A home resident robot system based on distributed habitat nodes and a control and scheduling method thereof

Abstract

The application discloses a kind of based on distributed habitat node's domestic permanent robot system and its control and scheduling method, system includes several distributed arrangement habitat nodes and at least one robot terminal;Habitat node is built-in main control unit and power supply interface, is equipped with connection mechanism, robot terminal is equipped with docking structure, both cooperate to form suspension type residence connection, by habitat node to carry terminal weight and establish power supply passage, open physical air flow gap in residence state and guarantee the air inlet of moving mechanism;Each habitat node networking communication, main control unit dispatch terminal is switched in each residence point position independently.This application constructs distributed indoor residence infrastructure network, breaks through endurance limit;Terminal has air mobile and contact advancing capacity, supports modularization function extension;Supporting method realizes duplex condition adaptive operation, space barrier intelligent scheduling, multi-terminal task relay, improves whole house operation coverage capacity and long-term value stability.

Description

Technical Field

[0001] This invention relates to the field of home intelligent service robot technology, specifically to a home resident robot system based on distributed habitat nodes and its control and scheduling method. Background Technology

[0002] Existing smart home service devices are mainly divided into two categories: ground-based mobile devices and fixed-location smart home appliances, both of which have obvious application limitations.

[0003] Ground-based mobile equipment can only move and operate on a support plane, making it difficult to cover high spaces, narrow cavities, and other areas, thus limiting the dimensionality of the operating space; while fixed-position smart home appliances can be deployed at high positions, their fixed positions prevent them from moving across spaces, making it difficult to achieve dynamic monitoring of the entire house.

[0004] Aerial mobile robots are limited by onboard energy storage capacity, resulting in limited endurance. They need to frequently return to fixed locations to recharge, making it difficult to maintain long-term continuous operation. Moreover, most of them operate in a single-device independent mode, lacking distributed dwell networking and multi-device collaboration mechanisms. To achieve long-term task continuity, they need to be equipped with complex mechanical battery swapping structures, which result in high equipment costs and low structural reliability, making it difficult to adapt to the normal use needs of home indoor scenarios.

[0005] Meanwhile, existing similar systems lack adaptive control and scheduling strategies to suit the complex spaces of a home, and cannot dynamically optimize for scenarios such as spatial barriers, multi-terminal division of labor, and long-term continuous monitoring. The system's operating efficiency and scenario adaptability have obvious shortcomings. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a home-based resident robot system based on distributed resident nodes and its control and scheduling method. It constructs a robot resident infrastructure network that is connected to the building space, and solves the technical problems of existing home service equipment such as limited operating space, insufficient battery life, high cost of long-term operation, and inability to achieve continuous monitoring in the whole area. At the same time, by adapting the control and scheduling strategy to the home scenario, it improves the system's adaptability to complex spatial environments and the efficiency of multi-terminal collaboration.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A home-based permanent robot system based on distributed habitat nodes includes at least two habitat nodes fixedly installed in different locations within a building's interior space. Each habitat node has a built-in main control unit and a power supply interface. The system also includes at least one autonomously movable robot terminal, which includes a body, an onboard energy storage component, and a motion mechanism for achieving spatial movement.

[0009] The habitat node is equipped with a docking mechanism, and the robot terminal is equipped with a docking structure that corresponds to and cooperates with the docking mechanism; after the docking mechanism and the docking structure are locked together, a suspended dwelling connection is formed, and the entire weight of the robot terminal is borne by the habitat node.

[0010] In the stationary state, the connecting mechanism creates a preset physical airflow gap between the robot terminal's body and the top of the building's interior space to ensure unobstructed air intake when the motion mechanism is in operation.

[0011] When the connecting mechanism and the docking structure form a suspended dwelling connection, electrical conduction is simultaneously achieved, and power is supplied to the robot terminal from the power supply interface of the dwelling node.

[0012] The at least two habitat nodes are connected to each other, and the habitat nodes are connected to the robot terminal. The main control unit is used to acquire status information and send control signals to the robot terminal, so that the robot terminal can autonomously switch its dwelling position among different habitat nodes and carry out spatial monitoring operations according to the operation requirements.

[0013] Furthermore, the habitat node is fixedly installed on the indoor ceiling structure, and the connecting mechanism is a retractable structure used to adjust the relative distance between the robot terminal and the habitat node.

[0014] Furthermore, the at least two habitat nodes are arranged in different areas to form a distributed suspended habitat network covering the indoor space.

[0015] Furthermore, the robot terminal also includes a contact movement mechanism disposed at the bottom of the body. The contact movement mechanism is used to contact the supporting surface after the robot terminal detaches from the perching node and drive the robot terminal to perform contact movement.

[0016] Furthermore, the robot terminal is equipped with an expansion interface, which includes a mechanical connection structure and an electrical communication interface; the functional module can be detachably connected to the robot terminal through the expansion interface, and realize data communication and power transmission between the functional module and the robot terminal; different types of functional modules can be replaced, so that the robot terminal can adapt to a variety of home indoor service scenarios.

[0017] Furthermore, the number of robot terminals is at least two, including a first robot terminal and a second robot terminal; the first robot terminal and the second robot terminal can be equipped with different types of functional modules to achieve multi-terminal functional complementarity and division of labor.

[0018] This invention also provides a control and scheduling method for the above-mentioned home-use resident robot system, comprising the following steps:

[0019] (1) Collection of dwelling status: All dwelling nodes and robot terminals complete the communication network and collect the location status of each dwelling node and the operating status of the robot terminal in real time; after the robot terminal completes the suspended dwelling docking with the target dwelling node, the power supply circuit is simultaneously turned on, and the air intake passage of the motion mechanism is kept unobstructed by relying on the physical airflow gap opened by the docking mechanism.

[0020] (2) Dynamic scheduling decision: The main control unit generates point switching and task allocation instructions based on the overall operation requirements and the real-time status of each terminal;

[0021] (3) Cross-node continuous execution: After receiving the instruction, the robot terminal releases the dwell lock and moves autonomously to the target dwell node to complete a new round of dwell docking. It cycles between multiple nodes to achieve cross-regional continuous duty.

[0022] Furthermore, after the robot terminal completes its docking, the main control unit controls the retractable docking mechanism to adjust the extension length and the suspension working height of the robot terminal according to the height requirements of the current work scenario.

[0023] Furthermore, when the indoor door is closed, creating a physical barrier in space, the main control unit prioritizes dispatching the robot terminal to the nearest habitat node in the current area to complete the stay, without needing to travel across areas; or dispatches a second robot terminal located on a habitat node inside the blocked area to take over the operation.

[0024] Furthermore, the robot terminal supports dual operating modes: in the stationary mode, it uses physical airflow gaps to activate the motion mechanism to perform indoor airflow circulation operations; in the off-site mode, it leaves the habitat node to perform spatial movement and special operation tasks.

[0025] Furthermore, when the robot terminal performs tasks in narrow areas, it activates the bottom contact movement mechanism after leaving the roosting node, travels on the bearing surface to complete the close-range work, and resumes spatial movement and returns to the roosting node after the work is completed.

[0026] Furthermore, based on the requirements of the work scenario, the robot terminal is replaced with the corresponding type of functional module. After the system identifies the type of functional module accessed, it automatically matches the corresponding work scheduling strategy.

[0027] Furthermore, the system is configured with at least two robot terminals. When performing long-term continuous duty tasks, the main control unit schedules the first robot terminal to perform the task, while the second robot terminal stays at the habitat node to replenish energy. When the energy storage of the first robot terminal is lower than the preset threshold, the second robot terminal is scheduled to go to the target location to continue the work. After the second terminal is confirmed to be in place, the first robot terminal is then directed to go to the nearest habitat node to stay and replenish energy. Through the relay of multiple terminals, the task can be run without interruption.

[0028] Beneficial effects

[0029] Compared with the prior art, the present invention has the following technical advantages:

[0030] 1. Construct a permanent infrastructure for home robots to overcome the bottleneck of battery life. Relying on a distributed network of habitat nodes, an indoor dwelling network connected to the building's energy system is formed. Robot terminals can stay and recharge at any time without frequently returning to fixed charging docks. When multiple terminals are configured, they can maintain task continuity through collaborative relay, eliminating the need for complex mechanical battery swapping mechanisms. This significantly reduces the hardware cost and structural complexity of long-term operation, and builds an indoor service system that can be continuously maintained for a long time, specifically addressing the pain points of short battery life and single recharge path of existing equipment.

[0031] 2. Scientifically designed dwelling structure, reusable motion mechanism expands operational capabilities. The suspended dwelling connection actively opens up the physical airflow gap, avoiding the defects of terminal top-mounted arrangement blocking the air intake channel, ensuring the air intake efficiency and heat dissipation effect of the motion mechanism; in the dwelling state, the motion mechanism can be reused to carry out indoor air circulation, airflow disturbance and other operations, improve equipment utilization, and eliminate air intake loss.

[0032] 3. Full-space operation coverage, adaptable to multiple scenario needs. The robot terminal has both spatial movement and contact support movement modes, which can cover various indoor areas such as the ground, countertops, cabinet interiors, and high spaces. It breaks through the operation dimension limitations of traditional single-form equipment, adapts to the service needs of different home scenarios, and solves the problem of limited operating space of existing equipment.

[0033] 4. Open architecture with strong hardware and software scalability. The connection mechanism has multiple implementation forms; the terminal is equipped with modular expansion interfaces, which can replace different functional modules and flexibly adapt to various home service functions such as monitoring, cleaning, and companionship. The system supports simultaneous deployment of multiple terminals, with different terminals equipped with differentiated modules to form a fixed division of labor, building a modular team collaboration system. This eliminates the need for frequent replacement of individual modules and further improves the efficiency of whole-house services.

[0034] 5. The scheduling strategy is adapted to home scenarios, resulting in a dual improvement in system reliability and efficiency. Adopting adaptive control and scheduling methods, it can generate optimal scheduling strategies for complex scenarios such as spatial obstruction, long-term monitoring, and multi-terminal division of labor. It supports dual-mode operation and seamless multi-terminal relay, improving the scenario adaptability of a single terminal while ensuring continuous execution of tasks throughout the house. This significantly improves the overall system operating efficiency and environmental adaptability, overcoming the shortcomings of existing systems with their single scheduling strategy and poor scenario adaptability. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall system layout and distributed network of the present invention;

[0036] Figure 2 This is a schematic cross-sectional view of the suspended and stationary state and the main body structure of the robot terminal of the present invention;

[0037] Figure 3 This is a schematic diagram showing the cooperation and telescopic adjustment of the connecting mechanism and docking structure of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Habitat node, 2-Robot terminal, 3-Connection mechanism, 4-Dock structure, 5-Main control unit, 6-Power supply interface, 7-Physical airflow gap, 8-Contact movement mechanism, 9-Expansion interface. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the embodiments, but the scope of protection of the present invention is not limited to the content described.

[0041] Example 1

[0042] The home-based permanent robot system based on distributed habitat nodes described in this embodiment includes two habitat nodes and one robot terminal; the two habitat nodes are fixedly installed on the top fixed structure of different functional areas indoors, forming a basic distributed suspended dwelling architecture.

[0043] The habitat node has a built-in main control unit and power supply interface, and a connection mechanism is set at the bottom. In addition to main control scheduling and power supply connection functions, the habitat node can also integrate additional functions such as lighting module, environmental sensing module, and video monitoring module to expand the application scenarios of the equipment.

[0044] The robot terminal includes a body, an onboard energy storage component, and a motion mechanism for spatial movement. The top of the body is equipped with a docking structure that aligns and cooperates with the docking mechanism.

[0045] When the robot terminal moves to the bottom of the resting node, the docking mechanism and the docking structure are aligned and locked to form a suspended dwelling connection, and the entire weight of the robot terminal is supported by the resting node. At this time, the docking mechanism opens a preset physical airflow gap between the terminal body and the indoor ceiling, keeping the air intake channel unobstructed when the motion mechanism is running. In the dwelling state, the motion mechanism can be reused to carry out indoor air circulation and airflow disturbance operations.

[0046] At the same time as the dwelling connection is established, the power supply interface of the dwelling node is electrically connected to the terminal docking end. Electrical energy is transmitted to the robot terminal through the power supply interface, which can charge the onboard energy storage components or directly supply the terminal for operation.

[0047] The two habitat nodes are connected via wireless communication network, as are the habitat nodes and the robot terminal. The main control unit can obtain information such as terminal power, location, and operation status, and send control commands to the terminal, enabling the terminal to autonomously switch its dwelling point between different habitat nodes according to the needs of the operation task and carry out cross-regional spatial monitoring operations.

[0048] In this embodiment, the guiding, locking, and electrical conduction structures of the connection mechanism can all be selected and adapted using conventional technologies that are mature in the field, without the need for additional limitations on the specific structural form.

[0049] Example 2

[0050] This embodiment is basically the same as Embodiment 1, except that:

[0051] The docking mechanism adopts a telescopic structure, which can adjust the extension length after locking the docking structure, thereby adjusting the suspension height of the robot terminal to adapt to the height requirements of different floor heights and different work scenarios.

[0052] Example 3

[0053] This embodiment is basically the same as Embodiment 1, except that:

[0054] The number of habitat nodes is three or more, distributed according to room zones within the room, forming a distributed suspended habitat network covering the main activity areas of the room. Considering the presence of doors separating rooms in a home environment, when a door is closed, creating a spatial barrier and preventing the robot terminal from moving between rooms, the robot terminal can choose the nearest habitat node in its current room to stay, without needing to travel long distances to other nodes, thus improving task execution efficiency. The robot terminal can switch between nodes sequentially according to the work path, achieving continuous monitoring throughout the entire area.

[0055] Example 4

[0056] This embodiment is basically the same as Embodiment 1, except that:

[0057] At the same time, such as Figure 2 As shown, a contact movement mechanism is installed at the bottom of the robot terminal body; the contact movement mechanism can take various forms such as wheeled structure, tracked structure, and multi-legged walking structure. The robot terminal supports dual working mode: in the stationary working mode, it performs airflow circulation operations by relying on physical airflow gaps; after leaving the habitat node and entering the off-site working mode, it can perform spatial flight movement, or activate the contact movement mechanism to travel on load-bearing surfaces such as the ground, tabletop, and cabinet partitions, and enter narrow spaces to perform close-range operations.

[0058] like Figure 2As shown, the robot terminal is equipped with an expansion interface, which includes a mechanical connection structure and an electrical communication interface. Different types of functional modules can be detachably connected through the expansion interface. After the interface is connected, data communication and power transmission can be realized simultaneously. By replacing different functional modules, the terminal can be adapted to various indoor service scenarios such as home security monitoring, air purification, dust cleaning, and biological disinfection.

[0059] Example 5

[0060] This embodiment is basically the same as Embodiment 1, except that:

[0061] The number of robot terminals is two, namely the first robot terminal and the second robot terminal. When performing long-term continuous duty tasks, the first robot terminal is in operation state. When its energy storage drops to a preset threshold, the main control unit dispatches the second robot terminal, which is in the dwelling and replenishing state, to the target location to continue to perform the duty operation. At the same time, it commands the first robot terminal to fly to the nearest resting node to establish a suspended dwelling connection and replenish power.

[0062] The system's multiple robot terminals can form a fixed operational division based on their different functional modules. Some terminals can be equipped with environmental monitoring and security modules for routine inspections, while others can be equipped with cleaning, airflow regulation, and companionship interaction modules to complete specialized service tasks. This multi-terminal hardware division architecture enables the whole-house robot system to form a permanent, complementary home service system, eliminating the need for frequent module replacements with a single device. This significantly improves the efficiency and continuous operation capability of whole-house services and is suitable for long-term home service scenarios. Through the collaborative relay of two terminals, task continuity can be maintained without the need for mechanical battery swapping structures, adapting to the long-term monitoring needs in home settings.

[0063] Example 6

[0064] This embodiment describes a control and scheduling method based on the above system. The specific execution flow is as follows:

[0065] First, the system network initialization is completed. All habitat nodes establish wireless communication connections with robot terminals. Each habitat node uploads its own location and power supply status information, and each robot terminal uploads its own location, energy storage, and operating status information. Based on the above information, the main control unit constructs a global topology of the habitat points and a terminal status ledger.

[0066] When the robot terminal receives the dwell command and moves to the bottom of the target habitat node, the docking mechanism and the docking structure complete the alignment and locking, establish a suspended dwelling connection, and at the same time conduct the power supply circuit to supply power from the habitat node to the robot terminal; in the dwelling state, the physical airflow gap opened by the docking mechanism ensures that the air intake passage of the motion mechanism remains unobstructed.

[0067] The main control unit receives real-time operational requirements and status data from each terminal across the entire region, generating dynamic scheduling instructions. When the operational location changes, a switching instruction is sent to the currently stationed robot terminal, the docking mechanism is unlocked, and the robot terminal detaches from its current habitat node, autonomously flies to the next target habitat node, and completes the docking again. This allows for cyclical switching between multiple nodes, enabling continuous cross-regional monitoring.

[0068] During the operation, the main control unit can control the telescopic connecting mechanism to adjust the extension length and the suspension height of the robot terminal according to the height requirements of the scene. When the indoor door is closed, forming a physical barrier in space, the robot terminal in the current blocked area is prioritized to go to the nearest resting node, or a second robot terminal in the blocked area is dispatched to take over the operation to ensure that the task is not interrupted.

[0069] The robot terminal supports dual-mode operation: in stationary mode, it utilizes physical airflow gaps to activate its motion mechanism to perform tasks such as indoor airflow circulation and air disturbance; in detached mode, it detaches from its habitat to perform tasks such as space inspection and specialized services. For operations in confined areas, after detaching from its habitat, the robot terminal can activate its bottom contact movement mechanism to travel on the support surface to complete close-range operations. After completing the task, it resumes spatial movement and returns to its habitat.

[0070] The system can change functional modules according to the operation scenario. After the main control unit identifies the type of the connected functional module, it automatically matches the corresponding operation scheduling strategy and can also generate formation instructions to schedule multiple robot terminals equipped with different functional modules to collaboratively execute composite tasks. When the system is configured with two or more robot terminals to perform long-term continuous duty tasks, the main control unit schedules the first robot terminal to perform the foreground operation, while the second robot terminal stays at the habitat node to replenish energy. When the energy storage of the first robot terminal is lower than the preset threshold, the second robot terminal is scheduled to go to the target location to continue the operation. After the second terminal is in place and confirms that the task has been taken over, the first robot terminal is then commanded to go to the nearest habitat node to stay and replenish energy. Through seamless relay of multiple terminals, the task can be run without interruption.

Claims

1. A home-based resident robot system based on distributed habitat nodes, characterized in that, include: At least two fixed habitat nodes are installed in different locations within the building's interior space, and each habitat node has a built-in main control unit and power supply interface; At least one autonomously movable robot terminal, comprising a body, an onboard energy storage component, and a motion mechanism for spatial movement; each habitat node is equipped with a docking mechanism, and the robot terminal is equipped with a docking structure corresponding to the docking mechanism; after the docking mechanism and the docking structure are locked together, a suspended dwelling connection is formed, and the entire weight of the robot terminal is borne by the habitat node; in the dwelling state, the docking mechanism creates a preset physical airflow gap between the body of the robot terminal and the top of the building's interior space to ensure unobstructed air intake during the operation of the motion mechanism; when the docking mechanism and the docking structure form a suspended dwelling connection, electrical conduction is simultaneously achieved, and power is supplied to the robot terminal from the power supply interface of the habitat node; communication connections are established between the at least two habitat nodes and between the habitat nodes and the robot terminal; the main control unit is used to acquire status information and send control signals to the robot terminal, enabling the robot terminal to autonomously switch dwelling positions between different habitat nodes and carry out spatial monitoring operations according to operational needs.

2. The home-based resident robot system according to claim 1, characterized in that: The habitat node is fixedly installed on the indoor ceiling structure, and the connecting mechanism is a telescopic structure used to adjust the relative distance between the robot terminal and the habitat node.

3. The home-based resident robot system according to claim 1, characterized in that: The at least two habitat nodes are arranged in different areas to form a distributed suspended habitat network covering the indoor space.

4. The home-based resident robot system according to claim 1, characterized in that: The robot terminal also includes a contact movement mechanism located at the bottom of the body. The contact movement mechanism is used to contact the supporting surface after the robot terminal detaches from the perching node and drive the robot terminal to perform contact movement.

5. The home-based resident robot system according to claim 1, characterized in that: The robot terminal is equipped with an expansion interface, which includes a mechanical connection structure and an electrical communication interface. The functional module can be detachably connected to the robot terminal through the expansion interface, and realize data communication and power transmission between the functional module and the robot terminal. Different types of functional modules can be replaced to make the robot terminal adaptable to various home indoor service scenarios.

6. The home-based resident robot system according to claim 1, characterized in that: The number of robot terminals is at least two, including a first robot terminal and a second robot terminal; the first robot terminal and the second robot terminal can be equipped with different types of functional modules to achieve multi-terminal functional complementarity and division of labor.

7. The control and scheduling method for a home-based resident robot system based on distributed resident nodes according to any one of claims 1 to 6, characterized in that, Includes the following steps: (1) Collection of dwelling status: All dwelling nodes and robot terminals complete the communication network and collect the location status of each dwelling node and the operating status of the robot terminal in real time; after the robot terminal completes the suspended dwelling docking with the target dwelling node, the power supply circuit is simultaneously turned on, and the air intake passage of the motion mechanism is kept unobstructed by relying on the physical airflow gap opened by the docking mechanism. (2) Dynamic scheduling decision: The main control unit generates point switching and task allocation instructions based on the overall operation requirements and the real-time status of each terminal; (3) Cross-node continuous execution: After receiving the instruction, the robot terminal releases the dwell lock and moves autonomously to the target dwell node to complete a new round of dwell docking. It cycles between multiple nodes to achieve cross-regional continuous duty.

8. The control and scheduling method according to claim 7, characterized in that: After the robot terminal completes its docking, the main control unit controls the retractable docking mechanism to adjust the extension length and the suspension working height of the robot terminal according to the height requirements of the current working scenario.

9. The control and scheduling method according to claim 7, characterized in that: When the indoor door is closed, creating a physical barrier in space, the main control unit prioritizes dispatching the robot terminal to the nearest habitat node in the current area to complete the stay, without needing to travel across areas; or dispatches a second robot terminal located on a habitat node inside the blocked area to take over the operation.

10. The control and scheduling method according to claim 7, characterized in that: The robot terminal supports dual operating modes: in the stationary mode, it uses physical airflow gaps to activate the motion mechanism to perform indoor airflow circulation operations; in the off-site mode, it leaves the habitat node to perform spatial movement and special operation tasks.

11. The control and scheduling method according to claim 7, characterized in that: When the robot terminal performs tasks in narrow areas, it detaches from the roost node and activates the bottom contact movement mechanism to travel on the bearing surface to complete the close-range work. After the work is completed, it resumes spatial movement and returns to the roost node to stay.

12. The control and scheduling method according to claim 7, characterized in that: Replace the robot terminal with the corresponding type of functional module according to the requirements of the operation scenario. After the system identifies the type of functional module connected, it automatically matches the corresponding operation scheduling strategy.

13. The control and scheduling method according to claim 7, characterized in that: The system is equipped with at least two robot terminals. When performing long-term continuous duty tasks, the main control unit schedules the first robot terminal to perform the task, while the second robot terminal stays at the habitat node to replenish energy. When the energy storage of the first robot terminal is lower than the preset threshold, the second robot terminal is scheduled to go to the target location to continue the work. After the second terminal is confirmed to be in place, the first robot terminal is then directed to go to the nearest habitat node to stay and replenish energy. Through the relay of multiple terminals, the task can be run without interruption.

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