Sweeping robot intelligent control system and method based on laser navigation

Abstract

The invention provides an intelligent control system and method for a sweeping robot based on laser navigation, and the system carries out the high-precision three-dimensional laser navigation scanning through a high-precision three-dimensional laser navigation scanning device, forms the three-dimensional multi-layer feature data of articles in a home environment space and the feature data of a home dynamic body, and carries out the high-precision three-dimensional laser navigation scanning. Building three-dimensional multi-layer data of articles in the home environment space; home environment space articles and home dynamic bodies are intelligently identified, and a three-dimensional accurate home environment space article multi-layer map and home dynamic body identification information are constructed; based on an SLAM instant localization and map construction algorithm, a multi-curve intelligent evasion cleaning path is set, and intelligent autonomous localization navigation, intelligent autonomous cleaning path planning navigation and power shortage return charging navigation of the intelligent sweeping robot are carried out; the dust collection capacity is optimized, and the dust collection capacity of the robot is improved; and a fragile object is prompted to approach avoiding navigation warning, easily stumbled approaching navigation warning and surface ponding area avoiding navigation warning.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent navigation environment cleaning precision control, and more specifically, to an intelligent control system and method of a sweeping robot based on laser navigation. Background Art

[0002] At present, with the continuous development of sweeping robot technology, laser navigation technology is becoming more and more widely used in the high-end product market. How can laser navigation technology realize the robot's dynamic active obstacle avoidance and map path planning, the robot's intelligence level and environmental adaptability, automatic dust collection and automatic garbage recycling and other functions and cost-effectiveness? How to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, how to identify home environment space objects and home dynamic bodies, how to further construct a home multi-layer incremental map and optimize and improve the dust suction power, how to provide intelligent voice prompts and navigation warnings for home environment space objects and home dynamic bodies, etc., have yet to be solved; therefore, it is necessary to propose a sweeping robot intelligent control system and method based on laser navigation to at least partially solve the problems existing in the prior art. Summary of the invention

[0003] A series of simplified concepts are introduced in the content of the invention, which will be further described in detail in the specific implementation method section; the content of the invention of the present invention does not mean to attempt to limit the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0004] In order to at least partially solve the above problems, the present invention provides an intelligent control system for a sweeping robot based on laser navigation, comprising:

[0005] The high-precision laser navigation scanning subsystem uses a high-precision three-dimensional laser navigation scanning device to perform high-precision three-dimensional laser navigation scanning to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects;

[0006] The home environment dynamic body intelligent recognition subsystem intelligently recognizes home environment space objects and home dynamic bodies based on the three-dimensional multi-layer data of home environment space objects, and constructs a three-dimensional and accurate home environment space object multi-layer map and home dynamic body recognition information;

[0007] The SLAM real-time positioning construction subsystem, based on the SLAM real-time positioning and map construction algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient;

[0008] The dual-turbine wind duct navigation warning subsystem sets up the robot's vortex wind duct structure and establishes a wind duct flow field-pressure model to optimize the suction force and improve the robot's suction force. It also provides intelligent voice prompts for home environment space items and home dynamic bodies, and prompts navigation warnings for approaching fragile items, approaching tripping items, and avoiding waterlogged areas.

[0009] Preferably, the high-precision laser navigation scanning subsystem includes:

[0010] The high-precision 3D laser subsystem uses a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning and obtain high-precision 3D laser scanning reflective surface data;

[0011] The scanning reflective surface superposition and splicing subsystem performs laser scanning reflective surface superposition and splicing based on high-precision three-dimensional laser scanning reflective surface data to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects;

[0012] High-precision 3D laser navigation scanning device includes: iPathTM laser navigation.

[0013] Preferably, the home environment dynamic body intelligent recognition subsystem includes:

[0014] The object dynamic body feature extraction and learning subsystem is based on the three-dimensional multi-layer data of home environment space objects, and intelligently learns the three-dimensional multi-layer feature data of home environment space objects and the dynamic body feature data of home furnishings;

[0015] The object dynamic body intelligent recognition subsystem intelligently recognizes the objects in the home environment space and the home dynamic body according to the three-dimensional multi-layer feature data of the objects in the home environment space and the feature data of the home dynamic body, and constructs a three-dimensional and accurate multi-layer map of the objects in the home environment space and the recognition information of the home dynamic body;

[0016] Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor ground or carpet ground, floor mat ground; home item layout includes: furniture item layout, home item layout;

[0017] Dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile objects.

[0018] Preferably, the SLAM real-time positioning construction subsystem includes:

[0019] The home multi-layer incremental map subsystem, based on the home environment space objects and home dynamic bodies, combines the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map construction algorithm, and further constructs the home multi-layer incremental map based on its own positioning;

[0020] The multi-curved intelligent avoidance cleaning path subsystem sets up multi-curved intelligent avoidance cleaning paths according to the multi-layer incremental map of the home, and performs intelligent autonomous positioning and navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge in case of power shortage.

[0021] Preferably, the dual-turbine wind duct navigation warning subsystem includes:

[0022] The dual-turbine vortex air duct subsystem sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model. During the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficient return charging navigation, the suction power of the robot is optimized to improve the robot's suction power and remove small amounts of water stains on the ground and dust during the cleaning process.

[0023] The intelligent voice prompt navigation warning subsystem provides intelligent voice prompts for home environment space items and home dynamic bodies during intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficit return charging navigation, prompting navigation warnings for approaching fragile items, approaching navigation warnings for tripping items, and avoiding navigation warnings for ground waterlogging areas;

[0024] Setting up the robot's vortex air duct structure includes: using a dual-turbine structure, each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state, and using the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

[0025] The present invention provides an intelligent control method for a sweeping robot based on laser navigation, comprising:

[0026] S1, using a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning, to form 3D multi-layer feature data of home environment space objects and home dynamic body feature data, and to construct 3D multi-layer data of home environment space objects;

[0027] S2, based on the three-dimensional multi-layer data of home environment space objects, intelligently identify home environment space objects and home dynamic bodies, and construct a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information;

[0028] S3, based on SLAM real-time positioning and map building algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient;

[0029] S4, sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model to optimize the suction force and improve the robot's suction force; provides intelligent voice prompts for home environment space items and home dynamic bodies, prompts navigation warnings for approaching fragile items, navigation warnings for approaching items that are prone to tripping, and navigation warnings for avoiding waterlogged areas on the ground.

[0030] Preferably, S1 comprises:

[0031] S11, performing high-precision stereo laser navigation scanning by using a high-precision stereo laser navigation scanning device to obtain high-precision stereo laser scanning reflective surface data;

[0032] S12, based on the high-precision three-dimensional laser scanning reflection surface data, the laser scanning reflection surface is overlapped and spliced ​​to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects;

[0033] High-precision 3D laser navigation scanning device includes: iPathTM laser navigation.

[0034] Preferably, S2 comprises:

[0035] S21, based on the three-dimensional multi-layer data of home environment space objects, intelligently learning the three-dimensional multi-layer feature data of home environment space objects and the home dynamic body feature data;

[0036] S22, intelligently identifying the home environment space objects and the home dynamic body according to the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data, and constructing a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information;

[0037] Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor ground or carpet ground, floor mat ground; home item layout includes: furniture item layout, home item layout;

[0038] Dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile objects.

[0039] Preferably, S3 includes:

[0040] S31, based on the home environment space objects and home dynamic bodies, combined with the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map building algorithm, further build a home multi-layer incremental map based on its own positioning;

[0041] S32, according to the multi-layer incremental map of the home, sets a multi-curve intelligent avoidance cleaning path, performs intelligent autonomous positioning navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning navigation and power-down return charging navigation.

[0042] Preferably, S4 includes:

[0043] S41, setting the robot vortex air duct structure and establishing the air duct flow field-pressure model, optimizing the dust suction force during the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, improving the robot's dust suction force, and removing a small amount of water stains on the ground and dust during the cleaning process;

[0044] S42, in the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation, intelligent voice prompts for home environment space items and home dynamic bodies, prompts for navigation warnings for approaching fragile items, navigation warnings for approaching easy tripping items and navigation warnings for avoiding waterlogged areas on the ground;

[0045] Setting up the robot's vortex air duct structure includes: using a dual-turbine structure, each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state, and using the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

[0046] Compared with the prior art, the present invention has at least the following beneficial effects:

[0047] The present invention provides an intelligent control system and method for a sweeping robot based on laser navigation. Through a high-precision laser navigation scanning subsystem and a high-precision stereo laser navigation scanning device, high-precision stereo laser navigation scanning is performed to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and to construct three-dimensional multi-layer data of home environment space objects; a home environment dynamic body intelligent recognition subsystem, based on the three-dimensional multi-layer data of home environment space objects, intelligently recognizes home environment space objects and home dynamic bodies, and constructs a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; a SLAM real-time positioning construction subsystem, based on the SLAM real-time positioning and map construction algorithm, locates itself On the basis of the above, a multi-layer incremental map of the home is further constructed, and a multi-curve intelligent avoidance cleaning path is set up to carry out intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation of the intelligent sweeping robot; the dual-turbine wind duct navigation warning subsystem sets the robot vortex wind duct structure and establishes the wind duct flow field-pressure model to optimize the suction force and improve the robot's suction force; intelligent voice prompts are carried out for home environment space objects and home dynamic bodies, prompting navigation warnings for approaching fragile objects, navigation warnings for approaching easy tripping and navigation warnings for avoiding waterlogged areas on the ground; accurate home space maps can be used to effectively track cleaning routes, avoid obstacles, and unlock a wider range of cleaning areas; customized AI.Map TM 2.0, intelligently creates precise maps to be cleaned for efficient cleaning; intelligently plans efficient routes, the robot uses logic to find the most effective path to clean more spaces in the user's home space; multi-layer maps can be set and remember your cleaning preferences for each room; designed for deep cleaning of pet hair Regarding carpet hair-free cleaning, the powerful 2×4000Pa suction can easily remove pet hair deep in the carpet, making the carpet clean and hair-free; the design of the active tangle roller brush can automatically detangle the hair, and the user no longer needs to manually clean the roller brush; to achieve 45 days or more of hands-free cleaning, the self-cleaning station is equipped with a 2.5-liter antibacterial dust bag, which can firmly seal pet hair and debris, bringing a truly hands-free cleaning experience; with great significance and remarkable results.

[0048] The intelligent control system and method of the sweeping robot based on laser navigation described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1This is a diagram of an embodiment of the intelligent control system of the sweeping robot based on laser navigation described in the present invention.

[0051] Figure 2 This is a diagram of an embodiment of the intelligent control method of a sweeping robot based on laser navigation described in the present invention.

[0052] Figure 3 This is a diagram of an embodiment of the intelligent control system and method product of a sweeping robot based on laser navigation described in the present invention. DETAILED DESCRIPTION

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention according to the instructions. Figure 1-Figure 3 As shown, the present invention provides an intelligent control system for a sweeping robot based on laser navigation, comprising:

[0054] The high-precision laser navigation scanning subsystem uses a high-precision three-dimensional laser navigation scanning device to perform high-precision three-dimensional laser navigation scanning to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects;

[0055] The home environment dynamic body intelligent recognition subsystem intelligently recognizes home environment space objects and home dynamic bodies based on the three-dimensional multi-layer data of home environment space objects, and constructs a three-dimensional and accurate home environment space object multi-layer map and home dynamic body recognition information;

[0056] The SLAM real-time positioning construction subsystem, based on the SLAM real-time positioning and map construction algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient;

[0057] The dual-turbine wind duct navigation warning subsystem sets up the robot's vortex wind duct structure and establishes a wind duct flow field-pressure model to optimize the suction force and improve the robot's suction force. It also provides intelligent voice prompts for home environment space items and home dynamic bodies, and prompts navigation warnings for approaching fragile items, approaching tripping items, and avoiding waterlogged areas.

[0058] The principle and effect of the above technical solution are as follows: the present invention provides an intelligent control system for a sweeping robot based on laser navigation, including: a high-precision laser navigation scanning subsystem, which performs high-precision stereo laser navigation scanning through a high-precision stereo laser navigation scanning device to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects; a home environment dynamic body intelligent recognition subsystem, which intelligently recognizes home environment space objects and home dynamic bodies based on the three-dimensional multi-layer data of home environment space objects, and constructs a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; a SLAM real-time positioning construction subsystem, based on the SLAM real-time positioning and map construction algorithm , further builds a multi-layer incremental map of the home based on its own positioning, sets up multi-curve intelligent avoidance cleaning paths, and performs intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficit return charging navigation for the intelligent sweeping robot; the dual-turbine wind duct navigation warning subsystem sets up the robot's vortex wind duct structure and establishes a wind duct flow field-pressure model to optimize the suction force and improve the robot's suction force; performs intelligent voice prompts for home environment space objects and home dynamic bodies, prompts navigation warnings for approaching fragile objects, navigation warnings for approaching easy tripping, and navigation warnings for avoiding waterlogged areas on the ground; can use accurate home space maps to effectively track cleaning routes, avoid obstacles, and unlock a wider range of cleaning areas; customized AI.Map TM 2.0, intelligently creates precise maps to be cleaned for efficient cleaning; intelligently plans efficient routes, the robot uses logic to find the most effective path to clean more spaces in the user's home space. Multi-layer maps can be set and remember your cleaning preferences for each room; designed for deep cleaning of pet hair Regarding carpet hair-free cleaning, the powerful 2×4000Pa suction can easily remove pet hair deep in the carpet, making the carpet clean and hair-free; the design of the active tangle roller brush can automatically detangle the hair, and the user no longer needs to manually clean the roller brush himself; achieve 45 days or more of hands-free cleaning, the self-cleaning station is equipped with a 2.5-liter antibacterial dust bag, which can firmly seal pet hair and debris, bringing a truly hands-free cleaning experience; it has great significance and significant results.

[0059] In one embodiment, a high-precision laser navigation scanning subsystem includes:

[0060] The high-precision 3D laser subsystem uses a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning and obtain high-precision 3D laser scanning reflective surface data;

[0061] The scanning reflective surface superposition and splicing subsystem performs laser scanning reflective surface superposition and splicing based on high-precision three-dimensional laser scanning reflective surface data to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects;

[0062] High-precision 3D laser navigation scanning device includes: iPathTM laser navigation.

[0063] The principle and effect of the above technical solution are as follows: the high-precision laser navigation scanning subsystem includes: a high-precision stereo laser subsystem, which performs high-precision stereo laser navigation scanning through a high-precision stereo laser navigation scanning device to obtain high-precision stereo laser scanning reflective surface data; a scanning reflective surface overlapping and splicing subsystem, which performs laser scanning reflective surface overlapping and splicing based on the high-precision stereo laser scanning reflective surface data to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects; the high-precision stereo laser navigation scanning device includes: iPathTM laser navigation; through high-precision stereo laser The optical navigation scanning device performs high-precision three-dimensional laser navigation scanning to obtain high-precision three-dimensional laser scanning reflective surface data, including: using high-precision three-dimensional laser to set the reference of laser reflectivity of benchmark materials; performing LDS laser precision ranging according to the reference of laser reflectivity of benchmark materials, and performing low reflectivity detection of carpets and clothing, water stain absorption material detection, and glass translucent material detection; the reference of laser reflectivity of benchmark materials includes: laser reflectivity of wall materials and laser reflectivity of household obstacles; three-dimensional multi-layer data of household environment space objects includes: indoor home environment space data of multi-story buildings, basement environment space data, attic environment space data, and three-dimensional multi-layer data of height difference steps.

[0064] In one embodiment, the home environment dynamic body intelligent recognition subsystem includes:

[0065] The object dynamic body feature extraction and learning subsystem is based on the three-dimensional multi-layer data of home environment space objects, and intelligently learns the three-dimensional multi-layer feature data of home environment space objects and the dynamic body feature data of home furnishings;

[0066] The object dynamic body intelligent recognition subsystem intelligently recognizes the objects in the home environment space and the home dynamic body according to the three-dimensional multi-layer feature data of the objects in the home environment space and the feature data of the home dynamic body, and constructs a three-dimensional and accurate multi-layer map of the objects in the home environment space and the recognition information of the home dynamic body;

[0067] Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor ground or carpet ground, floor mat ground; home item layout includes: furniture item layout, home item layout;

[0068] Dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile objects.

[0069] The principle and effect of the above technical solution are as follows: the home environment dynamic body intelligent recognition subsystem includes: the object dynamic body feature extraction and learning subsystem, which intelligently learns the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data according to the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data; the object dynamic body intelligent recognition subsystem, which intelligently recognizes the home environment space objects and the home dynamic body according to the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data, and constructs a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; the home environment space objects include: the home environment space layout and layout of household items; layout of home environment space includes: flat floor, non-flat floor or step surface; non-flat floor includes: curved floor, inclined floor, hard surface rough floor or artistic pattern concave and convex floor; hard surface rough floor includes: tile floor, floor or carpet floor, mat floor; layout of household items includes: layout of furniture items and layout of household items; dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile items;

[0070] According to the three-dimensional multi-layer feature data of home environment space objects and the feature data of home dynamic bodies, the home environment space objects and home dynamic bodies are intelligently identified to construct a three-dimensional and accurate home environment space object multi-layer map and home dynamic body recognition information, including: according to the home environment space layout and the home object layout, when the home environment contains a home flat ground, a home non-planar ground or a home step surface, first, at the intersection point and intersection line of the home flat ground and the home non-planar ground, an intersection point navigation mark point and an intersection line navigation route are formed; the intersection point navigation mark point is used as the starting point for cleaning transition, and according to the intersection line navigation route, the cleaning is gradually transitioned from the home flat ground to the home non-planar ground, forming the best navigation planning path for the intersection of the home flat ground and the home non-planar ground; a step climbing triangular wheel is set on the edge of the robot on the home step surface to climb the home step surface step by step.

[0071] In one embodiment, the SLAM real-time positioning construction subsystem includes:

[0072] The home multi-layer incremental map subsystem, based on the home environment space objects and home dynamic bodies, combines the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map construction algorithm, and further constructs the home multi-layer incremental map based on its own positioning;

[0073] The multi-curved intelligent avoidance cleaning path subsystem sets up multi-curved intelligent avoidance cleaning paths according to the multi-layer incremental map of the home, and performs intelligent autonomous positioning and navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge in case of power shortage.

[0074] The principles and effects of the above technical solution are as follows: SLAM real-time positioning construction subsystem, including: home multi-layer incremental map subsystem, according to the home environment space objects and home dynamic bodies, combined with three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on SLAM real-time positioning and map construction algorithm, further constructs the home multi-layer incremental map based on its own positioning; multi-curve intelligent avoidance cleaning path subsystem, according to the home multi-layer incremental map, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-down return charging navigation of the intelligent sweeping robot.

[0075] In one embodiment, the dual-turbine wind duct navigation warning subsystem includes:

[0076] The dual-turbine vortex air duct subsystem sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model. During the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficient return charging navigation, the suction power of the robot is optimized to improve the robot's suction power and remove small amounts of water stains on the ground and dust during the cleaning process.

[0077] The intelligent voice prompt navigation and warning subsystem provides intelligent voice prompts for home environment space items and home dynamic bodies during the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation, and prompts navigation warnings for approaching avoidance of fragile items, approaching navigation warnings for tripping items, and avoiding navigation warnings for areas with water on the ground; the robot vortex air duct structure is set up, including: a dual-turbine structure, each turbine provides 2000Pa suction, which increases the overall airflow by 80%, allowing the room to be cleaned to return to its optimal state, and uses the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

[0078] The principle and effect of the above technical solution are as follows: the dual-turbine wind duct navigation warning subsystem includes: a dual-turbine vortex wind duct subsystem, which sets up a robot vortex wind duct structure and establishes a wind duct flow field-pressure model. In the process of intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, the suction force is optimized to improve the robot's suction force and remove a small amount of water stains on the ground and dust during the cleaning process; the intelligent voice prompt navigation warning subsystem performs intelligent voice prompts for home environment space items and home dynamic bodies during intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, prompting navigation warnings for approaching fragile items, approaching navigation warnings for easy tripping, and avoiding navigation warnings for ground waterlogging areas; setting up the robot vortex wind duct structure includes: using a dual turbine structure, each Each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state. The dual-turbine structure is used to enhance power and clean up to 57.6% of pet hair. The powerful 2×4000Pa suction can easily remove pet hair deep in the carpet, making the carpet clean and hair-free. The duct flow field-pressure model includes: establishing a physical structure model of the internal flow field of the duct; segmenting the flow field; reducing the duct cross-section from the external inlet of the duct to the internal air intake according to the vortex spiral, and calculating the duct cross-section difference from the external inlet of the duct to the internal air intake according to the reduction ratio of the duct cross-section; according to the duct cross-section difference, the statistical average pressure difference from the external inlet of the duct to the internal air intake is calculated, and according to the statistical average pressure difference, the wind force of the internal air intake is adjusted to construct the duct flow field-pressure model.

[0079] The active tangle roller brush is designed to automatically detangle hair, eliminating the need for users to clean the roller brush manually; it can achieve 45 days or more of hands-free cleaning, and the self-cleaning station is equipped with a 2.5-liter antibacterial dust bag that can firmly seal pet hair and debris for a truly hands-free cleaning experience; it provides intelligent voice prompts for home environment space items and home dynamic objects, prompting navigation avoidance warnings for fragile objects approaching, navigation warnings for easy tripping, and navigation warnings for avoiding waterlogged areas on the ground, including: intelligent identification of people, pets, and dynamic obstacles in the home through dynamic objects in the home; when dynamic objects in the home are active, it identifies the direction and speed of movement of the dynamic objects in the home, and analyzes whether the robot's cleaning is in line with the dynamic objects in the home Whether an encounter or collision is about to occur; if the analysis shows that an encounter or collision is about to occur, an intelligent voice prompt is given to the items in the home environment space and the dynamic objects in the home; if the dynamic objects in the home have not changed their state after the voice prompt and are still about to encounter or collide, the robot changes its moving speed or direction in advance to avoid the dynamic objects in the home, and avoids encountering or colliding with people in the home, pets in the home, or dynamic obstacles in the home; prompts navigation warnings for approaching fragile objects, navigation warnings for approaching objects that are prone to tripping, and navigation warnings for avoiding waterlogged areas on the ground, and avoids fragile objects, stops moving or avoids waterlogged areas on the ground when approaching objects that are prone to tripping; the present invention significantly improves cleaning safety; it is of great significance and has significant effects.

[0080] The present invention provides an intelligent control method for a sweeping robot based on laser navigation, comprising:

[0081] S1, using a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning, to form 3D multi-layer feature data of home environment space objects and home dynamic body feature data, and to construct 3D multi-layer data of home environment space objects;

[0082] S2, based on the three-dimensional multi-layer data of home environment space objects, intelligently identify home environment space objects and home dynamic bodies, and construct a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information;

[0083] S3, based on SLAM real-time positioning and map building algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient;

[0084] S4, sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model to optimize the suction force and improve the robot's suction force; provides intelligent voice prompts for home environment space items and home dynamic bodies, prompts navigation warnings for approaching fragile items, navigation warnings for approaching items that are prone to tripping, and navigation warnings for avoiding waterlogged areas on the ground.

[0085] The principle and effect of the above technical solution are as follows: the present invention provides an intelligent control method for a sweeping robot based on laser navigation, including: performing high-precision stereo laser navigation scanning through a high-precision stereo laser navigation scanning device to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and constructing three-dimensional multi-layer data of home environment space objects; intelligently identifying home environment space objects and home dynamic bodies based on the three-dimensional multi-layer data of home environment space objects, and constructing a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; based on the SLAM real-time positioning and map construction algorithm, further constructing on the basis of its own positioning Multi-layer incremental home map, setting multi-curve intelligent avoidance cleaning paths, intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-down return charging navigation of the smart sweeping robot; setting the robot vortex air duct structure and establishing the air duct flow field-pressure model to optimize the suction force and improve the robot's suction force; intelligent voice prompts for home environment space objects and home dynamic bodies, prompting navigation warnings for approaching fragile objects, navigation warnings for approaching easy tripping and navigation warnings for avoiding waterlogged areas on the ground: accurate home space maps can be used to effectively track cleaning routes, avoid obstacles, and unlock a wider range of cleaning areas; customized AI.Map TM 2.0, intelligently creates precise maps to be cleaned for efficient cleaning; intelligently plans efficient routes, the robot uses logic to find the most effective path to clean more spaces in the user's home space; multi-layer maps can be set and remember your cleaning preferences for each room; designed for deep cleaning of pet hair Regarding carpet hair-free cleaning, the powerful 2×4000Pa suction can easily remove pet hair deep in the carpet, making the carpet clean and hair-free; the design of the active tangle roller brush can automatically detangle the hair, and the user no longer needs to manually clean the roller brush; to achieve 45 days or more of hands-free cleaning, the self-cleaning station is equipped with a 2.5-liter antibacterial dust bag, which can firmly seal pet hair and debris, bringing a truly hands-free cleaning experience; with great significance and remarkable results.

[0086] In one embodiment, S1 includes:

[0087] S11, performing high-precision stereo laser navigation scanning by using a high-precision stereo laser navigation scanning device to obtain high-precision stereo laser scanning reflective surface data;

[0088] S12, based on the high-precision three-dimensional laser scanning reflective surface data, the laser scanning reflective surface is overlapped and spliced ​​to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and three-dimensional multi-layer data of home environment space objects are constructed; the high-precision three-dimensional laser navigation scanning device includes: iPathTM laser navigation.

[0089] The principle and effect of the above technical solution are as follows: through a high-precision three-dimensional laser navigation scanning device, high-precision three-dimensional laser navigation scanning is performed to obtain high-precision three-dimensional laser scanning reflective surface data; according to the high-precision three-dimensional laser scanning reflective surface data, laser scanning reflective surface overlap and splicing is performed to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and three-dimensional multi-layer data of home environment space objects are constructed; the high-precision three-dimensional laser navigation scanning device includes: iPathTM laser navigation; through a high-precision three-dimensional laser navigation scanning device, high-precision three-dimensional laser navigation scanning is performed to obtain high-precision three-dimensional laser scanning reflective surface data including: using a high-precision three-dimensional laser to set a reference for the laser reflectivity of a reference material; according to the reference for the laser reflectivity of the reference material, LDS laser precise ranging is performed to perform low reflectivity detection of carpets and clothing, water stain absorption material detection, and glass translucent material detection; the reference for the laser reflectivity of the reference material includes: the laser reflectivity of the wall material and the laser reflectivity of the home obstacle; the three-dimensional multi-layer data of home environment space objects includes: indoor home environment space data of multi-story buildings, basement environment space data, attic environment space data, and three-dimensional multi-layer data of height difference steps.

[0090] In one embodiment, S2 includes:

[0091] S21, based on the three-dimensional multi-layer data of home environment space objects, intelligently learning the three-dimensional multi-layer feature data of home environment space objects and the home dynamic body feature data;

[0092] S22, intelligently identifying the home environment space objects and the home dynamic body according to the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data, and constructing a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information;

[0093] Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor or carpet ground, floor mat ground; home item layout includes: furniture item layout, home furnishing layout; home dynamic bodies include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: people dynamic obstacles, pet dynamic obstacles, temporary obstacles, clothing obstacles or fragile item obstacles.

[0094] The principle and effect of the above technical solution are as follows: according to the three-dimensional multi-layer data of home environment space objects, the three-dimensional multi-layer feature data of home environment space objects and the feature data of home dynamic bodies are intelligently learned; according to the three-dimensional multi-layer feature data of home environment space objects and the feature data of home dynamic bodies, the home environment space objects and home dynamic bodies are intelligently identified to construct a three-dimensional and accurate home environment space object multi-layer map and home dynamic body identification information; the home environment space objects include: home environment space layout and home object layout; the home environment space layout includes: home flat ground, home non-planar ground or home step surface; the home non-planar ground includes: home curved ground, home inclined ground, hard surface fur surface ground or artistic pattern concave and convex ground; the hard surface fur surface ground includes: tile ground, floor ground or carpet ground, mat ground; the home object layout includes: furniture object layout, home furnishing layout; the home dynamic body includes: people in the home, pets in the home and dynamic obstacles in the home; the dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or fragile obstacles;

[0095] According to the three-dimensional multi-layer feature data of home environment space objects and the feature data of home dynamic bodies, the home environment space objects and home dynamic bodies are intelligently identified to construct a three-dimensional and accurate home environment space object multi-layer map and home dynamic body recognition information, including: according to the home environment space layout and the home object layout, when the home environment contains a home flat ground, a home non-planar ground or a home step surface, first, at the intersection point and intersection line of the home flat ground and the home non-planar ground, an intersection point navigation mark point and an intersection line navigation route are formed; the intersection point navigation mark point is used as the starting point for cleaning transition, and according to the intersection line navigation route, the cleaning is gradually transitioned from the home flat ground to the home non-planar ground, forming the best navigation planning path for the intersection of the home flat ground and the home non-planar ground; a step climbing triangular wheel is set on the edge of the robot on the home step surface to climb the home step surface step by step.

[0096] In one embodiment, S3 includes:

[0097] S31, based on the home environment space objects and home dynamic bodies, combined with the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map building algorithm, further build a home multi-layer incremental map based on its own positioning;

[0098] S32, according to the multi-layer incremental map of the home, sets a multi-curve intelligent avoidance cleaning path, performs intelligent autonomous positioning navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning navigation and power-down return charging navigation.

[0099] The principle and effect of the above technical solution are as follows: according to the home environment space objects and home dynamic bodies, combined with the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map construction algorithm, a home multi-layer incremental map is further constructed on the basis of its own positioning; according to the home multi-layer incremental map, a multi-curve intelligent avoidance cleaning path is set to perform intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation of the intelligent sweeping robot; according to the home multi-layer incremental map, a multi-curve intelligent avoidance cleaning path is set to perform intelligent autonomous positioning navigation and intelligent navigation and power-deficit return charging navigation of the intelligent sweeping robot, including: according to the home multi-layer incremental map, the position of the home dynamic body and the dynamically changing path are intersected to form a dynamic avoidance route, avoiding fragile and weak objects, ground waterlogging areas, the position of the home dynamic body and the intersection of the dynamically changing path, avoiding and protecting the home dynamic body, or avoiding the danger of bumping and tripping at the intersection of the dynamically changing paths, setting a multi-curve intelligent avoidance cleaning path, and performing intelligent autonomous positioning navigation and intelligent navigation and power-deficit return charging navigation of the intelligent sweeping robot.

[0100] In one embodiment, S4 includes:

[0101] S41, setting the robot vortex air duct structure and establishing the air duct flow field-pressure model, optimizing the dust suction force during the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, improving the robot's dust suction force, and removing a small amount of water stains on the ground and dust during the cleaning process;

[0102] S42, in the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation, intelligent voice prompts for home environment space items and home dynamic bodies, prompts for navigation warnings for approaching fragile items, navigation warnings for approaching easy tripping items and navigation warnings for avoiding waterlogged areas on the ground;

[0103] Setting up the robot's vortex air duct structure includes: using a dual-turbine structure, each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state, and using the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

[0104] The principle and effect of the above technical solution are as follows: setting up a robot vortex air duct structure and establishing an air duct flow field-pressure model; optimizing the suction force during intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation to improve the robot's suction force and remove a small amount of water stains on the ground and dust during cleaning; during intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, intelligent voice prompts are given for home environment space items and home dynamic bodies, prompting navigation warnings for approaching fragile items, approaching navigation warnings for easy tripping and navigation warnings for avoiding waterlogged areas on the ground; setting up the robot vortex air duct structure includes: adopting a dual-turbine structure, each turbine provides 2000Pa suction, and increases the overall airflow Add 80%, so that the room to be cleaned can be restored to the best state, and the dual turbine structure is used to enhance the power, cleaning up to 57.6% of pet hair; the powerful 2×4000Pa suction can easily remove pet hair deep in the carpet, making the carpet clean and hair-free; the duct flow field-pressure model includes: establishing a physical structure model of the internal flow field of the duct; segmenting the flow field; reducing the duct cross-section from the external inlet of the duct to the internal air intake according to the vortex spiral, and calculating the duct cross-section difference from the external inlet of the duct to the internal air intake according to the reduction ratio of the duct cross-section; according to the duct cross-section difference, the statistical average pressure difference from the external inlet of the duct to the internal air intake is calculated, and the wind force of the internal air intake is adjusted according to the statistical average pressure difference to construct the duct flow field-pressure model;

[0105] The active tangle roller brush is designed to automatically detangle hair, eliminating the need for users to clean the roller brush manually; it can achieve 45 days or more of hands-free cleaning, and the self-cleaning station is equipped with a 2.5-liter antibacterial dust bag that can firmly seal pet hair and debris for a truly hands-free cleaning experience; it provides intelligent voice prompts for home environment space items and home dynamic objects, prompting navigation avoidance warnings for fragile objects approaching, navigation warnings for easy tripping, and navigation warnings for avoiding waterlogged areas on the ground, including: intelligent identification of people, pets, and dynamic obstacles in the home through dynamic objects in the home; when dynamic objects in the home are active, it identifies the direction and speed of movement of the dynamic objects in the home, and analyzes whether the robot's cleaning is in line with the dynamic objects in the home Whether an encounter or collision is about to occur; if the analysis shows that an encounter or collision is about to occur, an intelligent voice prompt is given to the items in the home environment space and the dynamic objects in the home; if the dynamic objects in the home have not changed their state after the voice prompt and are still about to encounter or collide, the robot changes its moving speed or direction in advance to avoid the dynamic objects in the home, and avoids encountering or colliding with people in the home, pets in the home, or dynamic obstacles in the home; prompts navigation warnings for approaching fragile objects, navigation warnings for approaching objects that are prone to tripping, and navigation warnings for avoiding waterlogged areas on the ground, and avoids fragile objects, stops moving or avoids waterlogged areas on the ground when approaching objects that are prone to tripping; the present invention significantly improves cleaning safety; it is of great significance and has significant effects.

[0106] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. The intelligent control system of the sweeping robot based on laser navigation is characterized by: include: The high-precision laser navigation scanning subsystem uses a high-precision three-dimensional laser navigation scanning device to perform high-precision three-dimensional laser navigation scanning to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects; The home environment dynamic body intelligent recognition subsystem intelligently recognizes home environment space objects and home dynamic bodies based on the three-dimensional multi-layer data of home environment space objects, and constructs a three-dimensional and accurate home environment space object multi-layer map and home dynamic body recognition information; The SLAM real-time positioning construction subsystem, based on the SLAM real-time positioning and map construction algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient; The dual-turbine wind duct navigation warning subsystem sets up the robot's vortex wind duct structure and establishes a wind duct flow field-pressure model to optimize the suction force and improve the robot's suction force. It also provides intelligent voice prompts for home environment space items and home dynamic bodies, and prompts navigation warnings for approaching fragile items, approaching tripping items, and avoiding waterlogged areas.

2. The intelligent control system of the sweeping robot based on laser navigation according to claim 1 is characterized in that: High-precision laser navigation scanning subsystem, including: The high-precision 3D laser subsystem uses a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning and obtain high-precision 3D laser scanning reflective surface data; The scanning reflective surface superposition and splicing subsystem performs laser scanning reflective surface superposition and splicing based on high-precision three-dimensional laser scanning reflective surface data to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects; High-precision 3D laser navigation scanning device includes: iPathTM laser navigation.

3. The intelligent control system of the sweeping robot based on laser navigation according to claim 1, characterized in that: Home environment dynamic body intelligent recognition subsystem, including: The object dynamic body feature extraction and learning subsystem is based on the three-dimensional multi-layer data of home environment space objects, and intelligently learns the three-dimensional multi-layer feature data of home environment space objects and the dynamic body feature data of home furnishings; The object dynamic body intelligent recognition subsystem intelligently recognizes the objects in the home environment space and the home dynamic body according to the three-dimensional multi-layer feature data of the objects in the home environment space and the feature data of the home dynamic body, and constructs a three-dimensional and accurate multi-layer map of the objects in the home environment space and the recognition information of the home dynamic body; Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor ground or carpet ground, floor mat ground; home item layout includes: furniture item layout, home item layout; Dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile objects.

4. The intelligent control system of the sweeping robot based on laser navigation according to claim 1, characterized in that: SLAM real-time positioning construction subsystem, including: The home multi-layer incremental map subsystem, based on the home environment space objects and home dynamic bodies, combines the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map construction algorithm, and further constructs the home multi-layer incremental map based on its own positioning; The multi-curved intelligent avoidance cleaning path subsystem sets up multi-curved intelligent avoidance cleaning paths according to the multi-layer incremental map of the home, and performs intelligent autonomous positioning and navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge in case of power shortage.

5. The intelligent control system of the sweeping robot based on laser navigation according to claim 1, characterized in that: The twin-turbine wind tunnel navigation warning subsystem includes: The dual-turbine vortex air duct subsystem sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model. During the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficient return charging navigation, the suction power of the robot is optimized to improve the robot's suction power and remove small amounts of water stains on the ground and dust during the cleaning process. The intelligent voice prompt navigation warning subsystem provides intelligent voice prompts for home environment space items and home dynamic bodies during intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation, and power-deficit return charging navigation, prompting navigation warnings for approaching fragile items, approaching navigation warnings for tripping items, and avoiding navigation warnings for ground waterlogging areas; Setting up the robot's vortex air duct structure includes: using a dual-turbine structure, each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state, and using the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

6. Intelligent control method of sweeping robot based on laser navigation, characterized in that: include: S1, using a high-precision 3D laser navigation scanning device to perform high-precision 3D laser navigation scanning, to form 3D multi-layer feature data of home environment space objects and home dynamic body feature data, and to construct 3D multi-layer data of home environment space objects; S2, based on the three-dimensional multi-layer data of home environment space objects, intelligently identify home environment space objects and home dynamic bodies, and construct a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; S3, based on SLAM real-time positioning and map building algorithm, further builds a multi-layer incremental map of the home based on its own positioning, sets a multi-curve intelligent avoidance cleaning path, and performs intelligent autonomous positioning and navigation of the smart sweeping robot, intelligent autonomous cleaning path planning and navigation, and navigation for returning to charge when power is insufficient; S4, sets up the robot's vortex air duct structure and establishes an air duct flow field-pressure model to optimize the suction force and improve the robot's suction force; provides intelligent voice prompts for home environment space items and home dynamic bodies, prompts navigation warnings for approaching fragile items, navigation warnings for approaching items that are prone to tripping, and navigation warnings for avoiding waterlogged areas on the ground.

7. The intelligent control method of a sweeping robot based on laser navigation according to claim 6, characterized in that: S1 includes: S11, performing high-precision stereo laser navigation scanning by using a high-precision stereo laser navigation scanning device to obtain high-precision stereo laser scanning reflective surface data; S12, based on the high-precision three-dimensional laser scanning reflection surface data, the laser scanning reflection surface is overlapped and spliced ​​to form three-dimensional multi-layer feature data of home environment space objects and home dynamic body feature data, and construct three-dimensional multi-layer data of home environment space objects; High-precision 3D laser navigation scanning device includes: iPathTM laser navigation.

8. The intelligent control method of a sweeping robot based on laser navigation according to claim 6, characterized in that S2 include: S21, based on the three-dimensional multi-layer data of home environment space objects, intelligently learning the three-dimensional multi-layer feature data of home environment space objects and the home dynamic body feature data; S22, intelligently identifying the home environment space objects and the home dynamic body according to the three-dimensional multi-layer feature data of the home environment space objects and the home dynamic body feature data, and constructing a three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information; Home environment space items include: home environment space layout and home item layout; home environment space layout includes: home flat ground, home non-flat ground or home step surface; home non-flat ground includes: home curved ground, home inclined ground, hard surface rough ground or artistic pattern concave and convex ground; hard surface rough ground includes: tile ground, floor ground or carpet ground, floor mat ground; home item layout includes: furniture item layout, home item layout; Dynamic objects in the home include: people in the home, pets in the home and dynamic obstacles in the home; dynamic obstacles in the home include: dynamic obstacles of people, dynamic obstacles of pets, temporary obstacles, clothing obstacles or obstacles of fragile objects.

9. The intelligent control method of a sweeping robot based on laser navigation according to claim 6, characterized in that S3 include: S31, based on the home environment space objects and home dynamic bodies, combined with the three-dimensional accurate home environment space object multi-layer map and home dynamic body recognition information, based on the SLAM real-time positioning and map building algorithm, further build a home multi-layer incremental map based on its own positioning; S32, according to the multi-layer incremental map of the home, sets a multi-curve intelligent avoidance cleaning path, performs intelligent autonomous positioning navigation of the intelligent sweeping robot, intelligent autonomous cleaning path planning navigation and power-down return charging navigation.

10. The intelligent control method of a sweeping robot based on laser navigation according to claim 6, characterized in that: S4 includes: S41, setting the robot vortex air duct structure and establishing the air duct flow field-pressure model, optimizing the dust suction force during the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficient return charging navigation, improving the robot's dust suction force, and removing a small amount of water stains on the ground and dust during the cleaning process; S42, in the intelligent autonomous positioning navigation, intelligent autonomous cleaning path planning navigation and power-deficit return charging navigation, intelligent voice prompts for home environment space items and home dynamic bodies, prompts for navigation warnings for approaching fragile items, navigation warnings for approaching easy tripping items and navigation warnings for avoiding waterlogged areas on the ground; Setting up the robot's vortex air duct structure includes: using a dual-turbine structure, each turbine provides 2000Pa suction, increasing the overall airflow by 80%, restoring the room to be cleaned to its optimal state, and using the dual-turbine structure to enhance power, cleaning up to 57.6% of pet hair.

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