Sweeping robot control system and sweeping robot

Abstract

The utility model provides a sweeping robot control system and a sweeping robot, and relates to the sweeping robot field, the control system comprises a control module, a navigation module, a communication module, a driving module and a detection module, the control module comprises a first control unit and a second control unit, the first control unit is used for information processing, and the second control unit is used for information processing; the second control unit generates a navigation path and feeds back the state information of the sweeping robot, and is used for sending a control signal to drive the sweeping robot and detecting the working state information of the sweeping robot; the navigation module is used for acquiring map information of the environment where the sweeping robot is located and transmitting the map information to the first control unit, and the communication module is used for synchronizing state information to external equipment; the driving module is used for receiving the control signal and driving the sweeping robot to move and sweep, and the detection module is used for detecting the working state of the sweeping robot. According to the utility model, the complexity and the manufacturing cost of the internal space of the sweeping robot are reduced.

Description

Technical Field

[0001] The utility model relates to the field of sweeping robots, and in particular to a control system of the sweeping robot and the sweeping robot. Background Art

[0002] Robot vacuums, a prominent example of smart home appliances, can automatically clean floors across a room under the precise control of a controller. They typically use a brush and vacuum system to sweep debris from the floor and collect it in their own trash collection bin. Robot vacuums integrate a variety of advanced technologies, including sensors, path planning algorithms, and powerful vacuuming and sweeping systems, to achieve automated and intelligent home cleaning.

[0003] At present, traditional sweeping robots use a design that combines a microcontroller MCU with a central processing unit CPU. From a hardware design perspective, an additional MCU means that more signal lines and interfaces need to be processed in the circuit design, which increases the complexity and difficulty of wiring. Designers need to carefully plan the direction of each signal line to avoid signal interference and conflict. From a structural design perspective, the internal space of a sweeping robot is limited, and the position of each component needs to be precisely planned. An additional MCU means that more space needs to be reserved for installation, which may cause space conflicts with other components (such as batteries, motors, vacuum cleaners, etc.). From a cost control perspective, an additional MCU means that more hardware components need to be purchased, which directly increases the cost of raw materials. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a control system for a sweeping robot and a sweeping robot, which effectively solve the problems of complex circuit design and high cost caused by the conventional sweeping robot adopting a microcontroller combined with a central processing unit control mode.

[0005] In a first aspect, the present invention provides a control system for a sweeping robot, the control system comprising a control module, a navigation module, a communication module, a drive module, and a detection module, wherein:

[0006] The control module includes a first control unit and a second control unit, the first control unit is connected to the second control unit, the first control unit is used to process information, generate a navigation path and feedback status information of the sweeping robot, and the second control unit is used to send a control signal to drive the sweeping robot and detect the working status information of the sweeping robot and transmit it to the first control unit;

[0007] The first control unit is connected to the navigation module, and the navigation module is used to obtain the map information of the environment where the sweeping robot is located and transmit it to the first control unit. The first control unit is also connected to the communication module, and the communication module is used to synchronize the status information to an external device;

[0008] The second control unit is connected to the driving module, which is used to receive the control signal from the second control unit to drive the sweeping robot to move and clean. The second control unit is also connected to the detection module, which is used to detect the working status of the sweeping robot.

[0009] Furthermore, the driving module includes a driving wheel control unit, a brush control unit, a water pump control unit and a fan control unit, wherein:

[0010] The driving wheel control unit is connected to the driving wheel of the cleaning robot, and is used to control the driving wheel to work according to the control signal, so as to drive the cleaning robot to move through the driving wheel;

[0011] The brush control unit is connected to the brush of the sweeping robot, and the brush control unit is used to control the brush to clean according to the control signal;

[0012] The water pump control unit is connected to the water pump of the sweeping robot, and the water pump control unit is used to control the water pump of the sweeping robot to supply water to the outside for washing and cleaning according to the control signal;

[0013] The fan control unit is connected to the fan of the sweeping robot, and is used to control the operation of the fan according to the control signal, so as to perform adsorption cleaning through the fan.

[0014] Furthermore, the detection module includes a current and voltage detection unit, which is respectively connected to the power supply and charging interface of the sweeping robot. The current and voltage detection unit is used to detect the charging current, whole machine working current, battery voltage and charging voltage of the sweeping robot.

[0015] Furthermore, the detection module also includes a signal detection unit, which is connected to the signal receiving tube of the sweeping robot. The signal detection unit is used to detect the receiving signal strength of the signal receiving tube to perform cliff detection and obstacle avoidance detection.

[0016] Furthermore, the detection module also includes a gyroscope detection unit and a radar detection unit. The gyroscope detection unit is connected to the host of the sweeping robot, and the gyroscope detection unit is used to detect whether the host is tilted or displaced. The radar detection unit is connected to the navigation module, and the radar detection unit is used to detect map information of the environment in which the sweeping robot is located.

[0017] Furthermore, the detection module also includes a power access detection unit, which is connected to the charging interface of the sweeping robot and is used to detect whether there is power input to the charging interface.

[0018] Furthermore, the communication module adopts one or more communication methods among WIFI, Bluetooth, Zigbee and LoRa.

[0019] Furthermore, the control module adopts a multi-core heterogeneous chip, and the multi-core heterogeneous chip includes the first control unit and the second control unit.

[0020] Furthermore, the multi-core heterogeneous chip adopts the X2600E chip.

[0021] In a second aspect, the present invention provides a sweeping robot, which includes the control system of the sweeping robot described in the first aspect of the present invention.

[0022] The control system and sweeping robot provided by the present invention adopt a multi-core heterogeneous chip as a control module. Without reducing the functions of the sweeping robot, the functions that may originally require multiple microcontrollers to implement are integrated into a single central processing unit through optimized hardware design, thereby simplifying the number of components inside the sweeping robot and reducing the complexity of signal lines and power lines. At the same time, there is no need to reserve space for additional microcontrollers, making the internal structure of the sweeping robot more compact, which is conducive to reducing the overall size and improving portability and flexibility. By reducing the use of microprocessors, the complexity and manufacturing cost of the sweeping robot are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a first schematic diagram of the control system structure of the sweeping robot provided by an embodiment of the present utility model;

[0025] Figure 2 This is a second schematic diagram of the control system structure of the sweeping robot provided by an embodiment of the present utility model;

[0026] Figure 3 This is a third schematic diagram of the control system structure of the sweeping robot provided by an embodiment of the present utility model;

[0027] Figure 4 This is a schematic structural diagram of a sweeping robot provided by an embodiment of the present utility model.

[0028] Description of main component symbols:

[0029] 100. Control system of the sweeping robot; 110. Control module; 120. Navigation module; 130. Communication module; 140. Drive module; 141. Drive wheel control unit; 142. Brush control unit; 143. Water pump control unit; 144. Fan control unit; 150. Detection module; 151. Current and voltage detection unit; 152. Signal detection unit; 153. Gyroscope detection unit; 154. Radar detection unit; 155. Power access detection unit. DETAILED DESCRIPTION

[0030] To make the purpose, technical solution, and advantages of the present invention more clear, the technical solution of the present invention will be further clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be noted that the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0033] At present, traditional sweeping robots use a design that combines a microcontroller MCU with a central processing unit CPU. From a hardware design perspective, an additional MCU means that more signal lines and interfaces need to be processed in the circuit design, which increases the complexity and difficulty of wiring. Designers need to carefully plan the direction of each signal line to avoid signal interference and conflict. From a structural design perspective, the internal space of a sweeping robot is limited, and the position of each component needs to be precisely planned. An additional MCU means that more space needs to be reserved for installation, which may cause space conflicts with other components (such as batteries, motors, vacuum cleaners, etc.). From a cost control perspective, an additional MCU means that more hardware components need to be purchased, which directly increases the cost of raw materials.

[0034] Example 1

[0035] In view of the above-mentioned deficiencies in the prior art, an embodiment of the present invention provides a control system for a sweeping robot, which effectively solves the problems of complex circuit design and high cost caused by the conventional sweeping robot adopting a microcontroller combined with a central processing unit control mode. Figure 1 This is a first schematic diagram of the control system structure of the sweeping robot provided by the embodiment of the present utility model, as shown in FIG. Figure 1 As shown, the control system of the sweeping robot includes a control module 110, a navigation module 120, a communication module 130, a driving module 140 and a detection module 150, wherein:

[0036] The control module 110 includes a first control unit 111 and a second control unit 112. The first control unit 111 is connected to the second control unit 112. The first control unit 111 is used to process information, generate a navigation path and feedback status information of the sweeping robot. The second control unit 112 is used to send a control signal to drive the sweeping robot and detect the working status information of the sweeping robot and transmit it to the first control unit 111.

[0037] In an embodiment of the present utility model, the control module 110 adopts a multi-core heterogeneous chip. Optionally, the multi-core heterogeneous chip can be an X2600E chip. The X2600E chip has a Linux operating system, including a large core with an operating frequency of 1.2GHz and a small core with an operating frequency of 600MHz. The large core is responsible for running the Linux operating system and processing tasks such as signal processing and calculation with high load and high performance requirements, while the small core is responsible for processing tasks such as signal control and detection with low load and low power consumption.

[0038] The first control unit 111 is connected to the navigation module 120, which is used to obtain the environmental map information of the sweeping robot and transmit it to the first control unit 111. The first control unit 111 performs calculations and analysis on the environmental map information obtained by the navigation module 120, and then plans the best cleaning path.

[0039] The first control unit 111 is also connected to a communication module 130, which is used to synchronize status information to external devices, including but not limited to electronic devices such as mobile phones, tablets and computers. In an embodiment of the present invention, the communication module 130 includes but is not limited to using one or more communication methods among WIFI, Bluetooth, Zigbee and LoRa to communicate with external devices, and various data collected by the sweeping robot (such as cleaning progress, power status and error information, etc.) are transmitted to the external device through the communication module 130. At the same time, the communication module 130 can also receive control instructions and setting parameters from external devices. The user can remotely control the sweeping robot through the external device to realize functions such as starting, pausing and adjusting the cleaning mode, thereby improving the convenience of using the sweeping robot.

[0040] As a preferred implementation of an embodiment of the present utility model, the first control unit 111 can also be connected to devices such as the Hall sensor, buzzer, speaker and LED signal of the sweeping robot. These devices can be controlled by the first control unit 111 to realize corresponding functions, such as obstacle avoidance, alarm and voice broadcast.

[0041] The second control unit 112 is connected to the driving module 140, which is used to receive a control signal from the second control unit 112 to drive the sweeping robot to move and clean. The control signal can be a pulse width modulation PWM signal, and the PWM signal includes but is not limited to a driving wheel control signal, a brush control signal, a water pump control signal and a fan control signal. Figure 2 This is a second schematic diagram of the control system structure of the sweeping robot provided by the embodiment of the present utility model, as shown in FIG. Figure 2 As shown, the driving module includes a driving wheel control unit 141, a brush control unit 142, a water pump control unit 143 and a fan control unit 144, wherein:

[0042] The driving wheel control unit 141 is connected to the driving wheel of the sweeping robot. The driving wheel control unit 141 is used to control the operation of the driving wheel according to the driving wheel control signal, so as to drive the sweeping robot to move through the driving wheel. Optionally, the driving wheel control unit 141 receives a driving wheel control signal containing movement instructions (such as forward, backward, turn left and turn right, etc.) and speed requirements from the second control unit 112, parses these driving wheel control signals to clarify the movement direction and speed requirements of the sweeping robot, and then, according to the instructions obtained by parsing, the driving wheel control unit 141 adjusts the current size and direction supplied to the driving wheel motor, thereby controlling the speed and rotation direction of the driving wheel motor.

[0043] The brush control unit 142 is connected to the brush of the sweeping robot. The brush control unit 142 is used to control the brush to clean according to the control signal. The brush control unit 142 receives brush control signals from the second control unit 112. These signals may include instructions such as starting cleaning, stopping cleaning, and adjusting the cleaning intensity (such as the speed of the brush). The brush control unit 142 parses these instructions to clarify the specific requirements of the cleaning task, such as whether the brush needs to be started and what the speed of the brush should be set to. According to the instructions obtained by the analysis, the brush control unit 142 will adjust the current supplied to the brush motor to control the speed of the brush; if the instruction requires starting cleaning, the brush control unit 142 will send a start signal to the brush motor and adjust the speed as needed; if the instruction requires stopping cleaning, the brush control unit 142 will cut off the power supply to the motor to stop the brush from rotating.

[0044] The water pump control unit 143 is connected to the robot vacuum's water pump and controls the robot vacuum's water pump to supply water for cleaning based on water pump control signals. The pump control unit 143 drives the water pump to draw water from the robot vacuum's water tank and discharge it to the outlet, completing the cleaning process.

[0045] The fan control unit 144 is connected to the fan of the sweeping robot. The fan control unit 144 is used to control the operation of the fan according to the fan control signal. The fan generates a strong negative pressure effect through rotation. When the sweeping robot works on the ground, the fan will inhale air and accelerate the flow, sucking dust, dirt, hair and other materials on the ground into the inside of the sweeping robot, thereby improving the cleaning effect.

[0046] The second control unit 112 is further connected to the detection module 150 , which detects the working status of the cleaning robot through an analog-to-digital converter ADC interface. Figure 3 This is a third schematic diagram of the control system structure of the sweeping robot provided by the embodiment of the present utility model, as shown in FIG. Figure 3As shown, the detection module 150 includes a current and voltage detection unit 151, a signal detection unit 152, a gyroscope detection unit 153, a radar detection unit 154 and a power access detection unit 155, wherein:

[0047] The current and voltage detection unit 151 is connected to the power supply and charging interface of the sweeping robot respectively. The current and voltage detection unit 151 is used to detect the charging current, the whole machine working current, the battery voltage and the charging voltage of the sweeping robot.

[0048] The signal detection unit 152 is connected to the robot vacuum's signal receiving tube. In this embodiment of the utility model, the signal receiving tube includes, but is not limited to, infrared signal receiving tubes that enable omnidirectional, ground-penetrating, and wall-traversing functions. The signal detection unit 152 is used to detect the strength of the received signals from these infrared signal receiving tubes. The infrared signal is used to detect the distance below or in front of the main unit, then the distance to the ground is measured. Finally, the distance is compared with a preset safety distance to determine whether the main unit is near obstacles such as stairs and pits. Similarly, obstacles within a certain range ahead can be detected using infrared signals. The signal detection unit 152 transmits a signal and receives a reflected signal, and the round-trip time of the signal is calculated to determine the distance of the obstacle ahead.

[0049] The gyroscope detection unit 153 is connected to the host of the sweeping robot. Optionally, the gyroscope detection unit 153 uses inertial sensors such as gyroscopes and accelerometers to monitor the tilt angle and acceleration changes of the host, and provide the host's posture information in real time, so as to determine whether the host is in a horizontal state or has a tilt shift phenomenon.

[0050] The radar detection unit 154 is connected to the navigation module 120. The radar detection unit 154 is used to detect the map information of the environment in which the sweeping robot is located, and then transmit the map information to the navigation module 120 through the serial port. The first control unit 111 performs an algorithm to generate a planned path. In an embodiment of the present utility model, a laser radar can be used to measure the distance between the sweeping robot and surrounding obstacles by emitting a laser beam and receiving the reflected signal, thereby constructing a map of the surrounding environment and positioning it. The laser signal is not easily affected by factors such as ambient light and dust, and has a high anti-interference ability. At the same time, it can construct a map of the surrounding environment in real time during the movement of the sweeping robot, providing a basis for path planning.

[0051] The power access detection unit 155 is connected to the charging interface of the sweeping robot and is used to detect whether there is power input to the charging interface.

[0052] The control system of the sweeping robot provided by the embodiment of the present invention adopts a multi-core heterogeneous chip as a control module. Without reducing the functions of the sweeping robot, the functions that may originally require multiple microcontrollers to implement are integrated into a single central processing unit through optimized hardware design, thereby simplifying the number of components inside the sweeping robot and reducing the complexity of signal lines and power lines.

[0053] Example 2

[0054] Based on the same technical concept, the embodiment of the present invention provides a sweeping robot. Figure 4 This is a schematic diagram of the structure of the sweeping robot provided by the embodiment of the utility model. Figure 4 As shown, the cleaning robot 200 includes the control system 100 of the cleaning robot in the above-mentioned embodiment 1.

[0055] The sweeping robot provided by the embodiment of the present invention does not require space to be reserved for an additional microcontroller, making the internal structure of the sweeping robot more compact, which is conducive to reducing the overall size and improving portability and flexibility; by reducing the use of microprocessors, the complexity and manufacturing cost of the sweeping robot are reduced.

[0056] To sum up, the control system of the sweeping robot and the sweeping robot provided by the present invention adopt multi-core heterogeneous chips as control modules. Without reducing the functions of the sweeping robot, the functions that may originally require multiple microcontrollers to implement are integrated into a single central processing unit through optimized hardware design, thereby simplifying the number of components inside the sweeping robot and reducing the complexity of signal lines and power lines. At the same time, there is no need to reserve space for additional microcontrollers, making the internal structure of the sweeping robot more compact, which is conducive to reducing the overall size and improving portability and flexibility. By reducing the use of microprocessors, the complexity and manufacturing cost of the sweeping robot are reduced.

[0057] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] The above-described embodiments merely represent several implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control system for a sweeping robot, characterized in that: The control system includes a control module, a navigation module, a communication module, a drive module and a detection module, wherein: The control module includes a first control unit and a second control unit, the first control unit is connected to the second control unit, the first control unit is used to process information, generate a navigation path and feedback status information of the sweeping robot, and the second control unit is used to send a control signal to drive the sweeping robot and detect the working status information of the sweeping robot and transmit it to the first control unit; The first control unit is connected to the navigation module, and the navigation module is used to obtain map information of the environment in which the sweeping robot is located and transmit it to the first control unit. The first control unit is also connected to the communication module, and the communication module is used to synchronize the status information to an external device; The second control unit is connected to the driving module, which is used to receive the control signal from the second control unit to drive the sweeping robot to move and clean. The second control unit is also connected to the detection module, which is used to detect the working status of the sweeping robot.

2. The control system of the sweeping robot according to claim 1, characterized in that: The driving module includes a driving wheel control unit, a brush control unit, a water pump control unit and a fan control unit, wherein: The driving wheel control unit is connected to the driving wheel of the cleaning robot, and is used to control the driving wheel to work according to the control signal, so as to drive the cleaning robot to move through the driving wheel; The brush control unit is connected to the brush of the sweeping robot, and the brush control unit is used to control the brush to clean according to the control signal; The water pump control unit is connected to the water pump of the sweeping robot, and the water pump control unit is used to control the water pump of the sweeping robot to supply water to the outside for washing and cleaning according to the control signal; The fan control unit is connected to the fan of the sweeping robot, and is used to control the operation of the fan according to the control signal, so as to perform adsorption cleaning through the fan.

3. The control system of the sweeping robot according to claim 1, characterized in that: The detection module includes a current and voltage detection unit, which is connected to the power supply and charging interface of the sweeping robot respectively. The current and voltage detection unit is used to detect the charging current, whole machine working current, battery voltage and charging voltage of the sweeping robot.

4. The control system of the sweeping robot according to claim 3, characterized in that: The detection module further includes a signal detection unit, which is connected to a signal receiving tube of the sweeping robot. The signal detection unit is used to detect the strength of a received signal of the signal receiving tube to perform cliff detection and obstacle avoidance detection.

5. The control system of the sweeping robot according to claim 4, characterized in that: The detection module also includes a gyroscope detection unit and a radar detection unit. The gyroscope detection unit is connected to the host of the sweeping robot and is used to detect whether the host is tilted or displaced. The radar detection unit is connected to the navigation module and is used to detect map information of the environment in which the sweeping robot is located.

6. The control system of the sweeping robot according to claim 5, characterized in that: The detection module further includes a power access detection unit, which is connected to the charging interface of the sweeping robot and is used to detect whether power is input to the charging interface.

7. The control system of the sweeping robot according to claim 1, characterized in that: The communication module adopts one or more communication modes among WIFI, Bluetooth, Zigbee and LoRa.

8. The control system of the sweeping robot according to claim 1, characterized in that: The control module adopts a multi-core heterogeneous chip, and the multi-core heterogeneous chip includes the first control unit and the second control unit.

9. The control system of the sweeping robot according to claim 8, characterized in that: The multi-core heterogeneous chip adopts the X2600E chip.

10. A sweeping robot, characterized in that: The cleaning robot comprises the control system of the cleaning robot according to any one of claims 1 to 9.

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