Robotic system and cleaning robot

Abstract

The application relates to a robot system and a cleaning robot, a computing control assembly comprises a computing unit and a control unit connected in communication, at least one of the computing unit and the control unit is connected with a transmission bus, one transmission bus is connected with at least one peripheral module, so that the information interaction between the plurality of peripheral modules and the computing control assembly is realized through one transmission bus, and each peripheral module can be connected with the computing unit or the control unit according to actual needs. According to the above scheme, the information interaction between different peripheral modules and the computing control assembly can be realized through one transmission bus, so that the number of wirings between the peripheral modules and the computing control assembly is effectively reduced. In this way, the total length of the internal cables of the robot can be effectively reduced through the scheme.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robotic system and a cleaning robot. Background Technology

[0002] With the development of science and technology and the continuous improvement of people's living standards, various types of robots, represented by robotic vacuum cleaners, are being used more and more widely in daily life, bringing great convenience to people. Robots typically include a large number of sensors and peripheral devices, which are collectively referred to as peripherals.

[0003] In related technologies, each peripheral device is connected to the computing control unit via cables, resulting in an excessively long total length of internal cables in the robot. Utility Model Content

[0004] Therefore, it is necessary to provide a robot system and a cleaning robot to reduce the total length of the robot's internal cables.

[0005] In a first aspect, this application provides a robot system, comprising: a computing control component, multiple transmission buses, and multiple peripheral modules. The computing control component includes a computing unit and a control unit that are communicatively connected. Each transmission bus is connected to at least one of the computing unit and the control unit. Each transmission bus is correspondingly connected to at least one of the peripheral modules. The peripheral modules are used to interact with the computing control component through the transmission buses.

[0006] Secondly, this application also provides a cleaning robot, including a battery, a housing, a walking component, a cleaning component, and the aforementioned robot system, wherein the walking component and the cleaning component are respectively connected to the battery, and the walking component and the cleaning component are respectively connected to the computing control component.

[0007] The aforementioned robot system and cleaning robot include a computing unit and a control unit connected via communication. At least one of the computing unit and control unit is connected to a transmission bus. Each transmission bus connects to at least one peripheral module, enabling information interaction between multiple peripheral modules and the computing control component through a single transmission bus. Each peripheral module can be connected to either the computing unit or the control unit as needed. This solution allows information interaction between different peripheral modules and the computing control component to be achieved through a single transmission bus, effectively reducing the number of wires between peripheral modules and the computing control component. Thus, this solution effectively reduces the total length of the robot's internal cables. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the robot system structure in one embodiment of this application;

[0010] Figure 2 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0011] Figure 3 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0012] Figure 4 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0013] Figure 5 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0014] Figure 6 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0015] Figure 7 This is a schematic diagram of the wireless power transmission component structure in one embodiment of this application;

[0016] Figure 8 This is a schematic diagram of the wireless power receiving component structure in one embodiment of this application;

[0017] Figure 9 This is a schematic diagram of the wireless power receiving component structure in another embodiment of this application;

[0018] Figure 10 This is a schematic diagram of the robot system structure in another embodiment of this application;

[0019] Figure 11 This is a schematic diagram of time-division transmission timing logic in one embodiment of this application;

[0020] Figure 12 This is a schematic diagram of the robot system structure in another embodiment of this application. Detailed Implementation

[0021] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of this application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0023] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0024] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0025] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0026] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0027] The robot system provided in this application is applied to a robot with peripherals (such as sensors) that transmit and receive analog signals. It can be a cleaning robot, such as a sweeping robot, mopping robot, sweeping and mopping robot, or lawnmower robot; it can also be a functional robot that assists the cleaning robot, such as a transport robot that assists the cleaning robot in spatial transformation; or it can be other types of robots, such as automata. No specific limitation is made. For ease of understanding, the robot system in the following embodiments can be understood as being applied to a cleaning robot.

[0028] Please see Figure 1 This application provides a robot system, including: multiple transmission buses 200, multiple peripheral modules 300, and a computing control component 100. The computing control component 100 includes a computing unit 101 and a control unit 102. Each transmission bus 200 is connected to at least one of the computing unit 101 and the control unit 102. Each transmission bus 200 is correspondingly connected to at least one peripheral module 300. The peripheral modules 300 are used to interact with the computing control component 100 through the transmission buses 200.

[0029] Specifically, the computing control component 100 is the device used in the robot to perform calculations and coordinate robot control. Its specific type is not unique. The computing control component 100 includes a computing unit 101 and a control unit 102. Specifically, the computing unit 101 can be a System on Chip (SoC) unit, or other processors or controllers with logic operation capabilities; there is no specific limitation. The control unit 102 can be a Microcontroller Unit (MCU), or other controllers or processors with control functions; there is no specific limitation. In another embodiment, the computing control component 100 can also be an integrated computing and control device, that is, a processor or controller that integrates computing and processing functions, such as a CPU (Central Processing Unit), etc.; there is no specific limitation.

[0030] In another embodiment, the computing control component 100 may further include a network connector to enable communication between the robot and other terminals. The type of network connector is not unique and may vary depending on the communication method; for example, in one embodiment, the network connector is a WiFi communicator.

[0031] The transmission bus 200 is a communication line used to transmit digital status signals. The type of transmission bus 200 is not unique; it can be various standardized transmission buses, such as serial transmission buses (e.g., I2C or SPI). In other embodiments, the transmission bus 200 can also be a proprietary, customized bus; no specific limitation is imposed.

[0032] Peripheral module 300 refers to the component formed by the modular configuration of the robot's peripherals and other parts. Modular configuration means integrating peripherals and other parts into a single functional module.

[0033] In practical scenarios, a computing control component 100 may be configured with at least one transmission bus 200. Peripheral modules 300 connected to these transmission buses 200 can all interact with the computing control component 100. At least one peripheral module 300 can be connected to the same computing control component 100 through the same or different transmission buses 200.

[0034] It should be noted that the number of computing control components 100 is not unique. In one embodiment, only one computing control component 100 may be included. In another embodiment, multiple distributed computing control components 100 may be included, and the multiple computing control components 100 may be communicatively connected.

[0035] In scenarios with multiple computing control components 100, the allocation method for the computing control components 100 is not unique. It can be based on proximity, meaning the peripheral module 300 is connected to the nearest computing control component 100 (specifically, connected to the transmission bus 200 to which that computing control component 100 is connected). In another embodiment, different peripheral modules 300 can be allocated corresponding computing control components 100 according to the type of signal being processed or the processing capacity of each sub-center; the specific allocation is not limited. In a more detailed embodiment, the principle of minimizing the number and types of connection cables can be used to allocate different computing control components 100 to each peripheral module 300.

[0036] In the aforementioned robot system, the computing control component 100 includes a computing unit 101 and a control unit 102 connected by communication. At least one of the computing unit 101 and the control unit 102 is connected to a transmission bus 200. Each transmission bus 200 connects to at least one peripheral module 300, enabling information interaction between multiple peripheral modules 300 and the computing control component 100 via a single transmission bus 200. Each peripheral module 300 can be connected to either the computing unit 101 or the control unit 102 as needed. This solution allows information interaction between different peripheral modules 300 and the computing control component 100 to be achieved through a single transmission bus 200, effectively reducing the number of connections between the peripheral modules 300 and the computing control component 100. This, in turn, effectively reduces the total length of the robot's internal cables.

[0037] In this embodiment, the robot system is configured with multiple computing control components 100. When developing new hardware projects or upgrading hardware, only some computing control components 100 need to be replaced or the software needs to be redeveloped, which can effectively reduce the workload of development or reconfiguration and improve the efficiency of product upgrade and iteration.

[0038] Furthermore, the computing control component 100 is configured to include an independent computing unit 101 and a control unit 102, reducing hardware coupling between products. When upgrading or in case of failure, only the computing unit 101 or the control unit 102 needs to be replaced, which greatly reduces the workload of development and improves the efficiency of product upgrades, iterations and maintenance.

[0039] In one embodiment, peripheral module 300 includes analog peripheral module and / or digital peripheral module. The analog peripheral module includes an analog-to-digital converter and analog peripherals connected together. The analog-to-digital converter is connected to transmission bus 200. The digital peripheral module includes digital peripherals connected to transmission bus 200.

[0040] Specifically, an analog peripheral module is a module formed by modularly configuring analog peripherals and analog-to-digital converters. Analog peripherals are robot external devices that transmit and receive analog signals, and analog-to-digital converters are devices that can preprocess analog signals to convert them into digital signals, or preprocess digital signals to convert them into analog signals.

[0041] It should be noted that the type of analog peripheral is not unique. Taking a cleaning robot as an example, it can be at least one of the following: infrared sensors (such as infrared cliff detection sensors, infrared obstacle detection sensors, etc.), pressure sensors, wall-mounted PSD (Position Sensitive Detector) sensors, temperature sensors, humidity sensors, position detection sensors, and three-way valve position detection sensors. The specific type is not limited. The position detection sensor mentioned here can be used to detect whether the raising and lowering of cleaning modules such as mops, roller brushes, and side brushes has reached the correct position.

[0042] A digital peripheral module is a device formed by modularizing digital peripherals and other components (or individual digital peripherals). A digital peripheral is a robot peripheral with digital signal transmission and reception capabilities. For peripherals that already transmit and receive digital signals, their signal transmission and reception can be achieved through a single transmission bus 200, thus eliminating the need for analog-to-digital converters or other processing devices.

[0043] Similarly, the types of digital peripherals are not limited. For example, a cleaning robot may include at least one of the following: ultrasonic sensors, wall-mounted TOF (Time of Flight) sensors, dustbin in-situ sensors, and water tank in-situ sensors.

[0044] In the above scheme, both analog and digital peripheral modules can interact with the computing control component 100 through the transmission bus 200, greatly reducing the number of communication wires between the peripheral module 300 and the computing control component 100.

[0045] In one embodiment, the computing unit 101 and the control unit 102 are integrated. Integration means that the computing unit 101 and the control unit 102 are configured on the same substrate, resulting in a functional module that includes both computing and control functions. This embodiment integrates the computing unit 101 and the control unit 102, reducing the distance between them, decreasing data transmission latency, and improving operational reliability. Furthermore, this integration effectively reduces the spatial volume of the computing and control components, facilitating the miniaturization of the robot.

[0046] In one embodiment, the computing control component 100 is electrically connected to the robot's battery.

[0047] Alternatively, please see Figure 2 In one embodiment, the computing control component 100 further includes a first wireless power receiving component 103 electrically connected to the computing unit 101 and the control unit 102 respectively. The computing unit 101, the control unit 102 and the first wireless power receiving component 103 are integrated. The robot system also includes a wireless power supply component (not shown). The first wireless power receiving component 103 is electrically connected to the wireless power supply component.

[0048] Specifically, the wireless power transmission component is a device capable of wirelessly outputting electrical energy, and the first wireless power receiving component 103 is a device capable of wirelessly receiving electrical energy output from the wireless power transmission component. In this embodiment, the computing control component 100 can be powered by connecting to the robot's battery via a power cord, ensuring reliable power supply. Specifically, the computing unit 101 and the control unit 102 can be connected to the battery via a single power cord, or the computing unit 101 and the control unit 102 can be connected to the battery via separate power cords.

[0049] In another embodiment, wireless power supply can be used to obtain power from a wireless power supply component to power the computing unit 101 and control unit 102 in the computing control component 100. Thus, by using wireless power supply, the power lines of the computing control component 100 can be reduced or even eliminated, further reducing the total cable length of the robot system.

[0050] In one embodiment, the robot system further includes a drive unit for driving the robot's walking components, cleaning components, etc. The drive unit may be set independently of the computing control component 100 or integrated with the computing control component 100, and the specific setting is not limited.

[0051] Please see Figure 3 In one embodiment, taking the computing control component 100 as an example, which includes an integrated computing unit 101 and a control unit 102, the drive unit 400 can be set independently. The drive unit 400 can communicate with the computing control component 100 via wired or wireless means, specifically, it can communicate with the computing unit 101 and / or with the control unit 102.

[0052] It is understood that the walking components may include casters, wheels, etc., while the cleaning components may include roller brushes, side brushes, mops, etc. These components are each driven by a motor, and the operation of each motor is controlled by the drive unit 400. Specifically, based on the driving method, the motors can be divided into motors for driving rotation, such as motors driving roller brushes, side brushes, mops, and wheels, and motors for driving lifting, such as motors driving casters, wheels, roller brushes, side brushes, and mops. In practical scenarios, the functions of driving rotation and driving lifting can also be achieved by the same motor, without specific limitations.

[0053] In one embodiment, the computing unit 101 and the control unit 102 are distributed. Specifically, distributed arrangement means that the computing unit 101 and the control unit 102 are respectively located at different positions on the robot. In this embodiment, by distributing the computing unit 101 and the control unit 102, each peripheral module 300 can be connected to the computing unit 101 or the control unit 102 via the transmission bus 200 according to the principle of proximity, thereby reducing the distance between the peripheral module 300 and the computing and control component 100, reducing the length of the transmission bus, and further reducing the total cable length of the robot.

[0054] In one embodiment, the computing control component 100 is electrically connected to the robot's battery.

[0055] Alternatively, please see Figure 4In one embodiment, the computing control component 100 further includes a second wireless power receiving component 104 electrically connected to the computing unit 101 and a third wireless power receiving component 105 electrically connected to the control unit 102. The computing unit 101 is integrated with the second wireless power receiving component 104, and the control unit 102 is integrated with the third wireless power receiving component 105. The robot system also includes a wireless power supply component (not shown), which is electrically connected to the second wireless power receiving component 104 and the third wireless power receiving component 105, respectively.

[0056] Specifically, the computing and control component 100 can be powered by wired power by connecting to the robot's battery via a power cord, ensuring reliable power supply. More specifically, the computing unit 101 and the control unit 102 can each be connected to the battery via a separate power cord.

[0057] In another embodiment, wireless power supply can be used to obtain power from the wireless power supply component to power the computing unit 101 and control unit 102 in the computing control component 100, thereby reducing the length of the power cable for the computing unit 101 or control unit 102. Since the computing unit 101 and control unit 102 are distributed, wireless power receiving components are configured for each of the computing unit 101 and control unit 102. The wireless power receiving components are integrated with the computing unit 101 or control unit 102, further reducing the length of the power cable (at this time, the power cable only includes the connection line between the computing unit 101 and the second wireless power receiving component 104, and the connection line between the control unit 102 and the third wireless power receiving component 105).

[0058] Please see Figure 5 In one embodiment, taking the computing control component 100 as an example, which includes a distributed computing unit 101 and a control unit 102, the driving function of the drive unit 400 can be integrated into the control unit 102 of the computing control component 100, so that the control unit 102 can drive the motor. In another embodiment, the drive unit 400 and the control unit 102 can be integrated, depending on the actual needs.

[0059] Similarly, the integrated control unit 102 can be used to control the operation of the motor, thereby driving the walking component and the cleaning component. The specific driving implementation method is as shown in the above embodiments, and will not be repeated here.

[0060] Please see Figure 6In one embodiment, the robot system further includes a wireless power supply component (not shown) that is communicatively connected to the computing control component 100; the peripheral module 300 includes an integrated peripheral unit 310 and a fourth wireless power receiving component 320, the peripheral unit 310 being electrically connected to the fourth wireless power receiving component 320, and the fourth wireless power receiving component 320 being electrically connected to the wireless power supply component.

[0061] Specifically, the peripheral unit 310, also known as the peripheral module 300, is the component used to perform data acquisition and interact with the computing and control component 100. Similar to the wireless power supply method of the computing and control component 100 in the above embodiments, in this embodiment, the peripheral module 300 can also be wirelessly powered, obtaining power from the wireless power supply component. This significantly reduces the power cable length of the peripheral module, further reducing the total cable length of the robot.

[0062] It should be noted that the structure of the wireless power transmission component is not unique; please refer to [link / reference needed]. Figure 7 In one embodiment, the wireless power supply component includes a power supply processing circuit 520, a power supply 530 (which may be the robot's battery or an additional power supply) and at least one power supply coil 510. The power supply 530 and the computing control component 100 are respectively connected to the power supply processing circuit 520, and the power supply processing circuit 520 is connected to the power supply coil 510.

[0063] Specifically, this embodiment uses electromagnetic induction as an example for power supply. The power transmission processing circuit 520 processes the electrical signal output from the power supply 530 and transmits it to the power transmission coil 510 to generate magnetic field energy. The type of power transmission processing circuit 520 is not unique; in one embodiment, it may include an inverter circuit, a resonant compensation network, etc., without specific limitations. The power transmission coil 510, also known as the transmitting coil, typically employs a multi-layered, tightly wound structure to enhance the magnetic field strength.

[0064] In practical scenarios, a single power supply coil 510 can be configured, with each wireless powered component drawing power from the same power supply coil 510. In another embodiment, one power supply coil 510 can be configured for each wireless powered component. In other embodiments, multiple power supply coils 510 can be configured, with multiple wireless powered components corresponding to one power supply coil 510.

[0065] The above scheme constructs a wireless power transmission component using a power transmission processing circuit 520, a power supply 530, and at least one power transmission coil 510. The wireless power transmission component is controlled and monitored by a computing control component 100, which has high reliability in power transmission operation.

[0066] Similarly, the structure of the wireless power receiving component is not unique. The structures of the first wireless power receiving component 103, the second wireless power receiving component 104, the third wireless power receiving component 105, and the fourth wireless power receiving component 320 may be the same or different, and no specific limitation is made.

[0067] For ease of understanding, we will use an example where all wireless power receiving components have the same structure. Please refer to [link / reference]. Figure 8 In one embodiment, the wireless power receiving component includes a power receiving coil 611, a power receiving processing circuit 612, and a power receiving processor 613, with the power receiving coil 611 and the power receiving processor 613 respectively connected to the power receiving processing circuit 612.

[0068] Or, please see Figure 9 In one embodiment, the wireless power receiving component includes a power receiving coil 611 and a power receiving processing circuit 612, with the power receiving coil 611 connected to the power receiving processing circuit 612.

[0069] Specifically, the power processor 613 is a device used to control and monitor the wireless power supply. The power receiving coil 611, also known as the receiving coil, is used to couple with the power transmitting coil 510 of the wireless power transmitting component to generate an induced electromotive force. The power processing circuit 612 is a circuit that converts the induced electromotive force of the power receiving coil 611 into electrical energy suitable for the peripheral module 300 or the computing control component 100. It should be noted that the type of power processing circuit 612 is not unique; it may include rectification, filtering circuits, and resonant compensation networks. In other embodiments, it may also include boost circuits, buck circuits, sampling circuits, etc., without specific limitations.

[0070] For analog peripheral modules, an analog-to-digital conversion component is configured (which may be an analog-to-digital converter processor, or may include an analog-to-digital converter and a processor). Typically, the power receiving processor 613 of the wireless power receiving component can be integrated with the analog-to-digital converter component, that is, the analog-to-digital converter component is used for wireless power supply control and monitoring. In other embodiments, the power receiving processor 613 can also be set independently to realize wireless power supply control and monitoring of the analog peripheral module.

[0071] For digital peripheral modules, since they are not equipped with analog-to-digital conversion components, in order to realize wireless power supply control and monitoring, they must be equipped with a power receiving processor 613. That is, a wireless power receiving component is built based on the power receiving coil 611, the power receiving processing circuit 612 and the power receiving processor 613.

[0072] The above scheme, which uses a power receiving coil 611, a power receiving processing circuit 612, and a power receiving processor 613 to build a wireless power receiving component, or uses a power receiving coil 611 and a power receiving processing circuit 612 to build a wireless power receiving component, has high wireless power receiving reliability.

[0073] Please see Figure 10 In one embodiment, the computing unit 101 includes an integrated calculator 801 and a first wireless communication device 802, the calculator 801 being connected to the first wireless communication device 802, and the control unit 102 includes an integrated controller 803 and a second wireless communication device 804, the controller 803 being connected to the second wireless communication device 804, and the first wireless communication device and the second wireless communication device 804 being wirelessly connected; or, the computing unit 101 and the control unit 102 are connected via a communication line.

[0074] Specifically, the calculator 801, which is the device in the computing unit 101 that performs data calculations, and the controller 803, which is the device in the control unit 102 that performs control-related functions. When the computing unit 101 and control unit 102 are distributed, the communication connection between them is not unique; it can be wireless or wired. For wireless communication, wireless communication devices can be configured in both the computing unit 101 and control unit 102, allowing them to communicate wirelessly. By using wireless communication devices, communication lines in the computing and control components 100 can be eliminated, further reducing the number of connections on the robot and the total cable length.

[0075] It is understood that when the computing unit 101 and the control unit 102 are integrated, the computing unit 101 can be connected to the control unit 102 via wired or wireless communication, without limitation. It should be noted that the type of wireless communication device is not unique; in one embodiment, it can be a Bluetooth communication device or a WiFi communication device, without limitation.

[0076] In one embodiment, the peripheral module 300 includes a third wireless communication device, and at least two peripheral modules 300 are wirelessly connected to each other via the third wireless communication device; and / or at least one peripheral module 300 is wirelessly connected to the computing control component 100 via the third wireless communication device.

[0077] Specifically, in this embodiment, at least two peripheral modules 300 can be connected. Thus, any one of these peripheral modules 300 can be connected to the transmission bus 200, enabling information exchange between the two peripheral modules 300 and the computing control component 100 (i.e., forwarding via one of the peripheral modules 300). The connection method between the peripheral modules 300 is not unique; it is similar to the communication connection between the computing control component 100 in the above embodiment. Wireless communication can be used, and in other embodiments, communication lines can also be used. This embodiment only explains the wireless communication method and does not limit the connection to wireless communication. This solution interconnects the peripheral modules 300, reducing the number of wires between the peripheral modules 300 and the transmission bus 200, further reducing the total cable length of the robot.

[0078] It is understood that the way peripheral modules 300 are connected is not unique. In one embodiment, multiple peripheral modules 300 connected to the same transmission bus 200 can be interconnected in pairs. In this way, as long as any one peripheral module 300 is connected to the transmission bus 200, information interaction between all peripheral modules 300 and the computing control component 100 can be realized.

[0079] In another embodiment, two peripheral modules 300 connected to different transmission buses 200 or different computing control components 100 can be interconnected. The specific choice can be made according to actual needs, and no limitation is made here.

[0080] In one embodiment, whether peripheral modules 300 are interconnected depends on factors such as whether their signals are similar, whether their interfaces are compatible, whether their electrical characteristics are similar, and whether their physical distance is close enough. The specific choice should be made based on the actual scenario.

[0081] To further reduce the total cable length of the robot, wireless communication devices can be configured for both the computing control component 100 and the peripheral module 300. This allows at least some of the peripheral modules 300 to be connected wirelessly to the computing control component 100, saving the number of transmission buses 200 and further reducing the total cable length of the robot.

[0082] In one embodiment, the robot system further includes conductive lines for at least electrical connections between some peripheral modules and the transmission bus, the conductive lines being disposed on the robot's housing.

[0083] Specifically, conductive lines are the wiring used to connect various components in a robot system. In this embodiment, any connecting line in the robot system can be routed through the robot's housing, using the robot's housing as the wiring connector. This reduces or completely eliminates wiring inside the robot, thereby improving the complexity of wiring inside the robot and increasing wiring reliability.

[0084] It should be noted that the method of configuring conductive lines on the robot's housing is not unique. In one embodiment, a method similar to that used for printed circuit boards can be employed to route the traces on the robot's housing. In another embodiment, the conductive lines can be configured on the robot's housing using 3D-MID technology.

[0085] Specifically, 3D-MID (Three-dimensional Molded Interconnect Device) is a device that creates electrical wires and patterns on the surface of an injection-molded plastic housing. Components are then directly mounted on the housing and electrically interconnected, thereby realizing the electrical interconnection function of the circuit board, the function of supporting components, the support and protection function of the plastic housing, as well as the shielding and antenna functions generated by the combination of mechanical entities and conductive patterns.

[0086] In this way, the internal cables and wires (including communication lines and power lines) of the robot are injection molded to create three-dimensional circuits with electrical functions on the surface of the plastic shell. Ordinary plastic components are given electrical interconnection functions and support the connection of components, thereby integrating a large number of connecting cables or wires inside the robot with the plastic shell, greatly reducing the crisscrossing connections inside the robot.

[0087] It is understood that, in one embodiment, the way 3D-MID technology constructs conductive circuits is not unique. It can be constructed by combining material strength characteristics, thermal characteristics, price, etc., using technologies such as LDS (Laser Direct Structuring), LRP (Laser Restructuring Print), and LAP (Laser Activating Plating). No specific limitation is made.

[0088] Furthermore, soldering or metallized contacts are reserved at the ends of the circuits formed by 3D-MID technology and at the electronic circuit connection points between the two plastic shells for terminating components of the cleaning robot, such as the two contact terminals of the motor, antenna contacts, or the interconnection between the two plastic shells. The plastic material using 3D-MID technology can be a material suitable for laser activation, and the conductive material used can be conductive silver paste, etc., without specific limitations.

[0089] In one embodiment, the transmission bus 200 includes a serial transmission bus, and each peripheral module 300 connected to the same serial transmission bus is used for time-division multiplexing information interaction with the computing control component 100; or, the transmission bus 200 includes a serial transmission bus and a logic processor, and multiple peripheral modules 300 are respectively connected to the logic processor, the logic processor is connected to the serial transmission bus, and each peripheral module 300 connected to the same serial transmission bus is used for time-division multiplexing information interaction with the computing control component 100.

[0090] Specifically, when connecting multiple peripheral modules 300 to the same transmission bus 200, the multiple peripheral modules 300 can be directly connected to the computing control component 100 via the serial transmission bus. Correspondingly, to avoid signal interference between the various peripheral modules 300, a time-division multiplexing method can be used for signal transmission. In another embodiment, the digital status signals output by the multiple peripheral modules 300 can also be logically processed before being transmitted to the computing control component 100.

[0091] In one embodiment, the computing control component 100 uses the power-on operating time as the starting time to perform time-division multiplexing information interaction with each peripheral module 300 connected to the same serial transmission bus.

[0092] For ease of understanding, the following examples use four peripheral modules 300: A, B, C, and D. See also the relevant references. Figure 11 The calculation and control component 100 establishes the time starting point t0 of the peripheral module AD in a predetermined manner (e.g., using the power-on time as t0). The peripheral module AD sequentially sends its own signals during the time intervals t1-t4 set by the robot system. These signals can be either high-level signals (1) or low-level signals (0), depending on the definition. For example, the robot's internal state signal 1 can be defined as a high-level signal. When a peripheral module 300 has a high-level state, it sends a high-level signal in the corresponding time interval; otherwise, it sends a low-level signal. The calculation and control component 100 can receive the state signals sent by the peripheral module 300 in its own time interval according to the common time reference point t0, and then perform corresponding processing based on the state signal conditions.

[0093] Please refer to the following: Figure 12Compared to the time-sharing transmission method described above, the status signals (e.g., A, B, C) output by multiple peripheral modules 300 can be processed by a logic processor before being sent to the serial transmission bus, thereby resolving the mutual interference when the status signals of the peripheral modules 300 converge on the serial transmission bus. The logic processing method of the logic processor is not unique; it can be logical AND, logical OR, or a combination of multiple logic processing methods, without any specific limitation.

[0094] It is understood that in a robot system, the connection lines that use conductive wires to run on the robot's shell are not the only ones; the specific choice can be made according to actual needs. In one embodiment, it may include at least one of the following: transmission bus 200, power line between computing control component 100 and battery, communication line between computing unit 101 and control unit 102, communication line between each computing control component 100, communication line between each peripheral module 300, and power line between peripheral module 300 and battery; the specific choice is not limited.

[0095] It should be noted that, in one embodiment, to further improve the integration of the robot system and enable wireless connectivity within the robot's internal space, the wired connections described in the above embodiments can all be routed on the robot's shell using 3D-MID technology. Furthermore, the antenna used for wireless communication (such as WiFi communication) in the robot can also be integrated into the robot's shell using 3D-MID technology.

[0096] In one embodiment, the computing control component 100 further includes a waterproof box, with the computing unit 101 and the control unit 102 respectively disposed inside the waterproof box.

[0097] Specifically, a waterproof enclosure is a protective device used to protect electronic equipment, electrical components, or connectors from environmental factors such as moisture, humidity, and dust. In practical scenarios, if the computing unit 101 and the control unit 102 are integrated, they can be housed within a single waterproof enclosure. If the computing unit 101 and the control unit 102 are distributed, each can be configured with its own waterproof enclosure. This approach, by configuring a waterproof enclosure for the computing control component 100, effectively improves the operational safety of the computing control component 100.

[0098] In one embodiment, the robot system also includes a vision sensor that is communicatively connected to the computing unit 101 via a wired or wireless means.

[0099] Specifically, the vision sensor is a device used to acquire visual image data. In this embodiment, the vision sensor is directly connected to the computing unit 101 of the computing control component, allowing the acquired image data to be quickly transmitted to the computing unit 101, enabling the computing unit 101 to analyze and process the images in real time. This method avoids the storage and forwarding of visual data in intermediate stages, reducing data transmission latency and improving the robot's operating efficiency and task execution accuracy.

[0100] To facilitate understanding of the technical solution of this application, the following detailed embodiments will be used to explain and illustrate this application.

[0101] The robot system includes multiple distributed computing and control components 100. Each computing and control component 100 includes a computing unit 101 and a control unit 102. The computing unit 101 and the control unit 102 are connected via a UART bus, which is integrated into the robot's shell using 3D-MID technology. The computing unit 101 and the control unit 102 are designed as independent modular units, each housed within its own independent waterproof enclosure to enhance waterproofing performance.

[0102] The control units 102 of each computing control component 100 are connected by cables that are integrated into the robot's shell using 3D-MID technology. Alternatively, the computing control components 100 may be equipped with wireless communication devices, allowing them to connect wirelessly.

[0103] Each computing control component 100 is connected to a corresponding transmission bus 200. The transmission bus 200 is a serial transmission bus that is integrated into the robot's shell using 3D-MID technology and uses time-division multiplexing to realize the signal transmission of all connected peripheral modules 300.

[0104] The peripheral module 300 includes both analog and digital peripheral modules. Some peripheral modules 300 are connected to the robot's battery via a power cord to obtain power from the battery, while others can obtain power from the robot system's wireless power supply components via wireless power supply. The power cord between the peripheral module 300 and the battery is configured in the robot's shell using 3D-MID technology.

[0105] Furthermore, depending on whether the signals of the two devices are similar, whether the interfaces are compatible, whether the electrical characteristics are similar, and whether the physical distance is close enough, at least two peripheral modules 300 can be configured with wireless communication devices 110 to connect them wirelessly.

[0106] This application also provides a cleaning robot, including a battery, a housing, a walking component, a cleaning component, and the aforementioned robot system, wherein the walking component and the cleaning component are respectively connected to the battery, and the walking component and the cleaning component are respectively connected to a computing control component.

[0107] Specifically, the structure and implementation of the robot system are as shown in the above embodiments, and will not be repeated here. The walking component, which drives the robot's movement, typically includes a motor driver and wheels, and is not specifically limited. The cleaning component, which performs the operations, typically includes a motor driver, sweeping and mopping components, etc., and is not specifically limited.

[0108] In this application, the housing of the cleaning robot serves as a conduit for electrical wiring. That is, various communication lines or power lines within the cleaning robot can be routed on the housing according to actual needs. The specific implementation method is not unique; in one embodiment, 3D-MID technology can be used to set the conductive lines within the robot's housing.

[0109] In practical scenarios, technologies such as LDS, LRP, or LAP can be used to injection mold the internal cables and wires (including communication lines and power lines) of the robot onto the surface of the plastic shell, creating three-dimensional circuits with electrical functions. This gives ordinary plastic components electrical interconnection functions and supports the connection of components, thereby integrating a large number of connecting cables or wires inside the robot with the plastic shell, greatly reducing the crisscrossing connections inside the robot.

[0110] Specifically, firstly, the internal connections and routing of the cleaning robot can be analyzed and planned. Next, based on the routing of the connection lines, the current carrying capacity, and the signal type, the internal plastic shell of the cleaning robot is selected as the carrier. This carrier can be the plastic frame, the inner surface of the top cover, or the side of the base; the specific location is determined by the design. Finally, in the planned wiring areas of the plastic parts, processes such as plastic pretreatment, laser processing, activation, and metallization are performed to form metallized electronic circuits with electrical connection characteristics on the surface of the plastic parts, creating conductive lines to replace the connecting cables.

[0111] The aforementioned robot's computing control component 100 includes a computing unit 101 and a control unit 102 connected by communication. At least one of the computing unit 101 and the control unit 102 is connected to a transmission bus 200. Each transmission bus 200 connects to at least one peripheral module 300, enabling information interaction between multiple peripheral modules 300 and the computing control component 100 via a single transmission bus 200. Each peripheral module 300 can be connected to either the computing unit 101 or the control unit 102 as needed. This solution allows information interaction between different peripheral modules 300 and the computing control component 100 to be achieved through a single transmission bus 200, effectively reducing the number of connections between the peripheral modules 300 and the computing control component 100. Thus, this solution effectively reduces the total length of the robot's internal cables.

[0112] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robot system, characterized in that, include: The computing and control components include a computing unit and a control unit with communication connections; Multiple transmission buses, each of which is connected to at least one of the computing unit and the control unit; Multiple peripheral modules, with one of the aforementioned transmission buses correspondingly connected to at least one of the peripheral modules; The peripheral module is used to interact with the computing control component via the transmission bus.

2. The robot system according to claim 1, characterized in that, The computing unit and the control unit are integrated.

3. The robot system according to claim 2, characterized in that, The computing control component is electrically connected to the robot's battery; or, The computing control component further includes a first wireless power receiving component electrically connected to the computing unit and the control unit respectively. The computing unit, the control unit and the first wireless power receiving component are integrated. The robot system also includes a wireless power supply component, and the first wireless power receiving component is electrically connected to the wireless power supply component.

4. The robot system according to claim 1, characterized in that, The computing unit and the control unit are arranged in a distributed manner.

5. The robot system according to claim 4, characterized in that, The computing control component is electrically connected to the robot's battery; or, The computing control component further includes a second wireless power receiving component electrically connected to the computing unit, and a third wireless power receiving component electrically connected to the control unit. The computing unit is integrated with the second wireless power receiving component, and the control unit is integrated with the third wireless power receiving component. The robot system also includes a wireless power supply component, which is electrically connected to the second wireless power receiving component and the third wireless power receiving component, respectively.

6. The robot system according to claim 1, characterized in that, The robot system also includes a wireless power supply component that is communicatively connected to the computing control component; the peripheral module includes an integrated peripheral unit and a fourth wireless power receiving component, the peripheral unit being electrically connected to the fourth wireless power receiving component, and the fourth wireless power receiving component being electrically connected to the wireless power supply component.

7. The robot system according to claim 4, characterized in that, The computing unit includes an integrated calculator and a first wireless communication device, the calculator being connected to the first wireless communication device; the control unit includes an integrated controller and a second wireless communication device, the controller being connected to the second wireless communication device; and the first wireless communication device and the second wireless communication device are wirelessly connected. Alternatively, the computing unit and the control unit can be connected via a communication line.

8. The robot system according to claim 7, characterized in that, The peripheral module includes a third wireless communication device, and at least two peripheral modules are wirelessly connected to each other via the third wireless communication device; and / or, at least one peripheral module is wirelessly connected to the computing control component via the third wireless communication device.

9. The robot system according to claim 1, characterized in that, The robot system includes multiple distributed computing control components, which are wirelessly connected to each other and / or connected via signal lines.

10. The robot system according to any one of claims 1-9, characterized in that, The robot system also includes conductive lines, which are used for electrical connections between at least some of the peripheral modules and the transmission bus, and the conductive lines are disposed on the robot's housing.

11. The robot system according to claim 10, characterized in that, The conductive lines are installed in the robot's shell using 3D-MID technology.

12. The robot system according to any one of claims 1-9, characterized in that, The transmission bus includes a serial transmission bus, and each peripheral module connected to the same serial transmission bus is used for time-division information interaction with the computing control component; Alternatively, the transmission bus includes a serial transmission bus and a logic processor, with multiple peripheral modules respectively connected to the logic processor, the logic processor connected to the serial transmission bus, and each peripheral module connected to the same serial transmission bus for time-division multiplexing of information interaction with the computing control component.

13. The robot system according to claim 12, characterized in that, The computing control component uses the power-on operating time as the starting time to perform time-division multiplexing information interaction with each of the peripheral modules connected to the same serial transmission bus.

14. The robot system according to any one of claims 1-9, characterized in that, The computing control component also includes a waterproof box, and the computing unit and the control unit are respectively disposed inside the waterproof box.

15. The robot system according to any one of claims 1-9, characterized in that, The robot system also includes a vision sensor, which is connected to the computing unit via a wired or wireless means.

16. A cleaning robot, characterized in that, The system includes a battery, a housing, a walking component, a cleaning component, and a robot system according to any one of claims 1-15, wherein the walking component and the cleaning component are respectively connected to the battery, and the walking component and the cleaning component are respectively connected to the computing and control component.

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