the verification is passed when it is determined that the two can communicate.

[0054] Optionally, when the first WiFi-Mesh module 140 determines that the second WiFi-Mesh module 150 is a candidate WiFi-Mesh module, the second WiFi-Mesh module 150 is updated as a candidate WiFi-Mesh module in the neighbor node relationship table of the first WiFi-Mesh module 140. Each WiFi-Mesh module has a neighbor node relationship table, which divides the information of all Mesh neighbor nodes into four categories: ordinary wireless access point (AP) neighbor nodes, other Mesh network nodes, candidate Mesh nodes, and peer Mesh nodes.

[0055] As an example, after the first WiFi-Mesh module 140 determines that the second WiFi-Mesh module 150 is a candidate WiFi-Mesh module, the first WiFi-Mesh module 140 performs Mesh networking with the second WiFi-Mesh module 150. Figure 2 As shown, the process of the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 performing Mesh networking includes:

[0056] S210 , the first WiFi-Mesh module 140 sends a first Mesh peer connection request message to the second WiFi-Mesh module 150 .

[0057] S220, the first WiFi-Mesh module 140 receives a first Mesh peer connection confirmation message fed back by the second WiFi-Mesh module 150 according to the first Mesh peer connection request message.

[0058] S230 , the first WiFi-Mesh module 140 sends a second Mesh peer connection request message to the second WiFi-Mesh module 150 .

[0059] S240, the first WiFi-Mesh module 140 receives a second Mesh peer connection confirmation message fed back by the second WiFi-Mesh module 150 according to the second Mesh peer connection request message.

[0060] S250 , the first WiFi-Mesh module 140 sends a first security negotiation message to the second WiFi-Mesh module 150 , where the first security negotiation message carries a first key of the cleaning robot body 110 .

[0061] S260 , the first WiFi-Mesh module 140 receives a second security negotiation message fed back by the second WiFi-Mesh module 150 according to the first security negotiation message, where the second security negotiation message carries a second key of the human-machine interaction device 130 .

[0062] S270, the first WiFi-Mesh module 140 performs security verification based on the first key and the second key.

[0063] S280, when the security check passes, the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 perform Mesh networking.

[0064] Exemplarily, when the first key is the same as the second key, the security check passes.

[0065] As an example, Figure 3 As shown, the process of disconnecting the Mesh link by the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 includes:

[0066] S310 , the first WiFi-Mesh module 140 sends a Mesh peer connection closing request message to the second WiFi-Mesh module 150 .

[0067] S320 , the first WiFi-Mesh module 140 receives a Mesh peer connection closing confirmation message fed back by the second WiFi-Mesh module 150 according to the Mesh peer connection closing request message.

[0068] S330 , the first WiFi-Mesh module 140 disconnects the Mesh network with the second WiFi-Mesh module 150 .

[0069] As an example, Figure 4 As shown, the process of the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 performing Mesh network reconstruction includes:

[0070] S410 , the first WiFi-Mesh module 140 monitors the signal strength between the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 in real time.

[0071] S420 , when the signal strength between the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 is less than a first preset threshold, the first WiFi-Mesh module 140 sends a Mesh network reconstruction request message to the second WiFi-Mesh module 150 .

[0072] S430 , the first WiFi-Mesh module 140 receives a Mesh network reconstruction confirmation message fed back by the second WiFi-Mesh module 150 according to the Mesh network reconstruction request message.

[0073] S440 , the first WiFi-Mesh module 140 and the second WiFi-Mesh module 150 respectively perform Mesh network reconstruction.

[0074] The technical solution provided in this embodiment is a system architecture of a cleaning robot body, a base station corresponding to the cleaning robot body, and a human-computer interaction device. WiFi-Mesh modules are respectively set in the cleaning robot body and the human-computer interaction device, and in the absence of an Internet server or in an offline state, the cleaning robot body and the human-computer interaction device are meshed, linked disconnected, network reorganized, and the cleaning robot information transmitted are performed through the WiFi-Mesh module. Based on the characteristics of the WiFi-Mesh module such as dynamic network discovery, multi-hop communication, self-organizing and self-healing network, and long communication distance, the stability of the network between the cleaning robot body and the human-computer interaction device and the real-time performance of local information transmission are improved, thereby enhancing the user experience.

[0075] Embodiment 2

[0076] Figure 5 A schematic diagram of the structure of a cleaning robot information transmission system provided in this embodiment. Figure 5 The cleaning robot information transmission system 500 shown is based on the cleaning robot information transmission system 100 in the first embodiment, with the addition of a routing device.

[0077] like Figure 5 As shown, the cleaning robot information transmission system 500 includes a cleaning robot body 510, a base station 520, a human-machine interaction device 530 and a routing device 540. Among them, the cleaning robot body 510 is provided with a first WiFi-Mesh module 550, the human-machine interaction device 530 is provided with a second WiFi-Mesh module 560, and the routing device 540 is provided with a third WiFi-Mesh module 570. The cleaning robot body 510, the human-machine interaction device 530 and the routing device 540 are respectively connected in communication through the first WiFi-Mesh module 550, the second WiFi-Mesh module 560 and the third WiFi-Mesh module 570, and the base station 520 is fixedly arranged at a preset position.

[0078] Specifically, the cleaning robot body 510 is used to receive cleaning control information sent by the second WiFi-Mesh module 560 or forwarded by the third WiFi-Mesh module 570 through the first WiFi-Mesh module 550 when there is no Internet server or in an offline state, and perform cleaning operations based on the cleaning control information; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module 560 and the third WiFi-Mesh module 570 through the first WiFi-Mesh module 550.

[0079] Specifically, the base station 520 is used to store the cleaning robot body 510 when the cleaning robot body 510 finishes performing the cleaning operation.

[0080] Specifically, the human-computer interaction device 530 is used to receive cleaning control information, and when there is no Internet server or in an offline state, send the cleaning control information to the first WiFi-Mesh module 550 and the third WiFi-Mesh module 570 through the second WiFi-Mesh module 560; receive cleaning work information sent by the first WiFi-Mesh module 550 or forwarded by the third WiFi-Mesh module 570, and display the cleaning work information.

[0081] As an example, the human-machine interaction device 530 includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station 520. The human-machine interaction device 530 includes a touch screen for displaying a map and inputting cleaning control information.

[0082] Exemplarily, the human-machine interaction device 530 may be a mobile interaction terminal, such as a mobile phone, etc.; or a fixed interaction terminal arranged on the base station 520. Figure 5 In the cleaning robot information transmission system 500 shown, the human-computer interaction device 530 is a mobile interaction terminal.

[0083] Specifically, the routing device 540 is used to receive the cleaning work information sent by the first WiFi-Mesh module 550 and the cleaning control information sent by the second WiFi-Mesh module 560 through the third WiFi-Mesh module 570 when there is no Internet server or in an offline state, and forward the cleaning control information to the first WiFi-Mesh module 550 and the cleaning work information to the second WiFi-Mesh module 560 through the third WiFi-Mesh module 570.

[0084] In a specific implementation, the human-computer interaction device 530 receives the cleaning control information input by the user, and in the absence of an Internet server or in an offline state, sends the cleaning control information to the first WiFi-Mesh module 550 and the third WiFi-Mesh module 570 through the second WiFi-Mesh module 560, and the routing device 540 forwards the cleaning control information to the first WiFi-Mesh module 550 through the third WiFi-Mesh module 570. After the cleaning robot body 510 receives the cleaning control information through the first WiFi-Mesh module 550, it performs a cleaning operation based on the cleaning control information, and constructs cleaning work information in real time during the cleaning operation, and sends the cleaning work information to the second WiFi-Mesh module 560 and the third WiFi-Mesh module 570 through the first WiFi-Mesh module 550. The routing device 540 forwards the cleaning work information to the second WiFi-Mesh module 560 through the third WiFi-Mesh module 570, and the human-computer interaction device 530 receives the cleaning work information through the second WiFi-Mesh module 560 and displays the cleaning work information. When the cleaning robot body 510 finishes the cleaning operation according to the received cleaning control information, it returns to the base station 520. When the cleaning robot body 510 is stored in the base station 520, operations such as cleaning the mop and charging can be performed.

[0085] As an example, Figure 6As shown, the process of information transmission between the first WiFi-Mesh module 550 and the second WiFi-Mesh module 560 through the third WiFi-Mesh module 570 includes:

[0086] S610 , the second WiFi-Mesh module 560 sends cleaning control information to the third WiFi-Mesh module 570 .

[0087] Exemplarily, the cleaning control information includes edited map information, navigation target information, and cleaning-related setting information, etc.

[0088] S620 , the third WiFi-Mesh module 570 forwards the received cleaning control information to the first WiFi-Mesh module 550 .

[0089] S630 , the first WiFi-Mesh module 550 sends cleaning work information to the third WiFi-Mesh module 570 .

[0090] Exemplarily, the cleaning work information includes current environment map information, cleaning information, sensor information, and other reported information.

[0091] S640 , the third WiFi-Mesh module 570 forwards the received cleaning operation information to the second WiFi-Mesh module 560 .

[0092] In a specific implementation, the cleaning robot body 510, the human-computer interaction device 530 and the routing device 540 respectively perform Mesh networking, link disconnection and network reconstruction operations through the first WiFi-Mesh module 550, the second WiFi-Mesh module 560 and the third WiFi-Mesh module 570.

[0093] It should be noted that the process of Mesh networking between the cleaning robot body 510 and the human-machine interaction device 530 through the first WiFi-Mesh module 550 and the second WiFi-Mesh module 560, the cleaning robot body 510 and the routing device 540 through the first WiFi-Mesh module 550 and the third WiFi-Mesh module 570, and the human-machine interaction device 530 and the routing device 540 through the second WiFi-Mesh module 560 and the third WiFi-Mesh module 570 can be referred to. Figure 2 The method shown in the figure can be used to refer to the process of disconnecting the Mesh link. Figure 3 The method and network reconstruction process shown can be referred to Figure 4 The method shown will not be described in detail here.

[0094] The technical solution provided in this embodiment is a system architecture of a cleaning robot body, a base station corresponding to the cleaning robot body, a human-machine interaction device and a routing device. WiFi-Mesh modules are set in the cleaning robot body, the human-machine interaction device and the routing device. When there is no Internet server or in an offline state, the WiFi-Mesh module is used to perform Mesh networking, link disconnection, network reorganization and cleaning robot information transmission between the cleaning robot body, the human-machine interaction device and the routing device. Based on the characteristics of the WiFi-Mesh module such as the long communication distance, the signal is fully covered in the indoor working area, and the real-time transmission of the uplink and downlink information of the cleaning robot and the information broadcast sharing are achieved, the real-time performance of the offline transmission of the cleaning control information and the cleaning work information is improved, and the user experience is enhanced.

[0095] Embodiment 3

[0096] Figure 7 A schematic diagram of the structure of a cleaning robot information transmission system provided in this embodiment. Figure 7 The cleaning robot information transmission system 700 shown is based on the cleaning robot information transmission system 100 in the first embodiment, and increases the number of cleaning robot bodies, base stations matching the cleaning robot bodies, and human-machine interaction devices.

[0097] like Figure 7 As shown, the cleaning robot information transmission system 700 includes N cleaning robot bodies 710, N base stations 720 respectively matched with the N cleaning robot bodies 710, and M human-machine interaction devices 730, the N cleaning robot bodies 710 are respectively recorded as cleaning robot body 710-1, cleaning robot body 710-2...cleaning robot body 710-N, the N base stations 720 are respectively recorded as base station 720-1, base station 720-2...base station 720-N, the M human-machine interaction devices 730 are respectively recorded as human-machine interaction device 730-1, human-machine interaction device 730-2...human-machine interaction device 730-M, and N and M are positive integers greater than 1.

[0098] Among them, the N cleaning robot bodies 710 are all provided with a first WiFi-Mesh module 740, and the M human-machine interaction devices 730 are all provided with a second WiFi-Mesh module 750. The N first WiFi-Mesh modules 740 are respectively recorded as the first WiFi-Mesh module 740-1, the first WiFi-Mesh module 740-2...the first WiFi-Mesh module 740-N, and the M second WiFi-Mesh modules 750 are respectively recorded as the second WiFi-Mesh module 750-1, the second WiFi-Mesh module 750-2...the second WiFi-Mesh module 750-M. The N cleaning robot bodies 710 and the M human-machine interaction devices 730 are connected to each other through the first WiFi-Mesh module 740 and the second WiFi-Mesh module 750, and the N cleaning robot bodies 710 are connected to each other through the first WiFi-Mesh module 740 respectively provided, and the M human-machine interaction devices 730 are connected to each other through the second WiFi-Mesh module 750 respectively provided. The N base stations 720 are all fixedly disposed at preset positions.

[0099] Specifically, the cleaning robot body 710 is used to receive and forward cleaning control information and cleaning work information sent or forwarded by the second WiFi-Mesh module 750 and other first WiFi-Mesh modules 740 except the first WiFi-Mesh module 740 set up by itself through the first WiFi-Mesh module 740 when there is no Internet server or in an offline state, and perform cleaning operations based on its own cleaning control information; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module 750 and other first WiFi-Mesh modules 740 except the first WiFi-Mesh module 740 set up by itself through the first WiFi-Mesh module 740.

[0100] Specifically, the base station 720 is used to store the matching cleaning robot body 710 when the cleaning robot body 710 finishes performing the cleaning operation.

[0101] Specifically, the human-computer interaction device 730 is used to receive cleaning control information, and when there is no Internet server or in an offline state, send the cleaning control information to the first WiFi-Mesh module 740 and other second WiFi-Mesh modules 750 except the second WiFi-Mesh module 750 set up by itself through the second WiFi-Mesh module 750; receive and forward the cleaning work information and cleaning control information sent or forwarded by the first WiFi-Mesh module 740 or other second WiFi-Mesh modules 750 except the second WiFi-Mesh module 750 set up by itself, and display the cleaning work information for itself.

[0102] As an example, the human-machine interaction device 730 includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station 720. The human-machine interaction device 730 includes a touch screen for displaying a map and inputting cleaning control information.

[0103] Exemplarily, the human-machine interaction device 730 may be a mobile interaction terminal, such as a mobile phone, etc.; it may also be a fixed interaction terminal arranged on the base station 720; there may also be a case where it is both a mobile interaction terminal and a fixed interaction terminal arranged on the base station 720. Figure 7 As shown, human-machine interaction devices 730-1 and 730-3 are mobile interaction terminals, human-machine interaction device 730-2 is a fixed interaction terminal set on base station 720-1, and human-machine interaction device 730-M is a fixed interaction terminal set on base station 720-N.

[0104] As an example, the human-computer interaction device 730 is also used to send cleaning control information and its own fourth identification information to the first WiFi-Mesh module 740 through the second WiFi-Mesh module 750 when there is no Internet server or in an offline state. After the first WiFi-Mesh module 740 receives the cleaning control information and the fourth identification information, it first performs identity authentication through the fourth identification information. When the identity authentication is passed, the cleaning robot body 710 confirms through the first WiFi-Mesh module 740 that the cleaning control information is for itself, and then performs the cleaning operation through the cleaning control information.

[0105] Exemplarily, the fourth identification information includes a preset string of the human-computer interaction device 730. After receiving the fourth identification information, the first WiFi-Mesh module 740 matches the preset string of the human-computer interaction device 730 with its own preset string. If the match is successful, the identity authentication is passed.

[0106] As an example, the cleaning robot body 710 is also used to send the constructed cleaning work information and its own third identification information to the second WiFi-Mesh module 750 through the first WiFi-Mesh module 740 when there is no Internet server or in an offline state. When the second WiFi-Mesh module 750 receives the cleaning work information and the third identification information, it first performs identity authentication through the third identification information. When the identity authentication is passed, the human-computer interaction device 730 determines through the second WiFi-Mesh module 750 that the cleaning work information is for itself, and then displays the cleaning work information.

[0107] Exemplarily, the third identification information includes a preset string of the cleaning robot body 710. After receiving the third identification information, the second WiFi-Mesh module 750 matches the preset string of the cleaning robot body 710 with its own preset string. If the match is successful, the identity authentication is passed.

[0108] In a specific implementation, the human-computer interaction device 730 receives the cleaning control information input by the user, and in the absence of an Internet server or in an offline state, sends the cleaning control information and the fourth identification information to each first WiFi-Mesh module 740 and other second WiFi-Mesh modules 750 except the second WiFi-Mesh module 750 set by itself through the second WiFi-Mesh module 750. After the cleaning robot body 710 receives the cleaning control information through the first WiFi-Mesh module 740, it first performs identity authentication based on the fourth identification information. When the identity authentication is passed, the cleaning operation is performed based on the cleaning control information, and in the process of performing the cleaning operation The cleaning work information is constructed in real time, and the cleaning work information and the third identification information are sent to each second WiFi-Mesh module 750 and other first WiFi-Mesh modules 740 except the first WiFi-Mesh module 740 set by itself through the first WiFi-Mesh module 740. The human-machine interaction device 730 receives the cleaning work information and the third identification information through the second WiFi-Mesh module 750, and performs identity authentication based on the third identification information. When the identity authentication is passed, the cleaning work information is displayed. When the cleaning robot body 710 performs the cleaning operation according to the received cleaning control information, it returns to the matching base station 720. When the cleaning robot body 710 is stored in the base station 720, operations such as cleaning the mop and charging can be performed.

[0109] Exemplarily, the cleaning control information input by the user includes edited map information, navigation target information, and cleaning-related setting information, etc.; the cleaning work information constructed in real time by the cleaning robot body 710 during the cleaning operation includes current environment map information, cleaning information, sensor information, and other reported information, etc.

[0110] In a specific implementation, when there is no Internet server or in an offline state, each cleaning robot body 710 and each human-machine interaction device 730 perform Mesh networking, link disconnection, network reconstruction and other operations through the first WiFi-Mesh module 740 and the second WiFi-Mesh module 750, between each cleaning robot body 710 through the first WiFi-Mesh module 740 set by each cleaning robot body 710, and between each human-machine interaction device 730 through the second WiFi-Mesh module 750 set by each cleaning robot body 710. The following will take any target WiFi-Mesh module among each first WiFi-Mesh module 740 and each second WiFi-Mesh module 750 as an example to introduce the specific implementation process of Mesh networking, link disconnection, network reconstruction and other operations between each first WiFi-Mesh module 740 and each second WiFi-Mesh module 750, between each first WiFi-Mesh module 740 and each second WiFi-Mesh module 750.

[0111] In one possible implementation, the Mesh networking process includes: when there is no Internet server or in an offline state, the target WiFi-Mesh module, upon detecting a candidate WiFi-Mesh module, performs Mesh networking with the candidate WiFi-Mesh module to enable communication connection between each cleaning robot body 710 and each human-computer interaction device 730, between each cleaning robot body 710, and between each human-computer interaction device 730. The candidate WiFi-Mesh module is any WiFi-Mesh module other than the target WiFi-Mesh module among the N first WiFi-Mesh modules 740 and the M second WiFi-Mesh modules 750.

[0112] As an example, the target WiFi-Mesh module sends a first beacon frame on each channel, the first beacon frame includes first identification information of the target node device, the target node device is a node device equipped with the target WiFi-Mesh module, and the node device includes each cleaning robot body 710 and each human-computer interaction device 730; at the same time, the target WiFi-Mesh module monitors the second beacon frame on each channel, the second beacon frame includes second identification information, and the second identification information is used to identify any node device except the target node device; the target WiFi-Mesh module performs identity authentication based on the first identification information and the second identification information, and if the verification passes, it is determined that a candidate WiFi-Mesh module is detected, that is, the WiFi-Mesh module set in the node device corresponding to the second identification information is used as a candidate WiFi-Mesh module.

[0113] After determining the candidate WiFi-Mesh module, the target WiFi-Mesh module sends a first Mesh peer connection request message to the candidate WiFi-Mesh module; after receiving the first Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module based on the first Mesh peer connection request message, the target WiFi-Mesh module sends a second Mesh peer connection request message to the candidate WiFi-Mesh module; after receiving the second Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module based on the second Mesh peer connection request message, the target WiFi-Mesh module sends a first security negotiation message to the candidate WiFi-Mesh module, the first security negotiation message carries the first key of the target node device; after receiving the second security negotiation message fed back by the candidate WiFi-Mesh module based on the first security negotiation message, a security check is performed based on the first key and the second key, and if the security check passes, Mesh networking is performed with the candidate WiFi-Mesh module, the second security negotiation message carries the second key of the candidate node device, and the candidate node device is a node device equipped with a candidate WiFi-Mesh module.

[0114] Optionally, the first identification information includes the Mesh ID code or communication protocol information of the target node device, and the second identification information includes the Mesh ID code or communication protocol information of the candidate node device.

[0115] As an example, the process of disconnecting a Mesh link includes: the target WiFi-Mesh module sends a Mesh peer connection closing request message to the candidate WiFi-Mesh module; after receiving the Mesh peer connection closing confirmation message fed back by the candidate WiFi-Mesh module based on the Mesh peer connection closing request message, the Mesh networking of the target node device and the candidate node device is disconnected.

[0116] As an example, the process of Mesh network reconstruction includes: the target WiFi-Mesh module monitors the signal strength between the target node device and the candidate node device in real time; when the signal strength between the target node device and the candidate node device is less than a first preset threshold, a Mesh network reconstruction request message is sent to the candidate WiFi-Mesh module; after receiving the Mesh network reconstruction confirmation message fed back by the candidate WiFi-Mesh module based on the Mesh network reconstruction request message, the Mesh network is reconstructed for the target node device.

[0117] As an example, the process of Mesh network reconstruction also includes: the target WiFi-Mesh module monitors the signal strength between the target node device and the adjacent node device in real time, and the adjacent node device is any node device in the node device except the target node device and the candidate node device; when the signal strength between the target node device and the adjacent node device is greater than the second preset threshold, the target WiFi-Mesh module monitors the beacon frame of the adjacent node device, and the beacon frame of the adjacent node device includes the identification information of the adjacent node device. The target WiFi-Mesh module performs identity authentication based on the identification information of the adjacent node device. If the verification is successful, the adjacent node device is determined to be a candidate node device, and the WiFi-Mesh module set on it is a candidate WiFi-Mesh module, and Mesh networking is performed with the candidate WiFi-Mesh module through the above-mentioned Mesh networking method.

[0118] The technical solution provided in this embodiment is that, under the system architecture of multiple cleaning robot bodies, multiple base stations matching the multiple cleaning robot bodies and multiple human-machine interaction devices, each cleaning robot body and each human-machine interaction device is provided with a WiFi-Mesh module, and in the absence of an Internet server or in an offline state, Mesh networking, link disconnection, network reorganization and cleaning robot information transmission and other operations are performed between each cleaning robot body and each human-machine interaction device, and between each cleaning robot body and each human-machine interaction device through the WiFi-Mesh module. Based on the characteristics of dynamic network discovery, multi-hop communication, self-organizing and self-healing network, and long communication distance of the WiFi-Mesh module, when multiple cleaning robot systems are deployed in a large indoor environment, the transmission and sharing of cleaning control information and cleaning work information can be carried out in a distributed manner, ensuring that each cleaning robot and each human-machine interaction device can perform local information transmission in real time, thereby improving the user experience.

[0119] Embodiment 4

[0120] Figure 8 A schematic diagram of the structure of a cleaning robot information transmission system provided in this embodiment. Figure 8The cleaning robot information transmission system 800 shown is based on the cleaning robot information transmission system 700 in Example 3, with the addition of a routing device.

[0121] like Figure 8 As shown, the cleaning robot information transmission system 800 includes N cleaning robot bodies 810, N base stations 820 respectively matched with the N cleaning robot bodies 810, M human-machine interaction devices 830 and a routing device 840, the N cleaning robot bodies 810 are respectively recorded as cleaning robot body 810-1, cleaning robot body 810-2...cleaning robot body 810-N, the N base stations 820 are respectively recorded as base station 820-1, base station 820-2...base station 820-N, the M human-machine interaction devices 830 are respectively recorded as human-machine interaction device 830-1, human-machine interaction device 830-2...human-machine interaction device 830-M, and N and M are both positive integers greater than 1.

[0122] Among them, the N cleaning robot bodies 810 are each provided with a first WiFi-Mesh module 850, the M human-machine interaction devices 830 are each provided with a second WiFi-Mesh module 860, and the routing device 840 is provided with a third WiFi-Mesh module 870. The N first WiFi-Mesh modules 850 are recorded as the first WiFi-Mesh module 850-1, the first WiFi-Mesh module 850-2...the first WiFi-Mesh module 850-N, and the M second WiFi-Mesh modules 860 are respectively recorded as the second WiFi-Mesh module 860-1, the second WiFi-Mesh module 860-2...the second WiFi-Mesh module 860-M. The N cleaning robot bodies 810 and the M human-machine interaction devices 830 are connected in communication via the first WiFi-Mesh module 850 and the second WiFi-Mesh module 860, the N cleaning robot bodies 810 are connected in communication via the first WiFi-Mesh module 850 respectively set, the M human-machine interaction devices 830 are connected in communication via the second WiFi-Mesh module 860 respectively set, the N cleaning robot bodies 810 and the routing device 840 are connected in communication via the first WiFi-Mesh module 850 and the third WiFi-Mesh module 870, and the M human-machine interaction devices 830 and the routing device 840 are connected in communication via the second WiFi-Mesh module 860 and the third WiFi-Mesh module 870. The N base stations 820 are all fixedly arranged at preset positions.

[0123] Specifically, the cleaning robot body 810 is used to receive and forward cleaning control information and cleaning work information sent or forwarded by the second WiFi-Mesh module 860, the third WiFi-Mesh module 870 and other first WiFi-Mesh modules 850 except the first WiFi-Mesh module 850 set up by itself through the first WiFi-Mesh module 850 when there is no Internet server or in an offline state, and perform cleaning operations based on the cleaning control information for itself; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module 860, the third WiFi-Mesh module 870 and other first WiFi-Mesh modules 850 except the first WiFi-Mesh module 850 set up by itself through the first WiFi-Mesh module 850.

[0124] Specifically, the base station 820 is used to store the matching cleaning robot body 810 when the cleaning robot body 810 finishes performing the cleaning operation.

[0125] Specifically, the human-computer interaction device 830 is used to receive cleaning control information, and when there is no Internet server or in an offline state, send the cleaning control information to the first WiFi-Mesh module 850, the third WiFi-Mesh module 870 and other second WiFi-Mesh modules 860 other than the second WiFi-Mesh module 860 set up by itself through the second WiFi-Mesh module 860; receive and forward the cleaning work information and cleaning control information sent or forwarded by the first WiFi-Mesh module 850, the third WiFi-Mesh module 870 or other second WiFi-Mesh modules 860 other than the second WiFi-Mesh module 860 set up by itself, and display the cleaning work information for itself.

[0126] As an example, the human-computer interaction device 830 includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station 820 .

[0127] Exemplarily, the human-machine interaction device 830 may be a mobile interaction terminal, such as a mobile phone, etc.; it may also be a fixed interaction terminal arranged on the base station 820; there may also be a case where it is both a mobile interaction terminal and a fixed interaction terminal arranged on the base station 820. Figure 8 As shown, human-machine interaction devices 830-1 and 830-3 are mobile interaction terminals, human-machine interaction device 830-2 is a fixed interaction terminal set on base station 820-1, and human-machine interaction device 830-M is a fixed interaction terminal set on base station 820-N.

[0128] Specifically, the routing device 840 is used to receive and forward the cleaning work information and cleaning control information sent or forwarded by each first WiFi-Mesh module 850 and each second WiFi-Mesh module 860 through the third WiFi-Mesh module 870 when there is no Internet server or in an offline state.

[0129] As an example, the human-computer interaction device 830 is also used to send cleaning control information and its own fourth identification information to the first WiFi-Mesh module 850 through the second WiFi-Mesh module 860 when there is no Internet server or in an offline state. After the first WiFi-Mesh module 850 receives the cleaning control information and the fourth identification information, it first performs identity authentication through the fourth identification information. When the identity authentication is passed, the cleaning robot body 810 confirms through the first WiFi-Mesh module 850 that the cleaning control information is for itself, and then performs the cleaning operation through the cleaning control information.

[0130] As an example, the cleaning robot body 810 is also used to send the constructed cleaning work information and its own third identification information to the second WiFi-Mesh module 860 through the first WiFi-Mesh module 850 when there is no Internet server or in an offline state. When the second WiFi-Mesh module 860 receives the cleaning work information and the third identification information, it first performs identity authentication through the third identification information. When the identity authentication is passed, the human-computer interaction device 830 determines through the second WiFi-Mesh module 860 that the cleaning work information is for itself, and then displays the cleaning work information.

[0131] In a specific implementation, the human-computer interaction device 830 receives the cleaning control information input by the user, and in the absence of an Internet server or in an offline state, sends the cleaning control information and the fourth identification information to each first WiFi-Mesh module 850, the third WiFi-Mesh module 870 and other second WiFi-Mesh modules 860 except the second WiFi-Mesh module 860 set by itself through the second WiFi-Mesh module 860. After the cleaning robot body 810 receives the cleaning control information through the first WiFi-Mesh module 850, it first performs identity authentication based on the fourth identification information. When the identity authentication is passed, the cleaning operation is performed based on the cleaning control information, and in the process of performing the cleaning operation The cleaning work information is constructed in real time, and the cleaning work information and the third identification information are sent to each second WiFi-Mesh module 860, the third WiFi-Mesh module 870 and other first WiFi-Mesh modules 850 except the first WiFi-Mesh module 850 set by itself through the first WiFi-Mesh module 850. The human-machine interaction device 830 receives the cleaning work information and the third identification information through the second WiFi-Mesh module 860, and performs identity authentication based on the third identification information. When the identity authentication is passed, the cleaning work information is displayed. When the cleaning robot body 810 performs the cleaning operation according to the received cleaning control information, it returns to the matching base station 820. When the cleaning robot body 810 is stored in the base station 820, operations such as cleaning the mop and charging can be performed.

[0132] Exemplarily, the cleaning control information input by the user includes edited map information, navigation target information, and cleaning-related setting information, etc.; the cleaning work information constructed in real time by the cleaning robot body 810 during the cleaning operation includes current environment map information, cleaning information, sensor information, and other reported information, etc.

[0133] In a specific implementation, when there is no Internet server or in an offline state, each cleaning robot body 810 and each human-computer interaction device 830 communicate with each other through the first WiFi-Mesh module 850 and the second WiFi-Mesh module 860, each cleaning robot body 810 communicates with each other through the first WiFi-Mesh module 850 set by each other, each human-computer interaction device 830 communicates with each other through the second WiFi-Mesh module 860 set by each other, each cleaning robot body 810 and the routing device 840 communicates with the first WiFi-Mesh module 850 and the third WiFi-Mesh module 870, and each human-computer interaction device 830 and the routing device 840 communicates with the second WiFi-Mesh module 860 and the third WiFi-Mesh module 870 to perform operations such as Mesh networking, link disconnection, and network reconstruction.

[0134] It should be noted that any WiFi-Mesh module among the first WiFi-Mesh module 850 , the second WiFi-Mesh module 860 and the third WiFi-Mesh module 870 is used as the target WiFi-Mesh module, and the node devices include each cleaning robot body 810 , each human-computer interaction device 830 and a routing device 840 . The operations of Mesh networking, link disconnection and network reconstruction between each cleaning robot body 810 and each human-machine interaction device 830 through the first WiFi-Mesh module 850 and the second WiFi-Mesh module 860, between each cleaning robot body 810 through their respective first WiFi-Mesh modules 850, between each human-machine interaction device 830 through their respective second WiFi-Mesh modules 860, between each cleaning robot body 810 and the routing device 840 through the first WiFi-Mesh module 850 and the third WiFi-Mesh module 870, and between each human-machine interaction device 830 and the routing device 840 through the second WiFi-Mesh module 860 and the third WiFi-Mesh module 870 can all refer to the specific implementation process of Mesh networking, link disconnection and network reconstruction in Example 3, which will not be repeated here.

[0135] The technical solution provided by the present embodiment is a system architecture of multiple cleaning robot bodies, multiple base stations matching the multiple cleaning robot bodies, multiple human-machine interaction devices and a routing device. A WiFi-Mesh module is provided in each cleaning robot body, each human-machine interaction device and the routing device. When there is no Internet server or in an offline state, the WiFi-Mesh module is used to perform Mesh networking, link disconnection, network reorganization and cleaning robot information transmission operations between each cleaning robot body and each human-machine interaction device, between each cleaning robot body, between each human-machine interaction device, between each cleaning robot body and the routing device, and between each human-machine interaction device and the routing device. Based on the characteristics of the WiFi-Mesh module such as the long communication distance, when multiple cleaning robot systems are deployed in a large indoor environment, the signal is fully covered in the indoor working area, and the cleaning control information and cleaning work information can be distributedly transmitted and shared offline through each Mesh node device, ensuring that each cleaning robot and each human-machine interaction device can perform local information transmission in real time, thereby improving the user experience.

[0136] Embodiment 5

[0137] Fig. 9 A schematic diagram of the structure of a cleaning robot information transmission system provided in this embodiment. Fig. 9The cleaning robot information transmission system 900 shown is based on the cleaning robot information transmission system 800 in the fourth embodiment, with the number of routing devices increased.

[0138] like Fig. 9 As shown, the cleaning robot information transmission system 900 includes N cleaning robot bodies 910, N base stations 920 respectively matched with the N cleaning robot bodies 910, M human-machine interaction devices 930 and S routing devices 940, the N cleaning robot bodies 910 are respectively recorded as cleaning robot body 910-1, cleaning robot body 910-2...cleaning robot body 910-N, the N base stations 920 are respectively recorded as base station 920-1, base station 920-2...base station 920-N, the M human-machine interaction devices 930 are respectively recorded as human-machine interaction device 930-1, human-machine interaction device 930-2...human-machine interaction device 930-M, the S routing devices 940 are respectively recorded as routing device 940-1, routing device 940-2...routing device 940-S, and N, M, and S are all positive integers greater than 1.

[0139] Among them, the N cleaning robot bodies 910 are each provided with a first WiFi-Mesh module 950, the M human-machine interaction devices 930 are each provided with a second WiFi-Mesh module 960, and the S routing devices 940 are each provided with a third WiFi-Mesh module 970. The N first WiFi-Mesh modules 950 are recorded as the first WiFi-Mesh module 950-1, the first WiFi-Mesh module 950-2...the first WiFi-Mesh module 950-N, the M second WiFi-Mesh modules 960 are respectively recorded as the second WiFi-Mesh module 960-1, the second WiFi-Mesh module 960-2...the second WiFi-Mesh module 960-M, and the S third WiFi-Mesh modules 970 are recorded as the third WiFi-Mesh module 970-1, the third WiFi-Mesh module 970-2...the third WiFi-Mesh module 970-S. The N cleaning robot bodies 910 and the M human-machine interaction devices 930 are connected to each other through the first WiFi-Mesh module 950 and the second WiFi-Mesh module 960, the N cleaning robot bodies 910 are connected to each other through the first WiFi-Mesh module 950 respectively set, the M human-machine interaction devices 930 are connected to each other through the second WiFi-Mesh module 960 respectively set, the N cleaning robot bodies 910 and the S routing devices 940 are connected to each other through the first WiFi-Mesh module 950 and the third WiFi-Mesh module 970, the M human-machine interaction devices 930 and the S routing devices 940 are connected to each other through the third WiFi-Mesh module 970 respectively set. The N base stations 920 are all fixedly arranged at preset positions.

[0140] Specifically, the cleaning robot body 910 is used to receive and forward cleaning control information and cleaning work information sent or forwarded by the second WiFi-Mesh module 960, the third WiFi-Mesh module 970 and other first WiFi-Mesh modules 950 except the first WiFi-Mesh module 950 set up by itself through the first WiFi-Mesh module 950 when there is no Internet server or in an offline state, and perform cleaning operations based on the cleaning control information for itself; construct cleaning work information in real time, and send the cleaning work information to the second WiFi-Mesh module 960, the third WiFi-Mesh module 970 and other first WiFi-Mesh modules 950 except the first WiFi-Mesh module 950 set up by itself through the first WiFi-Mesh module 950.

[0141] Specifically, the base station 920 is used to store the matching cleaning robot body 910 when the cleaning robot body 910 finishes performing the cleaning operation.

[0142] Specifically, the human-computer interaction device 930 is used to receive cleaning control information, and when there is no Internet server or in an offline state, send the cleaning control information to the first WiFi-Mesh module 950, the third WiFi-Mesh module 970 and other second WiFi-Mesh modules 960 other than the second WiFi-Mesh module 960 set up by itself through the second WiFi-Mesh module 960; receive and forward the cleaning work information and cleaning control information sent or forwarded by the first WiFi-Mesh module 950, the third WiFi-Mesh module 970 or other second WiFi-Mesh modules 960 other than the second WiFi-Mesh module 960 set up by itself, and display the cleaning work information for itself.

[0143] As an example, the human-computer interaction device 930 includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station 920 .

[0144] Exemplarily, the human-machine interaction device 930 may be a mobile interaction terminal, such as a mobile phone, etc.; it may also be a fixed interaction terminal arranged on the base station 920; there may also be a case where it is both a mobile interaction terminal and a fixed interaction terminal arranged on the base station 920. Fig. 9 As shown, human-machine interaction devices 930-1 and 930-3 are mobile interaction terminals, human-machine interaction device 930-2 is a fixed interaction terminal set on base station 920-1, and human-machine interaction device 930-M is a fixed interaction terminal set on base station 920-N.

[0145] Specifically, the routing device 940 is used to receive and forward the cleaning work information and cleaning control information sent or forwarded by each first WiFi-Mesh module 950, each second WiFi-Mesh module 960 and the third WiFi-Mesh module 970 other than the third WiFi-Mesh module 970 set by itself through the third WiFi-Mesh module 970 when there is no Internet server or in an offline state.

[0146] As an example, the human-computer interaction device 930 is also used to send cleaning control information and its own fourth identification information to the first WiFi-Mesh module 950 through the second WiFi-Mesh module 960 when there is no Internet server or in an offline state. After the first WiFi-Mesh module 950 receives the cleaning control information and the fourth identification information, it first performs identity authentication through the fourth identification information. When the identity authentication is passed, the cleaning robot body 910 confirms through the first WiFi-Mesh module 950 that the cleaning control information is for itself, and then performs the cleaning operation through the cleaning control information.

[0147] As an example, the cleaning robot body 910 is also used to send the constructed cleaning work information and its own third identification information to the second WiFi-Mesh module 960 through the first WiFi-Mesh module 950 when there is no Internet server or in an offline state. When the second WiFi-Mesh module 960 receives the cleaning work information and the third identification information, it first performs identity authentication through the third identification information. When the identity authentication is passed, the human-computer interaction device 930 determines through the second WiFi-Mesh module 960 that the cleaning work information is for itself, and then displays the cleaning work information.

[0148] In a specific implementation, the human-computer interaction device 930 receives the cleaning control information input by the user, and in the absence of an Internet server or in an offline state, sends the cleaning control information and the fourth identification information to each first WiFi-Mesh module 950, each third WiFi-Mesh module 970 and other second WiFi-Mesh modules 960 except the second WiFi-Mesh module 960 set by itself through the second WiFi-Mesh module 960. After the cleaning robot body 910 receives the cleaning control information through the first WiFi-Mesh module 950, it first performs identity authentication based on the fourth identification information. When the identity authentication is passed, the cleaning operation is performed based on the cleaning control information. In the process of performing the cleaning operation The cleaning work information is constructed in real time, and the cleaning work information and the third identification information are sent to each second WiFi-Mesh module 960, each third WiFi-Mesh module 970 and other first WiFi-Mesh modules 950 except the first WiFi-Mesh module 950 set by itself through the first WiFi-Mesh module 950. The human-computer interaction device 930 receives the cleaning work information and the third identification information through the second WiFi-Mesh module 960, and performs identity authentication based on the third identification information. When the identity authentication is passed, the cleaning work information is displayed. When the cleaning robot body 910 performs the cleaning operation according to the received cleaning control information, it returns to the matching base station 920. When the cleaning robot body 910 is stored in the base station 920, operations such as cleaning the mop and charging can be performed.

[0149] Exemplarily, the cleaning control information input by the user includes edited map information, navigation target information, and cleaning-related setting information; the cleaning work information constructed in real time by the cleaning robot body 910 during the cleaning operation includes current environment map information, cleaning information, sensor information, and other reported information.

[0150] In a specific implementation, when there is no Internet server or in an offline state, each cleaning robot body 910 and each human-computer interaction device 930 communicate with each other through the first WiFi-Mesh module 950 and the second WiFi-Mesh module 960, each cleaning robot body 910 communicates with each other through the first WiFi-Mesh module 950 set by each other, each human-computer interaction device 930 communicates with each other through the second WiFi-Mesh module 960 set by each other, each cleaning robot body 910 and a routing device 940 communicates with each other through the first WiFi-Mesh module 950 and the third WiFi-Mesh module 970, each human-computer interaction device 930 communicates with each other through the second WiFi-Mesh module 960 and the third WiFi-Mesh module 970, and each routing device 940 communicates with each other through the third WiFi-Mesh module 970 set by each other, and performs operations such as Mesh networking, link disconnection, and network reconstruction.

[0151] It should be noted that any WiFi-Mesh module among the first WiFi-Mesh modules 950 , the second WiFi-Mesh modules 960 and the third WiFi-Mesh modules 970 is used as the target WiFi-Mesh module, and the node devices include the cleaning robot bodies 910 , the human-computer interaction devices 930 and the routing devices 940 . The operations of Mesh networking, link disconnection and network reconstruction between each cleaning robot body 910 and each human-machine interaction device 930 through the first WiFi-Mesh module 950 and the second WiFi-Mesh module 960, between each cleaning robot body 910 through their respective first WiFi-Mesh modules 950, between each human-machine interaction device 930 through their respective second WiFi-Mesh modules 960, between each cleaning robot body 910 and each routing device 940 through the first WiFi-Mesh module 950 and the third WiFi-Mesh module 970, between each human-machine interaction device 930 and each routing device 940 through the second WiFi-Mesh module 960 and the third WiFi-Mesh module 970, and between each routing device 940 through their respective third WiFi-Mesh modules 970 can all refer to the specific implementation process of Mesh networking, link disconnection and network reconstruction in Example 3, which will not be repeated here.

[0152] based on Fig. 9In the cleaning robot information transmission system 900 shown, when there is no Internet server or in an offline state, during the cleaning operation performed by the cleaning robot body 910, the cleaning control information and the cleaning work information will be transmitted and synchronized in each cleaning robot body 910, each human-machine interaction device 930 and each routing device 940, so as to achieve offline real-time sharing of information. Starting from any cleaning robot body 910, the cleaning work information is transmitted to each WiFi-Mesh node along the network topology structure of the cleaning robot information transmission system 900. These WiFi-Mesh nodes can be the cleaning robot body 910, the human-machine interaction device 930 and the routing device 940 to meet the user's acquisition of cleaning work information; the user sends the cleaning control information through the human-machine interaction device 930, and transmits it to the cleaning robot body 910 through each WiFi-Mesh node in the cleaning robot information transmission system 900, thereby realizing the remote control of the cleaning robot body 910 behavior; when any cleaning robot body 910 is away from the current WiFi-Mesh node, the Mesh network reconstruction will be initiated, and the adjacent WiFi-Mesh nodes will also enter the network reconstruction stage, so that the cleaning control information and the cleaning work information can be sent and synchronized.

[0153] The technical solution provided by the present embodiment is that, under the system architecture of multiple cleaning robot bodies, multiple base stations matching the multiple cleaning robot bodies, multiple human-machine interaction devices and multiple routing devices, each cleaning robot body, each human-machine interaction device and each routing device is provided with a WiFi-Mesh module, and in the absence of an Internet server or in an offline state, Mesh networking, link disconnection, network reorganization and offline transmission of cleaning robot information are performed between each cleaning robot body and each human-machine interaction device, between each cleaning robot body, between each human-machine interaction device, between each cleaning robot body and each routing device, between each human-machine interaction device and each routing device, and between each routing device through the WiFi-Mesh module. Based on the characteristics of the WiFi-Mesh module such as the long communication distance, when multiple cleaning robot systems are deployed in a large indoor environment, the cleaning control information and the cleaning work information can be distributedly transmitted and shared locally through each Mesh node device. By setting up multiple routing devices, the signal coverage requirements in the indoor working area are met, ensuring that each cleaning robot and each human-machine interaction device can perform local information transmission in real time, thereby improving the user experience.

[0154] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0155] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0156] It should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A cleaning robot information transmission system, characterized in that: The system includes a cleaning robot body, a base station and a human-machine interaction device, wherein the cleaning robot body is provided with a first WiFi-Mesh module, the human-machine interaction device is provided with a second WiFi-Mesh module, the cleaning robot body and the human-machine interaction device are communicatively connected via the first WiFi-Mesh module and the second WiFi-Mesh module, and the base station is fixedly arranged at a preset position; The cleaning robot body is used to receive cleaning control information through the first WiFi-Mesh module when there is no Internet server or in an offline state, and perform a cleaning operation based on the cleaning control information; Constructing cleaning work information in real time, and sending the cleaning work information to the second WiFi-Mesh module through the first WiFi-Mesh module; The human-computer interaction device is used to receive the cleaning control information, and send the cleaning control information to the first WiFi-Mesh module through the second WiFi-Mesh module when there is no Internet server or in an offline state; receiving the cleaning operation information sent by the first WiFi-Mesh module, and displaying the cleaning operation information; The base station is used to store the cleaning robot body when the cleaning robot body finishes performing the cleaning operation.

2. The system according to claim 1, characterized in that The human-computer interaction device includes a mobile interaction terminal and / or a fixed interaction terminal arranged on the base station.

3. The system according to claim 2, characterized in that The system further includes a routing device, in which a third WiFi-Mesh module is provided; the cleaning robot body, the human-computer interaction device and the routing device are respectively connected in communication through the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module; The routing device is used to receive and forward the cleaning work information and the cleaning control information through the third WiFi-Mesh module when there is no Internet server or in an offline state.

4. The system according to claim 3, characterized in that Any target WiFi-Mesh module among the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module is used for: When there is no Internet server or in an offline state, when a candidate WiFi-Mesh module is detected, Mesh networking is performed with the candidate WiFi-Mesh module to enable the cleaning robot body, the human-computer interaction device and the routing device to communicate and connect; the candidate WiFi-Mesh module is any WiFi-Mesh module among the first WiFi-Mesh module, the second WiFi-Mesh module and the third WiFi-Mesh module except the target WiFi-Mesh module.

5. The system according to claim 4, characterized in that The target WiFi-Mesh module is specifically used for: Sending a first beacon frame on each channel, wherein the first beacon frame includes first identification information of a target node device, wherein the target node device is a node device provided with the target WiFi-Mesh module; the node device includes the cleaning robot body, the human-computer interaction device, and the routing device; Monitoring a second beacon frame on each of the channels, where the second beacon frame includes second identification information, where the second identification information is used to identify any node device except the target node device; Authentication is performed based on the first identification information and the second identification information, and if the authentication passes, it is determined that the candidate WiFi-Mesh module is detected.

6. The system according to claim 5, characterized in that The target WiFi-Mesh module is specifically used for: Sending a first Mesh peer connection request message to the candidate WiFi-Mesh module; After receiving the first Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module according to the first Mesh peer connection request message, sending a second Mesh peer connection request message to the candidate WiFi-Mesh module; After receiving the second Mesh peer connection confirmation message fed back by the candidate WiFi-Mesh module according to the second Mesh peer connection request message, sending a first security negotiation message to the candidate WiFi-Mesh module, where the first security negotiation message carries a first key of the target node device; After receiving the second security negotiation message fed back by the candidate WiFi-Mesh module based on the first security negotiation message, a security check is performed according to the first key and the second key. If the security check passes, Mesh networking is performed with the candidate WiFi-Mesh module. The second security negotiation message carries the second key of the candidate node device, and the candidate node device is a node device equipped with the candidate WiFi-Mesh module.

7. The system according to claim 6, characterized in that The target WiFi-Mesh module is specifically used for: Sending a Mesh peer connection closing request message to the candidate WiFi-Mesh module; After receiving the Mesh peer connection closing confirmation message fed back by the candidate WiFi-Mesh module according to the Mesh peer connection closing request message, the Mesh networking between the target node device and the candidate node device is disconnected.

8. The system according to claim 6, characterized in that The target WiFi-Mesh module is specifically used for: Monitoring the signal strength between the target node device and the candidate node device in real time; When the signal strength between the target node device and the candidate node device is less than a first preset threshold, sending a Mesh network reconstruction request message to the candidate WiFi-Mesh module; After receiving the Mesh network reconstruction confirmation message fed back by the candidate WiFi-Mesh module according to the Mesh network reconstruction request message, the Mesh network is reconstructed for the target node device.

9. The system according to claim 6, characterized in that The target WiFi-Mesh module is specifically used for: monitoring the signal strength between the target node device and an adjacent node device in real time, wherein the adjacent node device is any node device among the node devices except the target node device and the candidate node device; When the signal strength between the target node device and the adjacent node device is greater than a second preset threshold, return to the step of monitoring the second beacon frame on each channel.

10. The system according to any one of claims 1 to 9, characterized in that The cleaning robot body is further used to send the cleaning work information and the third identification information of the cleaning robot to the second WiFi-Mesh module through the first WiFi-Mesh module when there is no Internet server or in an offline state; The human-machine interaction device is also used to send the cleaning control information and the fourth identification information of the human-machine interaction device to the first WiFi-Mesh module through the second WiFi-Mesh module when there is no Internet server or in an offline state.

Images