A multifunctional cleaning robot capable of remote control

Abstract

The application discloses a multifunctional cleaning robot capable of remote control, and belongs to the technical field of intelligent cleaning equipment. The robot system comprises a remote control terminal module, a robot main body control system, a multi-modal cleaning function module, an environment sensing and positioning module, a communication transmission module, an intelligent operation and maintenance module and a power management module, and the modules are mutually cooperative to realize the integration of remote control, multi-mode cleaning and intelligent operation and maintenance. The remote control terminal module realizes instruction issuing and state monitoring, the multi-modal cleaning function module realizes diversified cleaning of the ground, the wall surface, the gap and disinfection, the environment sensing and positioning module guarantees accurate positioning and obstacle avoidance, and the communication transmission module ensures stable remote interaction. The application is suitable for multi-scene cleaning requirements, is flexible in control, efficient in operation and convenient in operation and maintenance, can be widely applied to various scenes such as families, office buildings, shopping malls and hospitals, and has good practicability and application prospect.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning equipment technology, and in particular to a remotely controllable multifunctional cleaning robot. Background Technology

[0002] With the rapid development of intelligent technology, cleaning robots have gradually replaced manual labor, becoming essential equipment for cleaning operations in various scenarios. Currently, most cleaning robots on the market are primarily autonomous, lacking flexible remote control capabilities and struggling to meet the personalized cleaning needs of complex scenarios—such as targeted cleaning of specific areas, emergency handling of sudden stains, and unmanned cleaning operations in remote or hazardous areas. Furthermore, existing cleaning robots have relatively limited functionality, mostly performing basic functions like vacuuming and mopping, unable to address diverse cleaning needs such as glass cleaning, wall cleaning, and crevices cleaning. Moreover, the various functional modules are independent, lacking compatibility and hindering flexible switching and collaborative operation.

[0003] Furthermore, existing remote-controlled cleaning equipment suffers from high control latency, poor signal stability, and a lack of real-time status feedback. Operators cannot accurately grasp the robot's operating status, location information, and cleaning results, leading to low efficiency and low fault tolerance in remote operations. At the same time, existing equipment lacks a robust system architecture, with poor data exchange between modules, hindering intelligent planning of cleaning tasks, statistical analysis of operational data, and remote maintenance of equipment. This makes it difficult to meet the demands of large-scale, refined cleaning operations.

[0004] To address the aforementioned technical shortcomings, this invention proposes a remotely controllable multifunctional cleaning robot system. Through modular design, efficient remote communication mechanisms, and intelligent collaborative control, it solves the problems of existing equipment having limited functionality, inflexible remote control, and poor system coordination, thereby achieving automation, intelligence, and remote control of multi-scenario and diversified cleaning operations. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a remotely controllable multifunctional cleaning robot system. Through modular design, it integrates multiple cleaning functions to build an efficient remote control and intelligent collaborative system, realizing the integration of remote precise control, multi-mode cleaning, real-time status feedback and intelligent operation and maintenance, thereby improving the efficiency, flexibility and intelligence of cleaning operations and adapting to cleaning needs in multiple scenarios.

[0006] A remotely controllable multifunctional cleaning robot includes a remote control terminal module, a robot main control system, a multimodal cleaning function module, an environmental perception and positioning module, a communication transmission module, an intelligent operation and maintenance module, and a power management module. The modules work together to achieve the integration of remote control, multimodal cleaning, and intelligent operation and maintenance. The remote control terminal module includes an interactive interface layer, an instruction processing layer, and a data feedback layer, which are used to implement instruction issuance, status monitoring, and parameter setting, and support multi-terminal adaptation and hierarchical permission management. The robot's main control system includes a main control unit, an instruction receiving and execution unit, a collaborative control unit, and a data acquisition unit. It is used to receive remote instructions, coordinate the collaborative work of various functional modules, and realize the automated control of cleaning operations. The multimodal cleaning function module adopts a modular design, including a floor cleaning sub-module, a wall / glass cleaning sub-module, a crevice cleaning sub-module, and a disinfection cleaning sub-module. Each sub-module can be flexibly switched and combined to achieve diversified cleaning operations. The environmental perception and positioning module includes an environmental perception submodule and a positioning and navigation submodule. It adopts multi-sensor fusion and multi-positioning method fusion technology to achieve all-round environmental perception and precise robot positioning. The communication transmission module includes a wireless communication submodule and a wired communication submodule, and adopts a multi-communication mode integration design to realize stable, real-time, and secure data interaction and command transmission between the remote control terminal and the robot body; The intelligent operation and maintenance module includes a fault diagnosis submodule, a component maintenance submodule, and a data statistical analysis submodule, which enables remote operation and maintenance, fault diagnosis, and data statistical analysis of the robot. The power management module includes a power supply submodule, a charging management submodule, and an energy-saving control submodule, which are used to provide a stable power supply for the system and realize intelligent charging and energy-saving control.

[0007] Furthermore, the interactive interface layer of the remote control terminal module supports three interaction methods: touch, voice, and keyboard. The interface includes a status display area, a parameter setting area, a command input area, a map display area, and an alarm prompt area. The command processing layer adopts a command priority hierarchical mechanism and AES-256 encryption algorithm, and has command parsing, encoding, verification, and caching functions. The data feedback layer supports real-time data updates, anomaly analysis, and data storage and export.

[0008] Furthermore, the main control unit of the robot's main control system adopts an ARM Cortex-A9 series embedded microprocessor, equipped with a real-time operating system, and has the functions of high-speed data processing, multi-task scheduling, and remote firmware upgrade; the instruction receiving and execution unit has the functions of instruction decoding, verification, conversion, and execution status feedback; the collaborative control unit can coordinate the collaborative work of each module to realize cleaning mode switching, path adjustment, and autonomous charging control; the data acquisition unit adopts a multi-channel acquisition mechanism, which can collect the operating data, operation data, and environmental data of each module and perform preprocessing.

[0009] Furthermore, each sub-module of the multimodal cleaning function module adopts a standardized interface design, allowing for quick disassembly and installation; the floor cleaning sub-module includes a vacuuming component, a mopping component, and a scrubbing component, supporting multiple suction levels and speed adjustments; the wall / glass cleaning sub-module includes an adsorption component, a cleaning component, and a lifting component, supporting adsorption force and height adjustments; the crevice cleaning sub-module includes a telescopic cleaning rod, a mini vacuum head, and a mini cleaning brush, supporting telescopic adjustment; and the disinfection cleaning sub-module includes an ultraviolet disinfection component, a misting disinfection component, and a disinfection concentration detection component, supporting disinfection time and concentration adjustments.

[0010] Furthermore, the environmental perception submodule of the environmental perception and positioning module integrates a lidar sensor, a binocular camera, an ultrasonic sensor, an infrared sensor, and a temperature and humidity sensor, which can identify obstacles, stain types, ground materials, and environmental temperature and humidity; the positioning and navigation submodule adopts a GPS+BeiDou+SLAM multi-positioning fusion method, with a positioning accuracy of no less than ±3cm, and has automatic path planning and manual path planning functions, and supports positioning anomaly handling and inertial navigation backup.

[0011] Furthermore, the wireless communication submodule of the communication transmission module supports three communication methods: WiFi 6, 5G, and Bluetooth 5.2, and can automatically switch between them, employing encrypted transmission, data verification, and retransmission mechanisms; the wired communication submodule uses Ethernet and USB interfaces for debugging, upgrading, and data export, serving as a backup for wireless communication.

[0012] Furthermore, the fault diagnosis submodule of the intelligent operation and maintenance module can diagnose faults in power supply, cleaning components, communication, positioning and sensors, and has the functions of fault alarm, automatic reset and fault recording; the component maintenance submodule can monitor component wear and tear, generate maintenance reminders, and has the functions of maintenance record and remote maintenance control; the data statistical analysis submodule can generate multi-dimensional statistical reports and support data export and visualization.

[0013] Furthermore, the power supply submodule of the power management module adopts a lithium battery pack with a capacity of not less than 20000mAh and has overcurrent, overvoltage and short circuit protection functions; the charging management submodule supports autonomous charging and manual charging, with a charging efficiency of not less than 80% and has charging abnormality handling function; the energy-saving control submodule adopts intelligent energy-saving algorithm, which can adjust power consumption according to the working status, and the continuous working time of a single full charge is not less than 4 hours.

[0014] Furthermore, the system's workflow includes: system self-check and connection, command issuance and parameter setting, module collaborative cleaning operation, real-time status feedback and maintenance, operation completion and autonomous charging, data statistics and scheme optimization.

[0015] The beneficial effects of this invention are as follows: 1. Adopting a modular system design, it integrates multiple cleaning functions to achieve multi-scenario and diversified cleaning operations such as floors, walls, glass, and crevices. Each functional module can be flexibly switched and combined to adapt to the cleaning needs of different scenarios, solving the problem of the single function of existing cleaning robots. At the same time, the modular design facilitates the maintenance, replacement and functional expansion of the equipment, improving the flexibility and applicability of the system.

[0016] 2. Construct a comprehensive remote control system, adopting a multi-communication method integrated design to achieve precise remote control, real-time status feedback and parameter setting, with low control latency and high signal stability, solving the problems of inflexible operation and unstable signal of existing remote control equipment; at the same time, it supports multi-terminal and multi-robot collaborative control, improving the efficiency of large-scale cleaning operations.

[0017] 3. By integrating environmental perception and multi-positioning technologies, the robot can achieve comprehensive perception and precise positioning of the working environment, automatically plan cleaning paths, avoid collisions, repeated cleaning, and missed cleaning, and improve the efficiency and quality of cleaning operations. At the same time, image recognition technology can accurately identify stains, providing data support for switching cleaning modes and improving the targeting of cleaning.

[0018] 4. Equipped with a complete intelligent operation and maintenance module, it can achieve accurate fault diagnosis, intelligent component maintenance, and statistical analysis of data. It can promptly detect problems in equipment operation, reduce operation and maintenance costs, and extend the service life of equipment. At the same time, the automatic fault reset and remote maintenance functions reduce the workload of manual maintenance and improve operation and maintenance efficiency.

[0019] 5. An intelligent power management system is adopted to achieve stable power supply, intelligent charging and energy-saving control, extend the robot's endurance, reduce energy consumption and improve the system's practicality; at the same time, multiple safety protection functions ensure the safety and reliability of equipment operation.

[0020] 6. The system has strong compatibility and can be adapted to various terminal devices and multiple operating scenarios. It supports remote firmware upgrades and function expansion, and can meet the cleaning needs of different scenarios such as homes, office buildings, shopping malls, and hospitals, and has broad application prospects. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a diagram of the overall system architecture of the present invention; Figure 2 This is a functional logic diagram of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] A remotely controllable multi-functional cleaning robot system includes a remote control terminal module, a robot main control system, a multimodal cleaning function module, an environmental perception and positioning module, a communication transmission module, an intelligent operation and maintenance module, and a power management module. These modules work together to form a complete remote control and cleaning operation system. The specific module structure and functions are as follows: 1. Remote control terminal module The remote control terminal module serves as the interaction medium between the operator and the robot, enabling remote command issuance, operation status monitoring, and parameter setting. It adopts a layered architecture, including an interface layer, a command processing layer, and a data feedback layer. Its specific functions are as follows: 1.1 Interactive Interface Layer: Provides a visual operation interface, supporting three interaction methods: touch operation, voice operation, and keyboard operation. The interface layout includes a robot status display area, a work parameter setting area, a control command input area, a map display area, and an alarm prompt area. The robot status display area shows the robot's battery level, cleaning mode, work progress, fault status, and current location information in real time. The work parameter setting area allows operators to set parameters such as cleaning intensity, work speed, cleaning range, and key cleaning areas. Multiple scenario-based cleaning plans can be preset, and plans can be saved, recalled, and modified. The control command input area supports both manual and automatic control modes. Manual control uses a virtual joystick or directional keys for precise control, supporting speed and intensity adjustment. The map display area displays the robot's work trajectory, cleaning coverage area, and uncleaned areas in real time based on environmental map data fed back by the robot, supporting map zooming, area selection, and key area marking. The alarm prompt area receives fault information from the robot (such as low battery, clogged cleaning components, and signal interruption) and alerts the operator with sound, light, and text prompts for timely handling.

[0025] 1.2 Command Processing Layer: Responsible for parsing, encoding, and verifying the control commands input by operators to ensure their accuracy and validity; it adopts a command priority hierarchical mechanism, setting emergency commands (such as emergency stop and fault reset) as the highest priority for priority execution to avoid operational accidents caused by command congestion; at the same time, it encrypts commands using the AES-256 encryption algorithm to prevent commands from being tampered with or stolen, ensuring the security of remote control; the command processing layer also has a command caching function, which caches unsent commands when the communication signal is interrupted and automatically sends them after the signal is restored to avoid command loss.

[0026] 1.3 Data Feedback Layer: Responsible for receiving various data (including operation data, status data, environmental data, and fault data) from the robot body, decoding, organizing, and displaying the data, and storing the data in a local database or cloud server. It supports data querying, statistics, and export. The data feedback layer adopts a real-time update mechanism with a data update frequency of no less than 10 times / second to ensure that operators can monitor the robot's operation status in real time. In addition, the data feedback layer also has a data anomaly analysis function. When data anomalies are detected (such as low cleaning coverage or abnormal component rotation speed), an alarm is automatically triggered and an anomaly analysis report is pushed to assist operators in troubleshooting problems.

[0027] The remote control terminal module is compatible with a variety of terminal devices, including smartphones, tablets, laptops, and dedicated control panels. It supports simultaneous login and control from multiple terminals and adopts a hierarchical permission management mechanism. Operators with different permissions can perform different operations (e.g., administrators can set parameters and handle faults, while ordinary operators can only perform basic operations and status monitoring), ensuring the standardization and security of system operation.

[0028] 2. Robot Main Control System The robot's main control system, as the core control unit of the entire robot, receives instructions from the remote control terminal module, coordinates the collaborative work of various functional modules, and realizes automated control of cleaning operations. It adopts an embedded system architecture, including a main control unit, an instruction receiving and execution unit, a collaborative control unit, and a data acquisition unit. Its specific functions are as follows: 2.1 Main Control Unit: Employs a high-performance embedded microprocessor (such as the ARM Cortex-A9 series) and a real-time operating system (RTOS), possessing high-speed data processing, multi-task scheduling, and module collaborative control capabilities. The main control unit stores the robot's core control program, including instruction parsing programs, cleaning mode control programs, positioning and navigation programs, and fault diagnosis programs. It is responsible for coordinating the work of each module to ensure the stable operation of the system. Simultaneously, the main control unit has a program upgrade function, supporting firmware upgrades via remote control terminal modules or cloud servers, enabling function optimization and bug fixing without disassembling the robot.

[0029] 2.2 Command Receiving and Execution Unit: This unit is responsible for receiving remote commands transmitted by the communication transmission module, decoding and verifying the commands, and converting verified commands into control signals for each functional module to drive each module to perform corresponding operations. For example, upon receiving the "Start Vacuuming Mode" command, it sends a vacuuming control signal to the multimodal cleaning function module to start the vacuuming components and adjust the vacuuming intensity. Upon receiving the "Fixed-Point Cleaning" command, it combines the location data from the environmental perception and positioning module to control the robot to move to the target location and start the corresponding cleaning components for focused cleaning. The command execution unit has an execution status feedback function, which feeds back the execution status of the command (such as successful execution, failed execution, or in progress) to the main control unit in real time, and then the main control unit feeds back the information to the remote control terminal module through the communication transmission module.

[0030] 2.3 Collaborative Control Unit: This unit coordinates the collaborative work of various modules, including the multimodal cleaning function module, environmental perception and positioning module, and power management module, to avoid conflicts between modules and improve operational efficiency. For example, during cleaning, the collaborative control unit automatically switches cleaning modes (e.g., vacuuming + mopping for tile floors, vacuuming + roller brushing for carpet floors) based on floor material data (e.g., tile, carpet, wood flooring) from the environmental perception module. Based on location data from the positioning module, it controls the robot's movement trajectory to avoid repeated cleaning or missed areas. Based on battery data from the power management module, when the battery level falls below a preset threshold, the unit automatically stops operation, moves the robot to the charging area for autonomous charging, and simultaneously sends a battery warning to the remote control terminal module.

[0031] 2.4 Data Acquisition Unit: Responsible for collecting operational data, job data, and environmental data from each functional module, including operating parameters of cleaning components (such as rotation speed and power), job progress data (such as cleaning area and cleaning time), environmental data (such as type of floor stains, ambient temperature, and humidity), and equipment status data (such as power consumption and component wear). The data acquisition unit adopts a multi-channel acquisition mechanism, and the acquisition frequency can be adjusted according to job requirements. After preprocessing (filtering and noise reduction), the acquired data is transmitted to the main control unit, which then feeds it back to the remote control terminal module through the communication transmission module, providing data support for the operator's decision-making.

[0032] 3. Multimodal cleaning function module The multimodal cleaning function module adopts a modular design, which can be flexibly switched and combined according to cleaning needs to achieve diversified cleaning operations. It includes a floor cleaning sub-module, a wall / glass cleaning sub-module, a crevices cleaning sub-module, and a disinfection cleaning sub-module. Each sub-module is independent and can be started individually or work in concert. The specific functions are as follows: 3.1 Floor Cleaning Sub-module: This module performs basic floor cleaning functions such as vacuuming, mopping, and wiping. It includes a vacuuming component, a mopping component, and a wiping component. The vacuuming component is driven by a brushless motor and supports multiple suction levels (low for daily dust removal, medium for general stain removal, and high for stubborn stains and carpet cleaning). It is equipped with a HEPA high-efficiency filter that can filter fine dust, hair, and harmful particles with a filtration efficiency of no less than 99.97%. The mopping component features a rotating mop head with adjustable speed and automatic water filling and drying functions. It automatically adjusts the amount of water added based on the floor moisture to prevent water accumulation, and the mop head dries automatically after use to prevent bacterial growth. The wiping component uses a flexible cleaning cloth that conforms to the floor to remove stubborn stains and is suitable for various floor materials such as wood flooring, tile, and marble.

[0033] 3.2 Wall / Glass Cleaning Sub-module: This sub-module is used for cleaning vertical surfaces such as walls and glass. It includes an adsorption component, a cleaning component, and a lifting component. The adsorption component uses vacuum adsorption technology to generate stable adsorption force, ensuring that the robot can adhere stably to vertical surfaces. It supports adsorption force adjustment and is adaptable to different wall and glass materials (such as ordinary glass, frosted glass, and tiled walls). The cleaning component uses a combination of a rotating cleaning brush and a cleaning cloth to remove dust, stains, and water stains from walls and glass. The cleaning brush is made of flexible material to avoid scratching the walls and glass. The lifting component uses an electric telescopic rod design to adjust the cleaning height, adapting to walls and glass of different heights (up to 3 meters). The lifting speed is adjustable to ensure uniform cleaning.

[0034] 3.3 Crevice Cleaning Submodule: This submodule is used for cleaning narrow areas such as furniture crevices, corners, and door / window gaps. It includes a telescopic cleaning rod, a mini vacuum head, and a mini cleaning brush. The telescopic cleaning rod can be adjusted to accommodate the width and depth of the crevices, with a range of 5-30cm. The mini vacuum head features a narrow opening design, allowing it to reach deep into crevices and remove dust and debris. The mini cleaning brush removes stubborn stains from crevices, and its soft bristles prevent damage to the crevices. The crevice cleaning submodule can work in conjunction with the floor cleaning submodule. During floor cleaning, it automatically detects crevices and activates the crevice cleaning function for comprehensive cleaning.

[0035] 3.4 Disinfection and Cleaning Submodule: This submodule is used to disinfect and sterilize the cleaning area, suitable for scenarios with high hygiene requirements such as hospitals, kindergartens, and food processing plants. It includes an ultraviolet disinfection component, a misting disinfection component, and a disinfection concentration detection component. The ultraviolet disinfection component uses UV-C ultraviolet lamps that emit ultraviolet light with a wavelength of 254nm to kill bacteria, viruses, and fungi in the air, with a disinfection coverage rate of no less than 99%, and supports adjustable disinfection time (1-30 minutes). The misting disinfection component uses ultrasonic atomization technology to atomize the disinfectant into tiny particles, which are evenly sprayed on the cleaning area to achieve disinfection without dead angles. It supports adjustable disinfectant concentration to adapt to the disinfection needs of different scenarios. The disinfection concentration detection component monitors the disinfectant concentration in the disinfection area in real time. When the concentration is lower than the preset threshold, it automatically replenishes the disinfectant to ensure the disinfection effect. At the same time, it feeds the concentration data back to the main control unit to avoid excessive concentration from causing harm to the human body.

[0036] The multimodal cleaning function module adopts a standardized interface design, and each sub-module can be quickly disassembled and installed, facilitating maintenance and replacement. It also supports functional expansion, allowing the addition of cleaning sub-modules (such as mite removal cleaning sub-modules and polishing cleaning sub-modules) according to actual cleaning needs, thereby improving the system's flexibility and applicability.

[0037] 4. Environmental Perception and Positioning Module The environmental perception and localization module enables the robot to perceive its working environment and accurately locate its own position, providing environmental and location data support for remote control and autonomous cleaning. It includes an environmental perception submodule and a localization and navigation submodule, with the following specific functions: 4.1 Environmental Perception Submodule: Employing multi-sensor fusion technology, this module integrates LiDAR sensors, vision sensors (binocular cameras), ultrasonic sensors, infrared sensors, and temperature and humidity sensors to achieve comprehensive perception of the working environment. The LiDAR sensor scans the working environment, acquires environmental contour data, and identifies obstacles (such as furniture, pedestrians, and equipment). Its detection distance ranges from 0.1 to 10 meters, with a detection accuracy of ±1 cm, effectively preventing collisions between the robot and obstacles. The vision sensor collects image data of the working environment, identifies the type of ground stains (such as dust, oil stains, and water stains), the ground material, and the cleanliness of walls / glass. Image recognition algorithms are then used to process this data. The robot uses algorithms such as YOLOv8 to accurately identify stains with an accuracy rate of no less than 92%, and transmits image data to a remote control terminal module in real time so that operators can view the cleaning effect. Ultrasonic sensors detect the distance between the robot and obstacles. When the distance is less than a preset safe distance (e.g., 10cm), obstacle avoidance commands are automatically triggered to control the robot to slow down or turn to avoid collisions. Infrared sensors detect heat sources in the environment (e.g., pedestrians, high-temperature equipment) to prevent the robot from approaching high-temperature areas or interfering with pedestrians. Temperature and humidity sensors collect ambient temperature and humidity data to provide data support for switching cleaning modes (e.g., automatically reducing the amount of water added to the mopping component in high-humidity environments).

[0038] 4.2 Positioning and Navigation Submodule: Employing a fusion of multiple positioning methods (GPS positioning + BeiDou positioning + SLAM positioning), this module enables precise robot positioning in various scenarios, with an accuracy of no less than ±3cm. GPS and BeiDou positioning are used for outdoor or open indoor scenarios, supporting real-time positioning and trajectory tracking. SLAM positioning (instant localization and mapping) is used for complex indoor scenarios (such as office buildings and shopping malls), automatically building a map of the working environment, marking obstacle locations, cleaning areas, and charging areas, and supporting real-time map updates and saving. The positioning and navigation submodule has path planning capabilities, automatically planning the optimal cleaning path based on cleaning range instructions issued by the remote control terminal module, avoiding repeated cleaning and missed cleaning, with a path planning time of no more than 5 seconds. Manual path planning is also supported; operators can draw cleaning paths via the remote control terminal module, and the robot performs cleaning operations according to the drawn path. Furthermore, the positioning and navigation submodule also has a positioning anomaly handling function. When the positioning signal is interrupted, it automatically switches to inertial navigation mode, achieving temporary positioning based on its own motion trajectory. After the positioning signal is restored, it automatically calibrates the position to ensure positioning continuity.

[0039] 5. Communication transmission module The communication transmission module is used to realize data interaction and command transmission between the remote control terminal module and the robot's main control system. It adopts a multi-communication mode integration design, including a wireless communication submodule and a wired communication submodule, to ensure communication stability, real-time performance, and security. Its specific functions are as follows: 5.1 Wireless Communication Submodule: Employs three wireless communication methods: WiFi 6, 5G, and Bluetooth 5.2, automatically switching according to the communication conditions of the working environment. WiFi 6 is used for short-range communication in indoor scenarios, with a transmission rate of no less than 150Mbps and a transmission latency of no more than 100ms, supporting simultaneous connections from multiple devices. 5G is used for outdoor scenarios or long-range communication, with a transmission rate of no less than 1Gbps and a transmission latency of no more than 50ms, supporting wide coverage and high-speed mobile transmission to ensure communication stability for the robot during long-distance operations. Bluetooth 5.2 is used for short-range debugging and data transmission, supporting rapid connection between the robot and local terminal devices for easy equipment debugging and maintenance. The wireless communication submodule uses encrypted transmission technology, supporting data verification and retransmission mechanisms in addition to the AES-256 encryption algorithm, ensuring the security of command and data transmission and preventing data loss or tampering.

[0040] 5.2 Wired Communication Submodule: This submodule employs both Ethernet and USB interfaces for wired debugging, firmware upgrades, and data export of the robot. The Ethernet interface supports gigabit transmission rates, suitable for long-term operation in fixed scenarios, ensuring communication stability. The USB interface supports data export and charging functions, allowing the robot's operational data to be exported to a local terminal device and also used for emergency charging. As a backup for wireless communication, the wired communication submodule enables command transmission and data feedback when wireless communication signals are interrupted, ensuring operational continuity.

[0041] In addition, the communication transmission module also has a signal strength detection function, which detects the communication signal strength in real time. When the signal strength is lower than the preset threshold, it automatically sends a signal warning message to the remote control terminal module and attempts to switch communication methods to ensure communication stability. At the same time, it supports multi-robot collaborative communication. Multiple robots can interact with each other through the communication transmission module and work together to complete large-area cleaning operations. Operators can achieve unified management and control of multiple robots through the remote control terminal module.

[0042] 6. Intelligent Operation and Maintenance Module The intelligent operation and maintenance module is used to realize remote operation and maintenance and fault diagnosis of robots, reduce operation and maintenance costs, and extend the service life of equipment. It includes a fault diagnosis submodule, a component maintenance submodule, and a data statistical analysis submodule, with the following specific functions: 6.1 Fault Diagnosis Submodule: This submodule monitors the operational status of each functional module in real time. By collecting operational parameters (such as current, voltage, and rotational speed) from each module and combining them with fault diagnosis algorithms, it achieves accurate fault diagnosis of the robot. Diagnosable fault types include: power supply failure, cleaning component failure, communication failure, positioning failure, and sensor failure. When a fault is detected, an alarm is automatically triggered, and fault information (fault type, fault location, and fault cause) is fed back to the remote control terminal module in real time. Simultaneously, a fault diagnosis report is generated, providing fault handling suggestions (such as component replacement or parameter adjustment). For minor faults (such as clogged cleaning components), a fault reset procedure can be automatically initiated to attempt to eliminate the fault. If the fault cannot be eliminated, the operator is alerted for manual handling. The fault diagnosis submodule also has a fault recording function, storing the time, type, handling method, and handling result of the fault, facilitating fault tracing and analysis by the operator.

[0043] 6.2 Component Maintenance Submodule: This submodule monitors the wear and tear of cleaning components in real time (e.g., mop wear, cleaning brush wear, filter clogging). Based on the component's runtime and wear level, it generates maintenance reminders and pushes them to the remote control terminal module, reminding operators to replace or maintain components in a timely manner. For example, when the mop runtime reaches a preset threshold (e.g., 100 hours), a mop replacement reminder is sent; when the filter clogging level reaches a preset threshold, a filter cleaning reminder is sent. The component maintenance submodule also has a maintenance record function, storing the component's maintenance time, maintenance content, and replacement status, allowing operators to understand the component's lifespan and rationally plan maintenance schedules. In addition, the component maintenance submodule supports remote maintenance control, allowing operators to initiate component cleaning programs (e.g., automatic filter cleaning) through the remote control terminal module, reducing manual maintenance workload.

[0044] 6.3 Data Statistical Analysis Submodule: This submodule performs statistical analysis on the robot's operational, running, and fault data, generating multi-dimensional statistical reports (such as daily cleaning reports, monthly maintenance reports, and fault statistics reports). Statistical content includes cleaning area, cleaning duration, cleaning coverage rate, fault rate, and component wear rate. Through data statistical analysis, weak links in cleaning operations (such as low cleaning coverage in a certain area) and potential problems in equipment operation (such as a high fault rate in a certain component) can be identified, providing data support for operators to optimize cleaning plans and adjust maintenance schedules. The data statistical analysis submodule supports data export, allowing statistical reports to be exported to Excel, PDF, and other formats for easy archiving and analysis. It also supports data visualization, visually displaying data through charts (bar charts, line charts, pie charts) to help operators quickly grasp the robot's operating status and operational effectiveness.

[0045] 7. Power Management Module The power management module provides a stable power supply for the entire robot system, enabling intelligent power management and energy-saving control. It includes a power supply submodule, a charging management submodule, and an energy-saving control submodule, with the following specific functions: 7.1 Power Supply Submodule: It adopts a large-capacity lithium battery pack (capacity not less than 20000mAh), supports multiple voltage outputs, and provides a suitable power supply for each functional module (e.g., the main control unit uses 5V voltage, and the cleaning components use 12V voltage). The power supply submodule has overcurrent, overvoltage, and short-circuit protection functions. When the power supply is abnormal, it will automatically cut off the power supply to avoid damage to each functional module. At the same time, it will monitor the power and voltage data of the power supply in real time, feed the data back to the main control unit, and then feed it back to the remote control terminal module so that the operator can monitor the power status.

[0046] 7.2 Charging Management Submodule: Supports both autonomous and manual charging modes. In autonomous charging mode, when the robot's battery level is below a preset threshold (e.g., 20%), the main control unit controls the robot to find the charging area via the positioning and navigation submodule, automatically docking with the charging interface for charging. The charging efficiency is no less than 80%, and the full charge time does not exceed 2 hours. During charging, the charging current, voltage, and temperature data are monitored in real time to prevent overcharging and ensure charging safety. In manual charging mode, operators can issue charging commands through the remote control terminal module to control the robot to move to the charging area for charging, or directly charge the robot via a wired interface. The charging management submodule also has a charging anomaly handling function. When an anomaly occurs during charging (e.g., poor contact at the charging interface, or excessively high charging temperature), charging is automatically stopped, and a charging anomaly alarm message is sent to remind the operator to handle the situation.

[0047] 7.3 Energy-saving control submodule: Employs intelligent energy-saving algorithms to automatically adjust the power consumption of each functional module based on the robot's operating status and environmental conditions. For example, when the robot is in standby mode, unnecessary modules (such as cleaning components and vision sensors) are automatically shut down to reduce power consumption; when the work area is free of stains, the power of the cleaning components is automatically reduced; and when the communication signal is good, the power consumption of the wireless communication module is reduced. The energy-saving control submodule can reduce the robot's energy consumption and extend its runtime. After a single full charge, the continuous operating time is no less than 4 hours, and the standby time is no less than 72 hours.

[0048] The remotely controllable multifunctional cleaning robot system of the present invention includes the following steps in its workflow: Step 1: The system starts up, each functional module completes self-test, the remote control terminal module establishes a connection with the robot body through the communication transmission module, the robot body control system collects the initial status data of each module (such as power, component status, communication signal strength) and feeds it back to the remote control terminal module, and the operator confirms that the system status is normal through the remote control terminal module.

[0049] Step 2: Operators set cleaning parameters and select cleaning modes (such as floor cleaning, wall cleaning, and disinfection cleaning) through the remote control terminal module, determine the cleaning scope and key cleaning areas, and can choose preset cleaning plans or manually plan cleaning paths, and issue cleaning operation instructions.

[0050] Step 3: The robot's main control system receives cleaning operation instructions and coordinates the start of work for each functional module through the collaborative control unit; the environmental perception and positioning module collects environmental and location data in real time and feeds it back to the main control unit. Based on the environmental and location data, the main control unit controls the robot to move along the planned path and starts the corresponding cleaning sub-modules to carry out cleaning operations.

[0051] Step 4: During the operation, the data acquisition unit collects operation data, status data and environmental data in real time. After being processed by the main control unit, the data is fed back to the remote control terminal module through the communication transmission module. The operator can view the robot's operation status, cleaning progress and cleaning effect in real time, and issue adjustment instructions (such as adjusting the cleaning intensity, changing the cleaning path, pausing the operation) according to actual needs.

[0052] Step 5: The intelligent operation and maintenance module monitors the operating status of each module in real time. If a fault is detected, an alarm is automatically triggered, the fault information is fed back to the remote control terminal module, and an attempt is made to automatically troubleshoot minor faults. If the component wear and tear reaches a preset threshold, a maintenance reminder message is sent.

[0053] Step 6: After the cleaning operation is completed, the robot's main control system automatically stops the cleaning components and moves the robot to a designated location (such as the charging area). At the same time, it sends a report on the completion of the operation (cleaning area, cleaning time, cleaning coverage) to the remote control terminal module. If the battery level is lower than the preset threshold, it automatically starts the autonomous charging mode and enters standby mode after charging is completed.

[0054] Step 7: Operators can view the job completion report and operation and maintenance data through the remote control terminal module, export relevant data, and optimize the cleaning plan and maintenance schedule based on the data statistical analysis results.

[0055] Example 1: Home Scene Application In this embodiment, a remotely controllable multi-functional cleaning robot system is applied to a home setting, adapting to the daily cleaning needs of a two-bedroom family. The specific configuration and workflow are as follows: 1. System Configuration: The remote control terminal uses a smartphone (with a dedicated control APP installed). The robot body is equipped with a floor cleaning sub-module, a crevice cleaning sub-module, and a disinfection cleaning sub-module. The environmental perception and positioning module uses SLAM positioning + Bluetooth positioning. The communication transmission module uses WiFi 6 + Bluetooth 5.2. The power management module uses a 20000mAh lithium battery pack, with a battery life of up to 4 hours.

[0056] 2. Workflow: The operator starts the robot through a smartphone APP. After the system completes its self-check, the operator sets the cleaning mode to "Daily Household Cleaning", selects the cleaning area as the living room, bedroom, kitchen and bathroom, and focuses on cleaning the kitchen floor (oil stains) and bathroom floor (water stains) before issuing cleaning instructions.

[0057] 3. Operation process: The robot automatically builds a map of the home environment through SLAM positioning, plans the optimal cleaning path, and starts the floor cleaning sub-module to clean using the "vacuuming + mopping" mode; when it detects furniture gaps, it automatically starts the gap cleaning sub-module to clean dust and debris deep into the gaps; after cleaning is completed, it starts the disinfection cleaning sub-module to disinfect the living room and bedroom using the ultraviolet disinfection mode, with the disinfection time set to 10 minutes.

[0058] 4. Status Monitoring and Maintenance: Operators can view the robot's work progress, battery status, and cleaning effect in real time through the APP, and can remotely adjust the cleaning intensity (such as increasing the vacuuming intensity in the kitchen area); during the operation, if the mop wear reaches the preset threshold, the APP will send a mop replacement reminder; after the operation is completed, the robot will automatically move to the charging area for autonomous charging, and the APP will push a work completion report, showing the cleaning area, cleaning time, and cleaning coverage.

[0059] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A remotely controllable multi-functional cleaning robot, characterized in that: The robot includes a remote control terminal module, a robot main control system, a multimodal cleaning function module, an environmental perception and positioning module, a communication transmission module, an intelligent operation and maintenance module, and a power management module. The modules work together to achieve the integration of remote control, multimodal cleaning, and intelligent operation and maintenance. The remote control terminal module includes an interactive interface layer, an instruction processing layer, and a data feedback layer, which are used to implement instruction issuance, status monitoring, and parameter setting, and support multi-terminal adaptation and hierarchical permission management. The robot's main control system includes a main control unit, an instruction receiving and execution unit, a collaborative control unit, and a data acquisition unit. It is used to receive remote instructions, coordinate the collaborative work of various functional modules, and realize the automated control of cleaning operations. The multimodal cleaning function module adopts a modular design, including a floor cleaning sub-module, a wall / glass cleaning sub-module, a crevice cleaning sub-module, and a disinfection cleaning sub-module. Each sub-module can be flexibly switched and combined to achieve diversified cleaning operations. The environmental perception and positioning module includes an environmental perception submodule and a positioning and navigation submodule. It adopts multi-sensor fusion and multi-positioning method fusion technology to achieve all-round environmental perception and precise robot positioning. The communication transmission module includes a wireless communication submodule and a wired communication submodule, and adopts a multi-communication mode integration design to realize stable, real-time, and secure data interaction and command transmission between the remote control terminal and the robot body; The intelligent operation and maintenance module includes a fault diagnosis submodule, a component maintenance submodule, and a data statistical analysis submodule, which enables remote operation and maintenance, fault diagnosis, and data statistical analysis of the robot. The power management module includes a power supply submodule, a charging management submodule, and an energy-saving control submodule, which are used to provide a stable power supply for the system and realize intelligent charging and energy-saving control.

2. The remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The remote control terminal module's interactive interface layer supports three interaction methods: touch, voice, and keyboard. The interface includes a status display area, parameter setting area, command input area, map display area, and alarm prompt area. The command processing layer adopts a command priority hierarchical mechanism and AES-256 encryption algorithm, and has command parsing, encoding, verification, and caching functions. The data feedback layer supports real-time data updates, anomaly analysis, and data storage and export.

3. A remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The main control unit of the robot's main control system adopts an ARM Cortex-A9 series embedded microprocessor, equipped with a real-time operating system, and has the functions of high-speed data processing, multi-task scheduling, and remote firmware upgrade. The instruction receiving and execution unit has the functions of instruction decoding, verification, conversion, and execution status feedback. The collaborative control unit can coordinate the collaborative work of various modules to realize cleaning mode switching, path adjustment, and autonomous charging control. The data acquisition unit adopts a multi-channel acquisition mechanism, which can collect the operating data, operation data, and environmental data of each module and perform preprocessing.

4. The remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, Each sub-module of the multimodal cleaning function module adopts a standardized interface design, allowing for quick disassembly and installation; the floor cleaning sub-module includes a vacuuming component, a mopping component, and a scrubbing component, supporting multiple suction power and speed adjustment; the wall / glass cleaning sub-module includes an adsorption component, a cleaning component, and a lifting component, supporting adsorption force and height adjustment; the crevice cleaning sub-module includes a telescopic cleaning rod, a mini vacuum head, and a mini cleaning brush, supporting telescopic adjustment. The disinfection and cleaning sub-module includes an ultraviolet disinfection component, an atomizing disinfection component, and a disinfection concentration detection component, which supports the adjustment of disinfection time and concentration.

5. The remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The environmental perception submodule of the environmental perception and positioning module integrates a lidar sensor, a binocular camera, an ultrasonic sensor, an infrared sensor, and a temperature and humidity sensor, which can identify obstacles, stain types, ground materials, and ambient temperature and humidity. The positioning and navigation submodule adopts a GPS+BeiDou+SLAM multi-positioning fusion method, with a positioning accuracy of no less than ±3cm. It has automatic path planning and manual path planning functions, and supports positioning anomaly handling and inertial navigation backup.

6. A remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The wireless communication submodule of the communication transmission module supports three communication methods: WiFi 6, 5G, and Bluetooth 5.2, and can automatically switch between them. It adopts encrypted transmission, data verification, and retransmission mechanisms. The wired communication submodule uses Ethernet and USB interfaces for debugging, upgrading, and data export, serving as a backup for wireless communication.

7. The remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The intelligent operation and maintenance module's fault diagnosis submodule can diagnose faults in power supply, cleaning components, communication, positioning, and sensors, and has fault alarm, automatic reset, and fault recording functions; the component maintenance submodule can monitor component wear and tear, generate maintenance reminders, and has maintenance record and remote maintenance control functions; the data statistical analysis submodule can generate multi-dimensional statistical reports and supports data export and visualization.

8. The remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The power management module's power supply submodule uses a lithium battery pack with a capacity of no less than 20,000 mAh and has overcurrent, overvoltage, and short-circuit protection functions; the charging management submodule supports autonomous charging and manual charging, with a charging efficiency of no less than 80% and has charging anomaly handling functions; the energy-saving control submodule uses an intelligent energy-saving algorithm, which can adjust power consumption according to the working status, and the continuous working time after a single full charge is no less than 4 hours.

9. A remotely controllable multifunctional cleaning robot according to claim 1, characterized in that, The system's workflow includes: system self-check and connection, command issuance and parameter setting, module collaborative cleaning operation, real-time status feedback and maintenance, operation completion and autonomous charging, data statistics and scheme optimization.

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