AI embodied intelligent toilet complex cleaning robot system

Abstract

The present invention discloses an AI embodied intelligent toilet composite cleaning robot system, comprising a cleaning robot, a base station, a driving module, a detection module, a communication module, a cleaning module, and a perception module. The cleaning robot is connected to the communication module, while the base station is also connected to the communication module, the driving module is connected to the perception module, the perception module is connected to the detection module, and the detection module is connected to the cleaning module. By setting the perception module, the cleaning robot can perceive the environment of the public toilet through a visual perception unit, an auditory perception unit, and a tactile perception unit, thereby improving the decision-making, action, and interaction capabilities of the cleaning robot, realizing flexible control, avoiding human interference in the cleaning operation of the autonomous cleaning robot, greatly reducing the risk of bypassing, improving the operating efficiency of the cleaning robot, and increasing reliability and safety, and effectively improving the reliability of the robot cleaning system.

Description

Technical Field

[0001] The present invention relates to the technical field of toilet cleaning, and in particular to an AI embodied intelligent toilet composite cleaning robot system. Background Art

[0002] With the development of society, robot technology has become more and more mature. Robots are automated machines. The difference is that they have some intelligent capabilities similar to humans or creatures, such as perception, planning, movement and coordination. They are highly flexible automated machines. Robots can assist or even replace humans in completing dangerous, heavy and complex tasks, improve work efficiency and quality, serve human life, and expand the scope of human activities and capabilities.

[0003] Public toilets refer to toilets for common use by urban residents and migrant populations, including toilets attached to public buildings. They can be divided into different types of public toilets according to the building form, building structure, building grade, etc. Common ones include independent public toilets, attached public toilets, mobile public toilets, etc.

[0004] Artificial intelligence (AI) systems are computer systems used to achieve human-level intelligence. Unlike general rule-based intelligent systems, AI systems learn and make decisions autonomously, becoming more intelligent. The more an AI system is used, the higher the AI ​​system's recognition rate becomes, and the more accurately the AI ​​system understands the user's preferences. In this way, general rule-based intelligent systems are increasingly being replaced by deep learning-based AI systems.

[0005] Cleaning robots can be used to clean public toilets. However, existing cleaning robots have not yet achieved a motion control method that can distinguish whether the obstacles in front are objects or pedestrians through the integration of AI technology and lidar multi-sensor methods, which reduces the intelligence of the cleaning robots. Therefore, we proposed an AI embodied intelligent toilet composite cleaning robot system to solve the above-mentioned problems. Summary of the invention

[0006] The purpose of the present invention is to provide an AI embodied intelligent toilet compound cleaning robot system to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The AI ​​embodied intelligent toilet composite cleaning robot system includes a cleaning robot, a base station, a driving module, a detection module, a communication module, a cleaning module, and a perception module. The cleaning robot is connected to the communication module, and the base station is also connected to the communication module. The driving module is connected to the perception module, the perception module is connected to the detection module, and the detection module is connected to the cleaning module. The driving module, the perception module, the detection module, and the cleaning module are all connected to the cleaning robot; the detection module is used to detect the distance between the cleaning robot and the base station; the communication module is used to transmit a change instruction when the distance is less than a predetermined distance; the cleaning module is used to clean the floor, remove stains, and disinfect and deodorize public toilets; the perception module is used for the cleaning robot to perceive the surrounding environmental information when cleaning the public toilets; and the driving module is used to drive the cleaning robot to move.

[0009] As a further solution of the present invention: the perception module includes a visual perception unit, an auditory perception unit, and a tactile perception unit.

[0010] As a further solution of the present invention: the visual perception unit includes a visual sensor, an image processing algorithm subunit, a machine learning and deep learning subunit, and a positioning and map building subunit; the visual sensor includes a camera and a lidar, which is used to capture images or three-dimensional data in the surrounding environment and provide rich visual information for the cleaning robot; the image processing algorithm subunit preprocesses and analyzes the images captured by the visual sensor; the machine learning and deep learning subunit is used for a more advanced understanding and analysis of the visual information; the positioning and map building subunit is a method for the cleaning robot to establish its own position and map in real time in an unknown environment.

[0011] As a further solution of the present invention: the auditory perception unit includes a sound collection subunit, a sound signal processing subunit, a sound feature extraction subunit, a pattern recognition and classification subunit, and a structural feedback and control subunit; the sound collection subunit collects sound signals in the surrounding environment of the cleaning robot through a microphone device; the sound signal processing subunit preprocesses the collected sound signals, including denoising, filtering, and enhancement operations; the sound feature extraction subunit extracts representative features from the preprocessed sound signals; the pattern recognition and classification subunit matches and classifies the sound signals with predetermined patterns according to the extracted sound features; the result feedback and control subunit allows the cleaning robot to adjust its own behavior according to the structure of pattern recognition.

[0012] As a further solution of the present invention: the tactile perception unit includes a tactile sensor subunit and a tactile processor subunit; the tactile sensor subunit is a device for detecting tactile information on the surface of an object, including a vibration sensor, a capacitive sensor, an ultrasonic sensor, and an infrared sensor; the tactile processor subunit is used to process and analyze the raw data collected by the tactile sensor subunit.

[0013] As a further solution of the present invention: the detection module includes an infrared transmitting sensor arranged at the entrance of the base station and an infrared receiving sensor arranged on the side of the cleaning robot; the infrared receiving sensor is used to determine that the distance between the cleaning robot and the base station is less than a predetermined distance when receiving the infrared signal sent by the infrared transmitting sensor.

[0014] As a further solution of the present invention: the detection module includes an infrared receiving sensor arranged on the side of the cleaning robot, and the distance between the cleaning robot and the base station is detected by the detection module, including: detecting whether the infrared signal sent by the infrared transmitting sensor of the base station is received by the infrared receiving sensor; when the infrared signal is received, it is determined that the distance between the cleaning robot and the base station is less than a predetermined distance.

[0015] As a further solution of the present invention: the communication module includes a first communication component of the cleaning robot and a second communication component of the base station; the first communication component is used to send a replacement instruction to the base station when the distance is less than a predetermined distance; the second communication component is used to receive the replacement instruction.

[0016] As a further solution of the present invention: the driving module of the cleaning robot is also used to control the cleaning robot to pause moving and control the cleaning robot to drive into the base station after sending a change instruction to the base station.

[0017] As a further solution of the present invention: the cleaning module includes a floor cleaning component, a stain removal component, and a disinfection and deodorization component.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This AI embodied intelligent toilet composite cleaning robot system, by setting up a perception module, can enable the cleaning robot to perceive the environment of the public toilet through the visual perception unit, auditory perception unit, and tactile perception unit, thereby improving the cleaning robot's decision-making, action, and interaction capabilities, and can achieve flexible control, avoiding human interference in the cleaning operation of the autonomous cleaning robot, greatly reducing the risk of bypassing, improving the cleaning robot's operating efficiency, and increasing reliability and safety, effectively improving the reliability of the robot cleaning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a schematic diagram of the structure of the AI ​​embodied intelligent toilet compound cleaning robot system of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the perception module in the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the cleaning module in the present invention.

[0023] Figure 4 This is a schematic diagram of the execution principle of the cleaning robot system according to an embodiment of the present invention.

[0024] Figure 5 Schematic diagram of the main camera perception process of an embodiment of the present invention.

[0025] Figure 6 Schematic diagram of output cleaning task according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In one embodiment, Figure 1-Figure 6 As shown, the AI ​​embodied intelligent toilet composite cleaning robot system includes a cleaning robot, a base station, a driving module, a detection module, a communication module, a cleaning module, and a perception module. The cleaning robot is connected to the communication module, and the base station is also connected to the communication module. The driving module is connected to the perception module, the perception module is connected to the detection module, and the detection module is connected to the cleaning module. The driving module, the perception module, the detection module, and the cleaning module are all connected to the cleaning robot; the detection module is used to detect the distance between the cleaning robot and the base station; the communication module is used to transmit a change instruction when the distance is less than a predetermined distance; the cleaning module is used to clean the floor, remove stains, and disinfect and deodorize the public toilet; the perception module is used for the cleaning robot to perceive the surrounding environmental information when cleaning the public toilet; the driving module is used to drive the cleaning robot to move;

[0027] The perception module includes a visual perception unit, an auditory perception unit, and a tactile perception unit;

[0028] The visual perception unit includes visual sensors, image processing algorithm subunits, machine learning and deep learning subunits, and positioning and mapping subunits; visual sensors include cameras and lidars, which are used to capture images or three-dimensional data in the surrounding environment and provide rich visual information for the cleaning robot; the image processing algorithm subunit preprocesses and analyzes the images captured by the visual sensor, including image enhancement, target detection, feature extraction, etc., which can help the cleaning robot quickly and accurately identify stains or garbage in public toilets; the machine learning and deep learning subunits are used to understand and analyze visual information at a higher level, including convolutional neural networks, recurrent neural networks, etc., which can learn complex feature representations from a large amount of data and improve the robot's visual perception ability; the positioning and mapping subunit is used for the cleaning robot to establish its own position and map in real time in an unknown environment. By combining visual sensors and motion planning algorithms, the positioning and mapping technology can achieve accurate positioning and map construction of the cleaning robot in a complex environment, providing support for the cleaning robot's navigation and path planning;

[0029] It provides the cleaning robot with powerful visual capabilities, enabling it to autonomously explore and perform tasks in complex public toilet environments.

[0030] The auditory perception unit includes a sound collection subunit, a sound signal processing subunit, a sound feature extraction subunit, a pattern recognition and classification subunit, and a structural feedback and control subunit; the sound collection subunit collects sound signals in the surrounding environment of the cleaning robot through a microphone device; the sound signal processing subunit preprocesses the collected sound signals, including denoising, filtering, and enhancement operations to improve the quality and recognizability of the sound signals; the sound feature extraction subunit extracts representative features from the preprocessed sound signals, such as high pitch, timbre, loudness, etc., to facilitate subsequent pattern recognition and classification; the pattern recognition and classification subunit matches and classifies the sound signal with a predetermined pattern based on the extracted sound features; the result feedback and control subunit, based on the structure of pattern recognition, the cleaning robot can adjust its own behavior, such as changing the walking direction, reducing the speed, etc., to adapt to the current environment, and can also feed back the recognized information to the operator so that the operator can understand the situation of the cleaning robot;

[0031] The tactile perception unit includes a tactile sensor subunit and a tactile processor subunit; the tactile sensor subunit is a device for detecting tactile information on the surface of an object, including a vibration sensor, a capacitive sensor, an ultrasonic sensor, and an infrared sensor;

[0032] Vibration sensor: used to detect the vibration of the surface of an object, such as vibration motor, accelerometer, etc.

[0033] Capacitive sensor: uses capacitance changes to detect the capacitance value of the surface of an object, such as skin sensors;

[0034] Ultrasonic sensor: detects the distance and shape of objects by emitting and receiving ultrasonic signals, such as distance sensors, obstacle avoidance sensors, etc.

[0035] Infrared sensor: obtains information by detecting infrared radiation on the surface of an object, such as thermal imagers, infrared remote controls, etc.

[0036] The tactile processor subunit is used to process and analyze the raw data collected by the tactile sensor subunit; it usually includes functional modules such as signal amplification, filtering, feature extraction, and pattern matching. The tactile sensor can convert the raw data into instructions that the cleaning robot can understand, thereby realizing the perception and operation of the environment. Common tactile processors are as follows:

[0037] Microcontroller-based processor: Input the data of the tactile sensor into the microcontroller and realize data processing and control functions by writing corresponding programs;

[0038] DSP or FPGA-based processors: Use digital signal processing (DSP) or field programmable gate array (FPGA) chips to perform high-speed parallel processing of tactile sensor data to improve processing efficiency and accuracy;

[0039] The detection module includes an infrared transmitting sensor arranged at the entrance of the base station and an infrared receiving sensor arranged at the side of the cleaning robot; the infrared receiving sensor is used to determine that the distance between the cleaning robot and the base station is less than a predetermined distance when receiving an infrared signal sent by the infrared transmitting sensor;

[0040] The detection module includes an infrared receiving sensor arranged on the side of the cleaning robot. The detection module detects the distance between the cleaning robot and the base station, including: detecting whether an infrared signal sent by an infrared transmitting sensor of the base station is received by the infrared receiving sensor; determining that the distance between the cleaning robot and the base station is less than a predetermined distance when the infrared signal is received;

[0041] The communication module includes a first communication component of the cleaning robot and a second communication component of the base station; the first communication component is used to send a replacement instruction to the base station when the distance is less than a predetermined distance; the second communication component is used to receive the replacement instruction;

[0042] The driving module of the cleaning robot is also used to control the cleaning robot to pause moving and control the cleaning robot to drive into the base station after sending a change instruction to the base station;

[0043] The cleaning module includes a floor cleaning component, a stain removal component, and a disinfection and deodorization component;

[0044] Reference Figure 5 As shown in the figure, the main process of camera perception is: original image → preliminary analysis → object label → target detection → object label → object segmentation → segmentation result → comprehensive information for decision making → robotic arm execution;

[0045] according to Figure 6 As shown, the output cleaning task steps are:

[0046] 1. Remove debris: Use the gripper tool to remove the damaged beverage bottle (marked 1) and two beverage cans (marked 2 and 3) into the trash can;

[0047] 2. Clean up liquid stains: Use a vacuum cleaner to suck up the spilled liquid (mark 4), making sure the vacuum cleaner has a water absorption function to completely remove all liquids;

[0048] 3. Deep cleaning: Use high-temperature steam cleaning tools to deep clean the edges and areas with stubborn stains to ensure a clean surface;

[0049] 4. Inspection: Finally, check the clean area to make sure there is no missed garbage or liquid.

[0050] Tool preparation: clamping tool, vacuum cleaner (capable of sucking liquids), high-temperature steam cleaning tool.

[0051] Following the above steps for cleaning tasks can ensure that the scene is restored to a tidy state.

[0052] The present invention, by setting a perception module, can enable the cleaning robot to perceive the environment of the public toilet through the visual perception unit, the auditory perception unit, and the tactile perception unit, thereby improving the decision-making, action and interaction capabilities of the cleaning robot, and can achieve flexible control, avoiding human interference in the cleaning operation of the autonomous cleaning robot, greatly reducing the risk of bypassing, improving the operating efficiency of the cleaning robot, and increasing reliability and safety, thereby effectively improving the reliability of the robot cleaning system.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. AI embodied intelligent toilet complex cleaning robot system, characterized by: It includes a cleaning robot, a base station, a driving module, a detection module, a communication module, a cleaning module, and a perception module. The cleaning robot is connected to the communication module, and the base station is also connected to the communication module. The driving module is connected to the perception module, the perception module is connected to the detection module, and the detection module is connected to the cleaning module. The driving module, the perception module, the detection module, and the cleaning module are all connected to the cleaning robot; the detection module is used to detect the distance between the cleaning robot and the base station; the communication module is used to transmit a change instruction when the distance is less than a predetermined distance; the cleaning module is used to clean the floor, remove stains, and disinfect and deodorize the public toilet; the perception module is used for the cleaning robot to perceive the surrounding environmental information when cleaning the public toilet; The driving module is used to drive the cleaning robot to move.

2. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 1, characterized in that: The perception module includes a visual perception unit, an auditory perception unit, and a tactile perception unit.

3. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 2 is characterized in that: The visual perception unit includes a visual sensor, an image processing algorithm subunit, a machine learning and deep learning subunit, and a positioning and map building subunit; the visual sensor includes a camera and a lidar, which is used to capture images or three-dimensional data in the surrounding environment and provide rich visual information for the cleaning robot; the image processing algorithm subunit preprocesses and analyzes the images captured by the visual sensor; the machine learning and deep learning subunit is used to perform a more advanced understanding and analysis of the visual information; the positioning and map building subunit is a method for the cleaning robot to establish its own position and map in real time in an unknown environment.

4. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 2, characterized in that: The auditory perception unit includes a sound collection subunit, a sound signal processing subunit, a sound feature extraction subunit, a pattern recognition and classification subunit, and a structural feedback and control subunit; The sound collection subunit collects sound signals in the surrounding environment of the cleaning robot through a microphone device; the sound signal processing subunit preprocesses the collected sound signals, including denoising, filtering, and enhancement operations; the sound feature extraction subunit extracts representative features from the preprocessed sound signals; the pattern recognition and classification subunit matches and classifies the sound signals with predetermined patterns based on the extracted sound features; the result feedback and control subunit enables the cleaning robot to adjust its own behavior based on the structure of pattern recognition.

5. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 2, characterized in that: The tactile perception unit includes a tactile sensor subunit and a tactile processor subunit; the tactile sensor subunit is a device for detecting tactile information on the surface of an object, including a vibration sensor, a capacitive sensor, an ultrasonic sensor, and an infrared sensor; The tactile processor subunit is used to process and analyze the raw data collected by the tactile sensor subunit.

6. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 1, characterized in that: The detection module includes an infrared transmitting sensor arranged at the entrance of the base station and an infrared receiving sensor arranged on the side of the cleaning robot; the infrared receiving sensor is used to determine that the distance between the cleaning robot and the base station is less than a predetermined distance when receiving an infrared signal sent by the infrared transmitting sensor.

7. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 5, characterized in that: The detection module includes an infrared receiving sensor arranged on the side of the cleaning robot. The detection module detects the distance between the cleaning robot and the base station, including: detecting whether an infrared signal sent by an infrared transmitting sensor of the base station is received through the infrared receiving sensor; when the infrared signal is received, determining that the distance between the cleaning robot and the base station is less than a predetermined distance.

8. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 1, characterized in that: The communication module includes a first communication component of the cleaning robot and a second communication component of the base station; the first communication component is used to send a replacement instruction to the base station when the distance is less than a predetermined distance; and the second communication component is used to receive the replacement instruction.

9. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 7, characterized in that: The driving module of the cleaning robot is also used to control the cleaning robot to pause moving after sending a replacement instruction to the base station, and to control the cleaning robot to drive into the base station.

10. The AI ​​embodied intelligent toilet compound cleaning robot system according to claim 1, characterized in that: The cleaning module includes a floor cleaning component, a stain removal component, and a disinfection and deodorization component.

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