Inertial navigation monitoring method and system for intelligent cleaning robot and robot

Abstract

According to the inertial navigation monitoring method and system for the intelligent cleaning robot and the robot, inertial navigation positioning is conducted through the intelligent cleaning robot, the three-dimensional angle orientation and the movement mileage are obtained in a three-dimensional map of a cleaning area, cleaning position nodes are positioned, and the cleaning path of the intelligent cleaning robot is autonomously planned; repeated cleaning is avoided, and cleaning efficiency is improved; through the voltage stabilization control module, the power supply voltage is kept stable; through the sound insulation and noise reduction mechanism, the sweeping operation noise is reduced; grid division is carried out on a cleaning area, and map mark detection and intelligent leak repairing cleaning are carried out through a cleaning area reference mark identification module; and operating a cleaning history application control APP program, reading the cleaning history stored in the cloud platform, controlling and setting cleaning requirements, counting and analyzing the cleaning time, and continuously optimizing the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control and precision detection, and more specifically, to an inertial navigation monitoring method, system and robot for an intelligent cleaning robot. Background Art

[0002] The technology of intelligent sweeping robots is developing faster and faster. How to perform precision navigation and efficiency optimization and upgrading of intelligent sweeping robots, how to upgrade and optimize the functions of random sweeping robots, how to upgrade suction, how to expand battery capacity, how to improve the dust collection box structure and optimize path planning, etc. for performance and function upgrading; and how to position the intelligent cleaning robot itself to obtain three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, how to position the cleaning position nodes and avoid repeated cleaning to improve cleaning efficiency, how to reduce cleaning operation noise, fill in the gaps for cleaning, how to store a large amount of scattered cleaning information and control the setting of cleaning requirements to continuously optimize cleaning efficiency, etc. remain to be solved. Therefore, it is necessary to propose an inertial navigation monitoring method, system and robot for an intelligent cleaning robot 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 Summary of the Invention section, which will be further described in detail in the Detailed Description section; the Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] To at least partially solve the above problems, the present invention provides an inertial navigation monitoring method for an intelligent cleaning robot, including:

[0005] S10, the intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve cleaning efficiency;

[0006] S20, through the voltage stabilization control module, keep the power supply voltage stable; through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise;

[0007] S30, perform grid division of the cleaning area, and through the cleaning area reference mark recognition module, perform map mark detection for intelligent leak filling cleaning;

[0008] S40, run the cleaning history record application control APP program, read the cleaning history records stored in the cloud platform, control the setting of cleaning requirements, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency.

[0009] Preferably, S10 includes:

[0010] S101. Automatically and intelligently establish a three-dimensional map of the cleaning area through an angular azimuth and mileage inertial navigation mechanism. The intelligent cleaning robot performs inertial navigation and positioning on its own, and obtains the three-dimensional angular azimuth and movement mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, the direction of the intelligent cleaning robot relative to the charging position point, and the marked position in the three-dimensional map of the cleaning area; the movement mileage includes the movement mileage passed since the intelligent cleaning robot left the charging position point, and locates the cleaning position nodes.

[0011] S102. Autonomously plan the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module to avoid repeated cleaning and improve the cleaning efficiency.

[0012] Preferably, S20 includes:

[0013] S201. Keep the power supply voltage stable through a voltage stabilization control module to improve the cleaning endurance time and the suction and dust collection efficiency.

[0014] S202. Reduce the cleaning operation noise and absorb the high-frequency vibration of the high-speed rotation of the fan through a sound insulation and noise reduction mechanism.

[0015] S203. Set up an environmental induction sensor group to detect the environment of the space to be cleaned in real time.

[0016] Preferably, S30 includes:

[0017] S301. Set multiple groups of reference cleaning marks, divide the cleaning area into grids according to the identification range of the reference cleaning marks, and obtain multiple grid-shaped cleaning areas.

[0018] S302. Perform map mark detection through a cleaning area reference mark recognition module to perform intelligent leak-filling cleaning.

[0019] Performing map mark detection through a cleaning area reference mark recognition module to perform intelligent leak-filling cleaning includes: detecting the map marks of the cleaned area and the uncleaned area through intelligent analysis of the cleaning area reference marks, identifying the cleaned area and the uncleaned area, and performing intelligent leak-filling cleaning on the uncleaned area.

[0020] Preferably, S40 includes:

[0021] S401. Set up a cleaning history record application control APP program to store the cleaning history record on the cloud platform.

[0022] S402. Run the cleaning history record application control APP program through a smart phone to read the cleaning history record stored on the cloud platform and control the setting of cleaning requirements.

[0023] S403, after the cleaning process is completed, check the cleaning area of the robot through a monitoring camera, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency;

[0024] After the cleaning process is completed, check the cleaning area of the robot through a monitoring camera, and statistically analyze the cleaning time. Continuously optimizing the cleaning efficiency includes: after the cleaning process is completed, check the cleaning area of the robot through a monitoring camera, and statistically analyze the cleaning time; select a reference time stage, and use the minimum cleaning time of multiple cleaning processes within the reference time stage to continuously optimize the cleaning efficiency according to the optimal cleaning time within the reference time stage.

[0025] The present invention provides an inertial navigation monitoring system for an intelligent cleaning robot, including:

[0026] An inertial navigation three-dimensional anti-duplication subsystem, where the intelligent cleaning robot itself performs inertial navigation positioning, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency;

[0027] A voltage stabilization control and sound insulation and noise reduction subsystem, which maintains the stability of the power supply voltage through a voltage stabilization control module; and reduces the cleaning operation noise through a sound insulation and noise reduction mechanism;

[0028] A region recognition and intelligent leakage compensation subsystem, which divides the cleaning area into grids, and through a cleaning area reference mark recognition module, performs map mark detection and intelligent leakage compensation cleaning;

[0029] An operation control and cleaning efficiency improvement subsystem, which runs the cleaning history record application control APP program, reads the cleaning history records stored in the cloud platform, controls and sets the cleaning requirements, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

[0030] Preferably, the inertial navigation three-dimensional anti-duplication subsystem includes:

[0031] A multiple inertial navigation three-dimensional node subsystem, which intelligently and automatically establishes a three-dimensional map of the cleaning area through an angular azimuth and mileage inertial navigation mechanism. The intelligent cleaning robot itself performs inertial navigation positioning, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the marked position in the three-dimensional map of the cleaning area; the motion mileage includes the motion mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position nodes;

[0032] The Avoiding Duplicate Cleaning and Autonomous Planning Subsystem, through the 3D map software operation module, autonomously plans the cleaning path of the intelligent cleaning robot to avoid duplicate cleaning and improve the cleaning efficiency.

[0033] Preferably, the Voltage Stabilization Control, Sound Insulation and Noise Reduction Subsystem includes:

[0034] The Voltage Stabilization and Endurance Enhancement, Suction Enhancement Subsystem, through the voltage stabilization control module, keeps the power supply voltage stable, improves the cleaning endurance time and the suction and dust collection efficiency;

[0035] The Sound Insulation, Noise Reduction and Vibration Resistance Subsystem, through the sound insulation and noise reduction mechanism, reduces the cleaning operation noise and absorbs the high-frequency vibration of the high-speed rotation of the fan;

[0036] The Cleaning Space Detection Subsystem sets up an environmental induction sensor group to detect the environment of the space to be cleaned in real time.

[0037] Preferably, the Area Recognition and Intelligent Leak Repair Subsystem includes:

[0038] The Cleaning Marking Area Grid Subsystem sets multiple groups of reference cleaning marks, divides the cleaning area into grids according to the recognition range of the reference cleaning marks, and obtains multiple grid-shaped cleaning areas;

[0039] The Map Mark Detection and Intelligent Leak Repair Subsystem, through the cleaning area reference mark recognition module, conducts map mark detection and performs intelligent leak repair cleaning;

[0040] Conducting map mark detection and performing intelligent leak repair cleaning through the cleaning area reference mark recognition module includes: through the intelligent analysis of the cleaning area reference mark recognition, detecting the map marks of the cleaned area and the map marks of the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leak repair cleaning on the uncleaned area.

[0041] The Operation Control and Cleaning Efficiency Improvement Subsystem includes:

[0042] The Application Control and Cloud Storage Subsystem sets up a cleaning history record application control APP program to store the cleaning history record on the cloud platform;

[0043] The Cleaning Setting and Intelligent Program Control Subsystem, through the smartphone to run the cleaning history record application control APP program, reads the cleaning history record stored on the cloud platform, and controls and sets the cleaning requirements;

[0044] The Cleaning Analysis and Continuous Optimization Subsystem, after the cleaning process is completed, checks the cleaning area of the robot through the monitoring camera and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

[0045] After the cleaning process is completed, the cleaning area of the robot is inspected through a monitoring camera, and the cleaning time is statistically analyzed to continuously optimize the cleaning efficiency, including: after the cleaning process is completed, the cleaning area of the robot is inspected through a monitoring camera, and the cleaning time is statistically analyzed; a reference time stage is selected, and the minimum cleaning time of multiple cleaning processes within the reference time stage is used to continuously optimize the cleaning efficiency according to the optimal cleaning time within the reference time stage.

[0046] An intelligent cleaning robot adopting the intelligent cleaning robot inertial navigation monitoring method described above.

[0047] Compared with the prior art, the present invention has at least the following beneficial effects:

[0048] An inertial navigation monitoring method, system and robot for an intelligent cleaning robot of the present invention include: the intelligent cleaning robot itself performs inertial navigation positioning to obtain three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve cleaning efficiency; through a voltage stabilization control module, the power supply voltage is kept stable; through a sound insulation and noise reduction mechanism, the cleaning operation noise is reduced; the cleaning area is divided into grids, and through a cleaning area reference mark recognition module, map mark detection is carried out for intelligent leak filling cleaning; the cleaning history record application control APP program is run to read the cleaning history record stored in the cloud platform, control and set the cleaning requirements, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency; it can intelligently establish a cleaning area map through inertial navigation, enabling the machine itself to obtain angular orientation and movement mileage, avoiding repeated cleaning and improving cleaning efficiency; a cleaning map is established during the cleaning process of the sweeper through software control, and at the same time, the established cleaning map can be used for quick recharge positioning; new control technology is adopted, and its power supply voltage can be kept relatively stable, with large suction, strong battery life, good dust suction effect, light product, and low noise; internal sensors are provided to detect the environment of the space to be cleaned at any time; on the basis of randomness, a gyroscope module and a code disk are added to the hardware, enabling the machine itself to obtain angular orientation and movement mileage; intelligent leak filling of the uncleaned area is carried out, and map mark detection is performed on the map through software algorithms to perform intelligent leak filling cleaning on the uncleaned area; there is an application program control with a cleaning history record, and all cleaning requirements can be directly completed through a smart phone; after the work is completed, the cleaning location and time of the intelligent robot are intelligently checked; the intelligent cleaning robot itself performs inertial navigation positioning to obtain three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, the three-dimensional angular orientation includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the position marked in the three-dimensional map of the cleaning area; the movement mileage includes the movement mileage passed since the intelligent cleaning robot left the charging point, which can locate the cleaning position nodes, avoid repeated cleaning, improve cleaning efficiency, reduce the cleaning operation noise, perform leak filling cleaning, store a large amount of scattered cleaning information, control and set the cleaning requirements, and continuously optimize the cleaning efficiency; it has important technical significance and remarkable effects.

[0049] An inertial navigation monitoring method, system and robot for an intelligent cleaning robot according to the present invention. Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The 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 to the present invention. In the drawings:

[0051] Figure 1 It is a diagram of an embodiment of an inertial navigation monitoring system for an intelligent cleaning robot according to the present invention.

[0052] Figure 2 It is a diagram of another embodiment of an inertial navigation monitoring system for an intelligent cleaning robot according to the present invention.

[0053] Figure 3 It is a diagram of an embodiment of the application of an inertial navigation monitoring method, system and robot for an intelligent cleaning robot according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The following further describes the present invention in detail in conjunction with the drawings and embodiments, so that those skilled in the art can implement it with reference to the specification. As shown in the figure, the present invention provides an inertial navigation monitoring method for an intelligent cleaning robot, including:

[0055] S10, the intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency;

[0056] S20, through the voltage stabilization control module, keep the power supply voltage stable; through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise;

[0057] S30, perform grid division of the cleaning area, detect the map signs through the cleaning area reference sign recognition module, and perform intelligent leak-filling cleaning;

[0058] S40, run the cleaning history record application control APP program, read the cleaning history records stored in the cloud platform, control and set the cleaning requirements, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency.

[0059] The principles and effects of the above technical solutions are as follows: The present invention provides an inertial navigation monitoring method for an intelligent cleaning robot, including: The intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular orientations and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency; Through the voltage stabilization control module, the power supply voltage is kept stable; Through the sound insulation and noise reduction mechanism, the cleaning operation noise is reduced; The cleaning area is divided into grids, and through the cleaning area reference mark recognition module, map mark detection is carried out for intelligent leak filling cleaning; Run the cleaning history record application control APP program, read the cleaning history records stored in the cloud platform, control and set the cleaning requirements, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency; It can intelligently establish a map of the cleaning area through inertial navigation, enabling the machine itself to obtain angular orientations and movement mileage, avoiding repeated cleaning and improving the cleaning efficiency; Through software control, a cleaning map is established during the cleaning process of the sweeper, and at the same time, the established cleaning map can be used for quick recharge positioning; Adopting new control technologies, its power supply voltage can be kept relatively stable, with large suction force, strong battery life, good dust suction effect, light product, and low noise; It is equipped with sensors to detect the environment of the space to be cleaned at any time; The hardware adds a gyroscope module and a code disc on the basis of randomness, enabling the machine itself to obtain angular orientations and movement mileage; Intelligently fill in the areas that have not been cleaned, detect marks on the map through software algorithms, and perform intelligent leak filling cleaning on the areas that have not been cleaned; It has the control of an application program with cleaning history records, and all cleaning requirements can be directly completed through a smart phone; After the work is completed, the cleaning location and time of the intelligent cleaning robot are intelligently checked; The intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular orientations and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency; It can upgrade the precision navigation and efficiency of the intelligent sweeper robot, upgrade and optimize the functions of the random type sweeper robot, and upgrade the suction force, expand the battery capacity, improve the structure of the dust collection box, and optimize the path planning and other performance and function upgrades; It can perform self-positioning of the intelligent cleaning robot to obtain three-dimensional angular orientations and movement mileage in the three-dimensional map of the cleaning area. The three-dimensional angular orientations include: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the marked position in the three-dimensional map of the cleaning area; The movement mileage includes the movement mileage from when the intelligent cleaning robot leaves the charging position point, and it can locate the cleaning position nodes, avoid repeated cleaning, improve the cleaning efficiency, reduce the cleaning operation noise, fill in the leaks for cleaning, store a large amount of scattered cleaning information, control and set the cleaning requirements, and continuously optimize the cleaning efficiency; It has important technical significance and remarkable effects.

[0060] In one embodiment, S10 includes:

[0061] S101. Through the angular azimuth mileage inertial navigation mechanism, automatically and intelligently establish a 3D map of the cleaning area. The intelligent cleaning robot performs inertial navigation positioning by itself, and obtains the 3D angular azimuth and movement mileage in the 3D map of the cleaning area. The 3D angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the 3D map of the cleaning area, the direction of the intelligent cleaning robot relative to the charging position point, and the position marked in the 3D map of the cleaning area; the movement mileage includes the movement mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position nodes.

[0062] S102. Through the 3D map software operation module, independently plan the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency.

[0063] The principle and effect of the above technical solution are as follows: Through the angular azimuth mileage inertial navigation mechanism, automatically and intelligently establish a 3D map of the cleaning area. The intelligent cleaning robot performs inertial navigation positioning by itself, and obtains the 3D angular azimuth and movement mileage in the 3D map of the cleaning area. The 3D angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the 3D map of the cleaning area, the direction of the intelligent cleaning robot relative to the charging position point, and the position marked in the 3D map of the cleaning area; the movement mileage includes the movement mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position nodes. Through the 3D map software operation module, independently plan the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency. The independent planning of the cleaning path of the intelligent cleaning robot by the 3D map software operation module to avoid repeated cleaning and improve the cleaning efficiency includes: through the 3D map software operation module, independently plan the cleaning path of the intelligent cleaning robot, and establish a real-time cleaning map during the cleaning process of the cleaning machine; according to the real-time cleaning map and the cleaning path of the intelligent cleaning robot, perform cleaning positioning navigation of the intelligent cleaning robot and update the cleaning position nodes; when the battery power is lower than the set minimum power, plan the shortest recharge path 11 from the cleaning position nodes, and the intelligent cleaning robot navigates to the charging station for fast and efficient recharge of the intelligent cleaning robot; after the charging is completed, in the reverse direction along the shortest recharge path 12, the intelligent cleaning robot navigates back to the cleaning position node 13 to avoid repeated cleaning and improve the cleaning efficiency.

[0064] The angular azimuth and mileage inertial navigation mechanism includes: a micro gyroscope module 021 and a traveling drive motor encoder module 022, and further includes: an ultrasonic positioning module 023 or an electromagnetic pulse automatic scanning module 024; the micro gyroscope module is used to obtain three-dimensional angular azimuth and integrate and calculate the 025 motion mileage; the traveling drive motor encoder module records the traveling motion mileage according to the encoder rotation signal; the integrated motion mileage and the traveling motion mileage are compared to eliminate the integration error, and the three-dimensional angular azimuth is precisely adjusted according to the error feedback; the ultrasonic positioning module is used to detect the distance between the objects in the cleaning area and the intelligent cleaning robot through ultrasonic waves, and perform positioning correction according to the cleaning area referring to the wall or the ultrasonic reflection referring to the fixed object; the cleaning area referring to the wall includes multiple non-parallel walls; the ultrasonic reflection referring to the fixed object includes three non-collinear fixed objects or more than three non-collinear fixed objects.

[0065] In one embodiment, S20 includes:

[0066] S201, through the voltage stabilization control module, keep the power supply voltage stable, improve the cleaning battery life and the suction dust collection efficiency;

[0067] S202, through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise and absorb the high-frequency vibration of the high-speed rotation of the fan;

[0068] S203, set up an environmental induction sensor group to detect the environment of the space to be cleaned in real time.

[0069] The principle and effect of the above technical solution are: through the voltage stabilization control module, keep the power supply voltage stable, improve the cleaning battery life and the suction dust collection efficiency; through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise and absorb the high-frequency vibration of the high-speed rotation of the fan; set up an environmental induction sensor group to detect the environment of the space to be cleaned in real time. The sound insulation and noise reduction mechanism includes: a noise reduction cleaning brush, a sound insulation layer for the dust collection tank, and a sound insulation and noise reduction cotton layer for the dust collection fan; the surface of the noise reduction cleaning brush is coated with a butterfly wing-shaped noise reduction layer, forming a simulated butterfly wing surface micro-scale structure on the smooth hard surface to reduce the friction noise generated when scraping the ground; the sound insulation layer for the dust collection tank is wrapped outside the dust collection tank to block the outward diffusion of the sound waves of the dust collection tank; the sound insulation and noise reduction cotton layer for the dust collection fan is arranged outside the dust collection fan housing to carry out sound insulation and noise reduction for the operation of the dust collection fan. When the dust collection fan rotates at high speed, it generates high-frequency vibration. The sound insulation and noise reduction cotton layer for the dust collection fan forms a damping effect on the vibration and isolates the resonance of some hard contact points of other components, absorbing the high-frequency vibration of the high-speed rotation of the fan.

[0070] In one embodiment, S30 includes:

[0071] S301, set up multiple groups of reference cleaning marks, divide the cleaning area into grids according to the identification range of the reference cleaning marks, and obtain multiple grid-shaped cleaning areas;

[0072] In S302, the map marker detection is performed through the cleaning area reference marker recognition module for intelligent leak - filling cleaning.

[0073] Performing map marker detection through the cleaning area reference marker recognition module for intelligent leak - filling cleaning includes: through the intelligent analysis of the cleaning area reference marker recognition, detecting the map markers of the cleaned area and the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leak - filling cleaning on the uncleaned area.

[0074] The principle and effect of the above - mentioned technical solution are as follows: Multiple groups of reference cleaning markers are set. According to the recognition range of the reference cleaning markers, the cleaning area is divided into grids to obtain multiple grid - shaped cleaning areas; the map marker detection is performed through the cleaning area reference marker recognition module for intelligent leak - filling cleaning; performing map marker detection through the cleaning area reference marker recognition module for intelligent leak - filling cleaning includes: through the intelligent analysis of the cleaning area reference marker recognition, detecting the map markers of the cleaned area and the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leak - filling cleaning on the uncleaned area.

[0075] In one embodiment, S40 includes:

[0076] S401, setting the cleaning history application control APP program to store the cleaning history in the cloud platform;

[0077] S402, running the cleaning history application control APP program through the smart phone to read the cleaning history stored in the cloud platform and control the setting of cleaning requirements;

[0078] S403, after the cleaning process is completed, checking the cleaning area of the robot through the monitoring camera, and statistically analyzing the cleaning time to continuously optimize the cleaning efficiency;

[0079] After the cleaning process is completed, checking the cleaning area of the robot through the monitoring camera and statistically analyzing the cleaning time to continuously optimize the cleaning efficiency includes: after the cleaning process is completed, checking the cleaning area of the robot through the monitoring camera and statistically analyzing the cleaning time; selecting a reference time period, using the minimum cleaning time of multiple cleaning processes within the reference time period, and continuously optimizing the cleaning efficiency according to the optimal cleaning time within the reference time period.

[0080] The principle and effects of the above technical solution are as follows: Set up a cleaning history application control APP program to store the cleaning history in the cloud platform; run the cleaning history application control APP program through a smart phone to read the cleaning history stored in the cloud platform and control the setting of cleaning requirements; after the cleaning process is completed, check the cleaning area of the robot through a monitoring camera, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency; after the cleaning process is completed, check the cleaning area of the robot through a monitoring camera, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency, including: after the cleaning process is completed, check the cleaning area of the robot and statistically analyze the cleaning time; select a reference time period, and use the minimum cleaning time of multiple cleaning processes within the reference time period to continuously optimize the cleaning efficiency according to the optimal cleaning time within the reference time period.

[0081] The present invention provides an inertial navigation monitoring system for an intelligent cleaning robot, comprising:

[0082] An inertial navigation three-dimensional anti-overlap sub-system, the intelligent cleaning robot itself performs inertial navigation positioning, obtains three-dimensional angular orientations and motion mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency;

[0083] A voltage stabilization control and noise reduction sub-system, through a voltage stabilization control module, maintains the stability of the power supply voltage; through a noise reduction mechanism, reduces the cleaning operation noise;

[0084] A region recognition and intelligent leakage repair sub-system, divides the cleaning area into grids, and through a cleaning area reference mark recognition module, performs map mark detection and intelligent leakage repair cleaning;

[0085] An operation control and cleaning efficiency improvement sub-system, runs the cleaning history application control APP program, reads the cleaning history stored in the cloud platform, controls the setting of cleaning requirements, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

[0086] The principles and effects of the above technical solution are as follows: An inertial navigation monitoring system for an intelligent cleaning robot, comprising: an inertial navigation three-dimensional weight-avoiding and dividing subsystem, where the intelligent cleaning robot itself performs inertial navigation positioning, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve cleaning efficiency; a voltage stabilization control and noise reduction subsystem, which maintains the stability of the power supply voltage through a voltage stabilization control module; and reduces the cleaning operation noise through a noise reduction mechanism; a region recognition and intelligent leakage compensation subsystem, which divides the cleaning area into grids, and through a cleaning area reference mark recognition module, performs map mark detection and intelligent leakage compensation cleaning; an operation control and cleaning efficiency improvement subsystem, which runs the cleaning history record application control APP program, reads the cleaning history records stored in the cloud platform, controls and sets the cleaning requirements, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency; it can intelligently establish a cleaning area map through inertial navigation, enabling the machine itself to obtain angular azimuth and motion mileage, avoiding repeated cleaning and improving cleaning efficiency; it establishes a cleaning map during the cleaning process of the floor sweeper through software control, and at the same time, it can quickly recharge and locate through the established cleaning map; it adopts a new control technology, and its power supply voltage can be kept relatively stable, with large suction, strong battery life, good dust suction effect, light product, and low noise; it is equipped with sensors to detect the environment of the space to be cleaned at any time; the hardware adds a gyroscope module and a code disc on a random basis, enabling the machine itself to obtain angular azimuth and motion mileage; it intelligently compensates for the uncleaned areas, detects the marks on the map through software algorithms, and performs intelligent leakage compensation cleaning on the uncleaned areas; it has an application program control for cleaning history records, and directly completes all cleaning requirements through a smart phone; after the work is completed, it intelligently checks the cleaning location and time of the robot; the intelligent cleaning robot itself performs inertial navigation positioning, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve cleaning efficiency; it can upgrade the precision navigation and efficiency of the intelligent floor sweeper, upgrade and optimize the functions of the random-type floor sweeper, and upgrade the performance and functions such as suction, battery capacity, dust collection box structure, and path planning; it can perform self-positioning of the intelligent cleaning robot to obtain three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the marked position in the three-dimensional map of the cleaning area; the motion mileage includes the motion mileage from the time the intelligent cleaning robot leaves the charging point, and it can locate the cleaning position nodes, avoid repeated cleaning, improve cleaning efficiency, reduce the cleaning operation noise, compensate for leakage in cleaning, store a large amount of scattered cleaning information, control and set the cleaning requirements, and continuously optimize the cleaning efficiency; it has important technical significance and remarkable effects.

[0087] In one embodiment, an inertial navigation three-dimensional anti-duplicate cleaning system includes:

[0088] A multiple inertial navigation three-dimensional node subsystem, which intelligently and automatically establishes a three-dimensional map of the cleaning area through an angular azimuth and mileage inertial navigation mechanism. The intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, the direction of the intelligent cleaning robot relative to the charging position point, and the position marked in the three-dimensional map of the cleaning area; the motion mileage includes the motion mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position node;

[0089] An anti-duplicate cleaning autonomous planning subsystem, which autonomously plans the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module to avoid duplicate cleaning and improve cleaning efficiency.

[0090] The principle and effect of the above technical solution are as follows: The inertial navigation three-dimensional anti-duplicate cleaning system includes: a multiple inertial navigation three-dimensional node subsystem, which intelligently and automatically establishes a three-dimensional map of the cleaning area through an angular azimuth and mileage inertial navigation mechanism. The intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular azimuth and motion mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, the direction of the intelligent cleaning robot relative to the charging position point, and the position marked in the three-dimensional map of the cleaning area; the motion mileage includes the motion mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position node; an anti-duplicate cleaning autonomous planning subsystem, which autonomously plans the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module to avoid duplicate cleaning and improve cleaning efficiency; autonomously planning the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module to avoid duplicate cleaning and improve cleaning efficiency includes: autonomously planning the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module, and establishing a real-time cleaning map during the cleaning process of the cleaning machine; performing intelligent cleaning robot cleaning positioning navigation according to the real-time cleaning map and the cleaning path of the intelligent cleaning robot, and updating the cleaning position node; when the battery power is lower than the set minimum power, planning the shortest recharge path 11 from the cleaning position node, and the intelligent cleaning robot navigates to the charging station for fast and efficient recharge of the intelligent cleaning robot; after the charging is completed, the intelligent cleaning robot navigates back to the cleaning position node 13 in the reverse direction of the shortest recharge path 12 to avoid duplicate cleaning and improve cleaning efficiency;

[0091] The angular azimuth and mileage inertial navigation mechanism includes: a micro gyroscope module and a traveling drive motor encoder module, and further includes: an ultrasonic positioning module or an electromagnetic pulse automatic scanning module; the micro gyroscope module is used to obtain three-dimensional angular azimuth and integrate and calculate the movement mileage; the traveling drive motor encoder module records the traveling movement mileage according to the encoder rotation signal; the integrated calculated movement mileage and the traveling movement mileage are compared to eliminate the integration error, and the three-dimensional angular azimuth is precisely adjusted according to the error feedback; the ultrasonic positioning module is used to detect the distance between the objects in the cleaning area and the intelligent cleaning robot through ultrasonic waves, and perform positioning correction according to the cleaning area referring to the wall or the ultrasonic reflection referring to the fixed object; the cleaning area referring to the wall includes multiple non-parallel walls; the ultrasonic reflection referring to the fixed object includes three non-collinear fixed objects or more than three non-collinear fixed objects.

[0092] In one embodiment, the voltage stabilization control and noise reduction subsystem includes:

[0093] The voltage stabilization and battery life suction enhancement subsystem, through the voltage stabilization control module, maintains the stability of the power supply voltage, improves the cleaning battery life and the suction dust collection efficiency;

[0094] The noise reduction and vibration resistance subsystem, through the noise reduction mechanism, reduces the cleaning operation noise and absorbs the high-frequency vibration of the high-speed rotation of the fan;

[0095] The cleaning space detection subsystem sets an environmental induction sensor group to detect the environment of the space to be cleaned in real time.

[0096] The principle and effect of the above technical solution are: the voltage stabilization control and noise reduction subsystem includes: the voltage stabilization and battery life suction enhancement subsystem, through the voltage stabilization control module, maintains the stability of the power supply voltage, improves the cleaning battery life and the suction dust collection efficiency; the noise reduction and vibration resistance subsystem, through the noise reduction mechanism, reduces the cleaning operation noise and absorbs the high-frequency vibration of the high-speed rotation of the fan; the cleaning space detection subsystem sets an environmental induction sensor group to detect the environment of the space to be cleaned in real time; the noise reduction mechanism includes: a noise reduction cleaning brush, a sound insulation layer for the dust collection tank, and a sound insulation and noise reduction cotton layer for the dust collection fan; the surface of the noise reduction cleaning brush is coated with a noise reduction layer imitating the wings of a butterfly, forming a micro-scale structure simulating the surface of the butterfly wings on the smooth hard surface, reducing the friction noise generated when scraping the ground; the sound insulation layer for the dust collection tank is wrapped outside the dust collection tank to block the outward diffusion of the sound waves of the dust collection tank; the sound insulation and noise reduction cotton layer for the dust collection fan is arranged outside the housing of the dust collection fan to perform sound insulation and noise reduction for the operation of the dust collection fan. When the dust collection fan rotates at a high speed, it generates high-frequency vibration. The sound insulation and noise reduction cotton layer for the dust collection fan forms a damping effect on the vibration and isolates the resonance of some hard contact points of other components, absorbing the high-frequency vibration of the high-speed rotation of the fan.

[0097] In one embodiment, the area recognition and intelligent leak repair subsystem includes:

[0098] Cleaning Marked Area Grid Subsystem, which sets multiple groups of reference cleaning marks, divides the cleaning area into grids according to the recognition range of the reference cleaning marks, and obtains multiple grid-shaped cleaning areas;

[0099] Map Mark Detection and Intelligent Leakage Repair Subsystem, which conducts map mark detection and intelligent leakage repair cleaning through the cleaning area reference mark recognition module;

[0100] Conducting map mark detection and intelligent leakage repair cleaning through the cleaning area reference mark recognition module includes: through intelligent analysis of the cleaning area reference mark recognition, detecting the map marks in the cleaned area and the map marks in the uncleaned area, identifying the cleaned area and the uncleaned area, and conducting intelligent leakage repair cleaning on the uncleaned area.

[0101] Operation Control and Cleaning Efficiency Improvement Subsystem, including:

[0102] Application Control Cloud Storage Subsystem, which sets the cleaning history application control APP program and stores the cleaning history on the cloud platform;

[0103] Cleaning Setting Intelligent Program Control Subsystem, which runs the cleaning history application control APP program through a smart phone, reads the cleaning history stored on the cloud platform, and controls and sets the cleaning requirements;

[0104] Cleaning Analysis and Continuous Optimization Subsystem, after the cleaning process is completed, checks the cleaning area of the robot through a monitoring camera, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

[0105] After the cleaning process is completed, checking the cleaning area of the robot through a monitoring camera and statistically analyzing the cleaning time to continuously optimize the cleaning efficiency includes: after the cleaning process is completed, checking the cleaning area of the robot through a monitoring camera and statistically analyzing the cleaning time; selecting a reference time stage, using the minimum cleaning time of multiple cleaning processes within the reference time stage, and continuously optimizing the cleaning efficiency according to the optimal cleaning time within the reference time stage.

[0106] The principles and effects of the above technical solutions are: Area Recognition and Intelligent Leakage Repair Subsystem, including:

[0107] Cleaning Marked Area Grid Subsystem, which sets multiple groups of reference cleaning marks, divides the cleaning area into grids according to the recognition range of the reference cleaning marks, and obtains multiple grid-shaped cleaning areas;

[0108] Map Mark Detection and Intelligent Leakage Repair Subsystem, which conducts map mark detection and intelligent leakage repair cleaning through the cleaning area reference mark recognition module;

[0109] Through the cleaning area reference mark recognition module, map mark detection is carried out, and intelligent leakage filling cleaning is performed, including: through intelligent analysis of the cleaning area reference mark, detecting the map marks of the cleaned area and the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leakage filling cleaning on the uncleaned area.

[0110] The operation control cleaning efficiency improvement sub-system includes:

[0111] The application control cloud storage sub-system sets the cleaning history application control APP program and stores the cleaning history in the cloud platform;

[0112] The cleaning setting intelligent program control sub-system runs the cleaning history application control APP program through a smart phone, reads the cleaning history stored in the cloud platform, and controls the setting of cleaning requirements;

[0113] The cleaning analysis continuous optimization sub-system, after the cleaning process is completed, checks the cleaning area of the robot through a monitoring camera, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

[0114] After the cleaning process is completed, checking the cleaning area of the robot through a monitoring camera and statistically analyzing the cleaning time to continuously optimize the cleaning efficiency includes: after the cleaning process is completed, checking the cleaning area of the robot through a monitoring camera and statistically analyzing the cleaning time; selecting a reference time stage, using the minimum cleaning time of multiple cleaning processes within the reference time stage, and continuously optimizing the cleaning efficiency according to the optimal cleaning time within the reference time stage.

[0115] The present invention adopts an intelligent cleaning robot using the described intelligent cleaning robot inertial navigation monitoring method.

[0116] The principles and effects of the above technical solution are as follows: The intelligent cleaning robot of the present invention adopts an intelligent cleaning robot using the inertial navigation monitoring method described above; it can intelligently establish a cleaning area map through inertial navigation, enabling the robot itself to obtain the angular orientation and movement mileage, avoiding repeated cleaning and improving the cleaning efficiency; it can establish a cleaning map during the cleaning process of the sweeper through software control, and at the same time, it can quickly recharge and position through the established cleaning map; it adopts a new control technology, and its power supply voltage can remain relatively stable, with large suction, strong battery life, good dust suction effect, light weight, and low noise; it is equipped with sensors to detect the environment of the space to be cleaned at any time; the hardware adds a gyroscope module and a code disk on the basis of randomness, enabling the robot itself to obtain the angular orientation and movement mileage; it can intelligently fill in the areas not cleaned, detect the map through software algorithms, and intelligently fill in and clean the areas not cleaned; it has an application program control with cleaning history records, and all cleaning requirements can be directly completed through a smart phone; after the work is completed, it can intelligently check the cleaning location and time of the robot; the intelligent cleaning robot itself performs inertial navigation positioning, obtains the three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot, avoiding repeated cleaning and improving the cleaning efficiency; it can precisely navigate and optimize the efficiency of the intelligent sweeper robot, upgrade and optimize the functions of the random sweeper robot, and upgrade the suction power, expand the battery capacity, improve the structure of the dust collection box, and optimize the path planning and other performance and function upgrades; it can perform self-positioning of the intelligent cleaning robot to obtain the three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area. The three-dimensional angular orientation includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the position marked in the three-dimensional map of the cleaning area; the movement mileage includes the movement mileage from the time the intelligent cleaning robot leaves the charging position point, can locate the cleaning position nodes, avoid repeated cleaning and improve the cleaning efficiency, can reduce the cleaning operation noise, fill in and clean the missed areas, and can store a large amount of scattered cleaning information, control the cleaning requirements, and continuously optimize the cleaning efficiency; it has important technical significance and remarkable effects.

[0117] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the examples shown and described here.

Claims

1. An inertial navigation monitoring method for an intelligent cleaning robot, characterized in that, Including: S10, the intelligent cleaning robot performs inertial navigation positioning by itself, obtains the three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency; S20, through the voltage stabilization control module, keep the power supply voltage stable; through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise; S30, perform grid division of the cleaning area, and through the cleaning area reference mark recognition module, perform map mark detection and intelligent leak filling cleaning; S40, run the cleaning history record application control APP program, read the cleaning history records stored in the cloud platform, control and set the cleaning requirements, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency.

2. The inertial navigation monitoring method of an intelligent cleaning robot according to claim 1, characterized in that S10 includes: S101, through the angular orientation and mileage inertial navigation mechanism, intelligently and automatically establish a three-dimensional map of the cleaning area. The intelligent cleaning robot performs inertial navigation positioning by itself, obtains the three-dimensional angular orientation and movement mileage in the three-dimensional map of the cleaning area. The three-dimensional angular orientation includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the marked position in the three-dimensional map of the cleaning area; the movement mileage includes the movement mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position nodes; S102, through the three-dimensional map software operation module, autonomously plan the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency.

3. The inertial navigation monitoring method of an intelligent cleaning robot according to claim 1, characterized in that, S20 includes: S201, through the voltage stabilization control module, keep the power supply voltage stable, improve the cleaning endurance time and the suction dust collection efficiency; S202, through the sound insulation and noise reduction mechanism, reduce the cleaning operation noise and absorb the high-frequency vibration of the high-speed rotation of the fan; S203, set up an environmental induction sensor group to detect the space environment to be cleaned in real time.

4. A method for inertial navigation monitoring of an intelligent cleaning robot according to claim 1, characterized in that, S30 includes: S301, set multiple groups of reference cleaning marks, perform grid division of the cleaning area according to the reference cleaning mark recognition range, and obtain multiple grid-shaped cleaning areas; S302, through the cleaning area reference mark recognition module, perform map mark detection and perform intelligent leak filling cleaning; Performing map mark detection through the cleaning area reference mark recognition module and performing intelligent leak filling cleaning includes: through intelligent analysis of the cleaning area reference mark, detecting the map marks of the cleaned area and the map marks of the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leak filling cleaning on the uncleaned area.

5. The inertial navigation monitoring method of an intelligent cleaning robot according to claim 1, characterized in that, S40 includes: S401, set up the cleaning history record application control APP program and store the cleaning history records in the cloud platform; S402, run the cleaning history record application control APP program through the smart phone, read the cleaning history records stored in the cloud platform, and control and set the cleaning requirements; S403, after the cleaning process is completed, check the cleaning area of the robot through the monitoring camera, and statistically analyze the cleaning time to continuously optimize the cleaning efficiency; After the cleaning process is completed, the cleaning area of the robot is inspected through a monitoring camera, and the cleaning time is statistically analyzed to continuously optimize the cleaning efficiency, including: after the cleaning process is completed, the cleaning area of the robot is inspected through a monitoring camera, and the cleaning time is statistically analyzed; a reference time stage is selected, and the minimum cleaning time of multiple cleaning processes within the reference time stage is used to continuously optimize the cleaning efficiency according to the optimal cleaning time within the reference time stage.

6. An inertial navigation monitoring system for an intelligent cleaning robot, characterized in that, Including: An inertial navigation three-dimensional anti-duplication subsystem, where the intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular azimuth and movement mileage in the three-dimensional map of the cleaning area, locates the cleaning position nodes, and autonomously plans the cleaning path of the intelligent cleaning robot to avoid repeated cleaning and improve the cleaning efficiency; A voltage stabilization control and noise reduction subsystem, which keeps the power supply voltage stable through a voltage stabilization control module; and reduces the cleaning operation noise through a noise reduction mechanism; An area recognition and intelligent leakage compensation subsystem, which divides the cleaning area into grids, and through a cleaning area reference mark recognition module, performs map mark detection and intelligent leakage compensation cleaning; An operation control and cleaning efficiency improvement subsystem, which runs the cleaning history record application control APP program, reads the cleaning history records stored in the cloud platform, controls and sets the cleaning requirements, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency.

7. An inertial navigation monitoring system for an intelligent cleaning robot according to claim 6, characterized in that, An inertial navigation three-dimensional anti-duplication subsystem, including: A multiple inertial navigation three-dimensional node subsystem, which intelligently and automatically establishes a three-dimensional map of the cleaning area through an angular azimuth and mileage inertial navigation mechanism. The intelligent cleaning robot performs inertial navigation positioning by itself, obtains three-dimensional angular azimuth and movement mileage in the three-dimensional map of the cleaning area. The three-dimensional angular azimuth includes: the angle between the line connecting the intelligent cleaning robot and the charging position point and the vertical direction line in the three-dimensional map of the cleaning area, and the direction of the intelligent cleaning robot relative to the charging position point and the marked position in the three-dimensional map of the cleaning area; the movement mileage includes the movement mileage from when the intelligent cleaning robot leaves the charging position point, and locates the cleaning position nodes; An anti-duplication cleaning and autonomous planning subsystem, which autonomously plans the cleaning path of the intelligent cleaning robot through a three-dimensional map software operation module to avoid repeated cleaning and improve the cleaning efficiency.

8. An inertial navigation monitoring system for an intelligent cleaning robot according to claim 6, characterized in that, A voltage stabilization control and noise reduction subsystem, including: A voltage stabilization and battery life enhancement and suction improvement subsystem, which keeps the power supply voltage stable through a voltage stabilization control module, and improves the cleaning battery life and suction dust collection efficiency; A noise reduction and anti-vibration subsystem, which reduces the cleaning operation noise through a noise reduction mechanism and absorbs the high-frequency vibration of the high-speed rotation of the fan; A cleaning space detection subsystem, which sets an environmental induction sensor group to detect the environment of the space to be cleaned in real time.

9. According to the intelligent cleaning robot inertial navigation monitoring system described in claim 6, characterized in that An area recognition and intelligent leakage compensation subsystem, including: A cleaning mark area grid subsystem, which sets multiple groups of reference cleaning marks, divides the cleaning area into grids according to the recognition range of the reference cleaning marks, and obtains multiple grid-shaped cleaning areas; A map mark detection and intelligent leakage compensation subsystem, which performs map mark detection through a cleaning area reference mark recognition module and performs intelligent leakage compensation cleaning; Through the cleaning area reference mark recognition module, map mark detection is carried out, and intelligent leak-filling cleaning is performed, including: through intelligent analysis of the cleaning area reference mark, detecting the map marks of the cleaned area and the uncleaned area, identifying the cleaned area and the uncleaned area, and performing intelligent leak-filling cleaning on the uncleaned area; Running the operation control cleaning efficiency improvement subsystem, including: Applying the control cloud storage subsystem, setting the cleaning history application control APP program, and storing the cleaning history in the cloud platform; The cleaning setting intelligent program control subsystem runs the cleaning history application control APP program through the smart phone, reads the cleaning history stored in the cloud platform, and controls the setting of cleaning requirements; The cleaning analysis continuous optimization subsystem, after the cleaning process is completed, checks the cleaning area of the robot through the monitoring camera, and statistically analyzes the cleaning time to continuously optimize the cleaning efficiency; After the cleaning process is completed, checking the cleaning area of the robot through the monitoring camera and statistically analyzing the cleaning time to continuously optimize the cleaning efficiency includes: after the cleaning process is completed, checking the cleaning area of the robot through the monitoring camera and statistically analyzing the cleaning time; selecting a reference time stage, using the minimum cleaning time of multiple cleaning processes within the reference time stage, and continuously optimizing the cleaning efficiency according to the optimal cleaning time within the reference time stage.

10. An intelligent cleaning robot adopting the intelligent cleaning robot inertial navigation monitoring method described in claim 1.

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