阅读说明：本技术 一种智能陪宠的清洁机器人及系统 (Intelligent pet accompanying cleaning robot and system ) 是由 韩怀宇 赵伟兵 肖刚军 于 2020-12-25 设计创作，主要内容包括：本发明公开了一种智能陪宠的清洁机器人及其系统,该智能陪宠的清洁机器人包括机体、清洁模块、运动模块、按摩模块、宠物感应模块、中央处理模块,智能陪宠的清洁机器人基于宠物感应模块判断清洁机器人机身上表面预设区域内是否存在宠物,根据实际情况控制按摩模块的开闭,使得清洁机器人在完成清洁工作的同时能够陪伴宠物,消除宠物的孤独情绪,解决了宠物因无人陪伴而情绪低落的问题。(The invention discloses an intelligent pet accompanying cleaning robot and a system thereof, wherein the intelligent pet accompanying cleaning robot comprises a machine body, a cleaning module, a motion module, a massage module, a pet induction module and a central processing module, the intelligent pet accompanying cleaning robot judges whether a pet exists in a preset area on the upper surface of the cleaning robot body based on the pet induction module, and controls the massage module to be opened and closed according to actual conditions, so that the cleaning robot can accompany the pet while completing cleaning work, the solitary mood of the pet is eliminated, and the problem of low mood of the pet due to unmanned accompanying is solved.)

1. An intelligent pet accompanying cleaning robot is characterized by comprising a machine body, a cleaning module, a motion module, a massage module, a pet induction module and a central processing module; the cleaning module, the motion module, the massage module and the pet induction module are all connected with the central processing module.

2. The intelligent pet accompany cleaning robot as claimed in claim 1, wherein a circular groove is formed in the upper surface of the body of the cleaning robot, a semicircular fence is arranged on the boundary of one end of the circular groove, and the length of the fence is a preset length; wherein, a straight line is made under the condition that the straight line is parallel to the traveling direction of the cleaning robot and passes through the circle center of the circular groove, and two intersection points of the straight line and the circular groove are used as two ends of the circular groove.

3. The intelligent pet accompany cleaning robot as claimed in claim 2, wherein the pet sensing module is one or more pressure sensors disposed inside the body of the cleaning robot for sensing whether the pet is present in a groove on the upper surface of the body of the cleaning robot.

4. The intelligent pet accompany cleaning robot as recited in claim 3, wherein the massage module is disposed at a position tangent to the boundary of the other end of the circular groove, the massage module comprises a massage device and a servo motor, a rotating shaft of the servo motor is connected with the massage device, and the servo motor is used for controlling the massage device to rotate so as to achieve the purpose of massage.

5. The intelligent pet accompany cleaning robot as recited in claim 4, wherein the massage device is a detachable and replaceable massage device; wherein, the massage device is a cylindrical massage rod with hemispherical bulges, or the massage device is a massage plate consisting of one or more rotatable spherical massage beads.

6. The intelligent pet accompany cleaning robot as claimed in claim 5, wherein the central processing module is disposed inside the cleaning robot, and the central processing module controls the motion module to control the motion of the cleaning robot through a built-in program algorithm, and controls the cleaning module to complete the cleaning work on the ground.

7. The intelligent pet accompany cleaning robot as claimed in claim 6, wherein the central processing module determines whether a pet is present in a preset region of the upper surface of the body of the cleaning robot by a built-in program algorithm in combination with the pet sensing module, and controls the massage module to work if it is detected that the pet is present in the preset region of the upper surface of the body of the cleaning robot, so as to realize pet accompany function.

8. The utility model provides an intelligence companion's cleaning machines people system which characterized in that includes:

a cleaning robot that is an intelligent pet-accompanying cleaning robot as claimed in any one of claims 1 to 7;

the user terminal comprises a touch image display screen, so that a user can observe the working state of the cleaning robot on the image display screen conveniently and control the work of each module of the cleaning robot;

and the wireless communication module is respectively arranged on the cleaning robot and the user terminal and is used for connecting the cleaning robot and the user terminal in a communication manner so as to transmit data and control instructions.

9. The intelligent pet accompany cleaning robot system as recited in claim 8, wherein the rotation speed of the massage device of the massage module is adjusted by remotely controlling the rotation speed of the servo motor through a user terminal.

Technical Field

The invention relates to the field of cleaning robots, in particular to an intelligent pet accompany cleaning robot and a system.

Background

With the rapid development of science and technology, mobile robots are widely used in various fields, and some service robots have been in daily life of common people. The cleaning robot is one of the intelligent household appliances which are hot in recent years, and can complete autonomous cleaning work in a room based on a preset algorithm program. Robots with functions of dust collection, floor sweeping, floor wiping and the like are generally classified as cleaning robots.

According to the report of the white paper of the Chinese pet industry in 2019, the number of national pet dogs and cats reaches 9915 thousands, wherein the number of the pet dogs is 5503 thousands, and the number of the pet cats is 4412 thousands. More and more people put the emotions on the pets, but due to the limitation of all aspects of work and academic industry, the pets need to spend alone at home for most of time, so that the pets lack of the companions of the owners for a long time, are easy to lose emotion and affect the health of the pets.

Disclosure of Invention

In order to solve the problems, the invention provides an intelligent pet accompanying cleaning robot and system, and solves the problem that a pet is low in mood due to unmanned accompanying. The specific technical scheme of the invention is as follows:

an intelligent pet accompanying cleaning robot comprises a machine body, a cleaning module, a motion module, a massage module, a pet induction module and a central processing unit; the cleaning module, the motion module, the massage module and the pet induction module are all connected with the central processing module. Pet response function and massage function have been add to intelligent pet-accompanied cleaning robot on the basis of original clean function for cleaning robot can accompany the pet when accomplishing cleaning work, eliminates the solitary mood of pet.

Furthermore, a circular groove is formed in the upper surface of the body of the cleaning robot, a semicircular fence is arranged on the boundary of one end of the circular groove, and the length of the fence is a preset length; wherein, a straight line is made under the condition that the straight line is parallel to the traveling direction of the cleaning robot and passes through the circle center of the circular groove, and two intersection points of the straight line and the circular groove are used as two ends of the circular groove. The circular groove is suitable for bearing a pet, and the fence is arranged on the boundary of the circular groove so that the pet cannot easily slide off the upper surface of the cleaning robot, and the safety of the pet in the working process of the cleaning robot is guaranteed.

Furthermore, the pet induction module is one or more than one pressure sensor arranged inside the cleaning robot body and used for inducing whether the pet exists in a groove on the upper surface of the cleaning robot body. The pressure sensor is arranged to achieve the aim of sensing the pet, and when the pet is on the cleaning robot, the pressure sensor senses the pressure and transmits a corresponding signal to the central processing unit to control the massage module to work.

Further, the massage module set up in with the tangent position in the border of the other end of circular recess, the massage module includes massage device and servo motor, servo motor's pivot with massage device connects, servo motor is used for controlling massage device and rotates the purpose in order to realize the massage. The servo motor of the massage device rotates to drive the massage device to rotate, and the purpose of massaging the pet is achieved.

Further, the massage device is a detachable and replaceable massage device; wherein, the massage device is a cylindrical massage rod with hemispherical bulges, or the massage device is a massage plate consisting of one or more rotatable spherical massage beads. The protruding structure of the massage device achieves the purpose of massaging the acupuncture points of the pet through rotation, and the emotion of the pet is pacified.

Furthermore, the central processing module is arranged in the cleaning robot, controls the motion module to control the motion of the cleaning robot through a built-in program algorithm, and controls the cleaning module to complete the cleaning work of the ground.

Furthermore, the central processing module judges whether a pet exists in a preset area on the upper surface of the body of the cleaning robot by combining a built-in program algorithm with the pet sensing module, and controls the massage module to work if the pet is detected to exist in the preset area on the upper surface of the body of the cleaning robot, so that the pet accompanying function is realized.

The invention also discloses an intelligent pet accompany cleaning robot system, which comprises: a cleaning robot that is an intelligent pet-accompanying cleaning robot as claimed in any one of claims 1 to 7; the user terminal comprises a touch image display screen, so that a user can observe the working state of the cleaning robot on the image display screen conveniently and control the work of each module of the cleaning robot; and the wireless communication module is respectively arranged on the cleaning robot and the user terminal and is used for connecting the cleaning robot and the user terminal in a communication manner so as to transmit data and control instructions. The intelligent pet accompany cleaning robot system disclosed by the technical scheme can realize the work of a remote control cleaning robot, so that a user can know the dynamics of the cleaning robot and a pet in real time, and the interactive interest is improved on the pet accompany basis.

Furthermore, the rotating speed of the massage device of the massage module is adjusted by remotely controlling the rotating speed of the servo motor through the user terminal.

Drawings

Fig. 1 is a structural top view of an intelligent pet accompany cleaning robot according to an embodiment of the invention.

101-massage module, 102-groove, 103-rail, 104-cleaning robot body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.

An embodiment of the invention provides an intelligent pet accompanying cleaning robot, which comprises a cleaning robot body, a pet induction module, a massage module, a cleaning module, a motion module, a central processing module and a power supply module. As shown in fig. 1, an appearance top view of the intelligent pet-accompanied cleaning robot is provided, a circular groove 102 is provided on an upper surface of the body of the intelligent pet-accompanied cleaning robot, a diameter of the circular groove 102 can be adjusted according to a size of the upper surface of the body of the actual robot, a depth of the circular groove 102 can be adjusted according to a thickness of the body of the actual cleaning robot, for example, a diameter of the upper surface of the body of the cleaning robot is forty centimeters, a thickness of the body of the cleaning robot is 10 centimeters, a diameter of the circular groove is thirty-five centimeters, a depth of the circular groove is two centimeters, a pet induction module is provided inside the body of the cleaning robot below the circular groove 102, a straight line is formed in a condition that the pet induction module is parallel to a traveling direction of the cleaning robot and passes through a center of the circular groove, two intersection points of the straight line and the circular groove serve as two ends of the circular groove, a semicircular fence 103, the length of the semicircular fence 103 is correspondingly adjusted according to the perimeter of the circular groove so as to achieve the purpose of preventing a pet from falling from the upper surface of the cleaning robot, a massage module 101 is arranged at a position tangent to the boundary at the other end of the circular groove 102, and a moving part of the moving module and a cleaning part of the cleaning module are both arranged at the bottom of the cleaning robot body; the pet induction module, the massage module, the cleaning module and the motion module are all connected with the central processing module.

The pet sensing module is used for sensing whether a pet is present in a preset area on the upper surface of the cleaning robot body, and may include, but not limited to, a pressure sensor, an infrared sensor, a proximity sensor, and other devices configured to detect whether a pet is present on the upper surface of the cleaning robot body, such as: the pressure sensor can sense the pressure borne by the cleaning robot in a preset area above the cleaning robot, if the pet exists in the preset area on the upper surface of the cleaning robot, the gravity of the pet is sensed by the pressure sensor, and the pressure sensor outputs a corresponding signal to the central processing module. The pet induction module transmits a corresponding signal to the central processing module when sensing that the pet exists in the preset area on the upper surface of the cleaning robot, and the central processing module transmits a corresponding instruction to control the massage module to work after further processing so as to realize the function of massaging the pet. The preset area refers to an area in a circular groove on the upper surface of the cleaning robot body, the number and the positions of sensors for sensing pets, such as pressure sensors or infrared sensors, included in the pet sensing module are closely related to the position and the size of the circular groove 102 formed in the upper surface of the cleaning robot, and the preset area can be specifically selected by a designer.

The massage module 101 is used for massaging and appeasing pet emotion for a pet, the massage module 101 comprises a servo motor and a massage device, and a rotating shaft of the servo motor is connected with one end of the massage device; the other end of the massage device can be fixedly connected with the cleaning robot or in a non-fixed state, the servo motor is an engine capable of controlling the operation of mechanical elements, the servo motor is used for providing rotating power for the massage device, and the massage module can control the rotating speed of the massage device by controlling the rotating speed of the servo motor. Preferably, the massage device can be, but is not limited to, a device with a massage function, such as a cylindrical massage rod with uniform convex hemispheres, a massage plate consisting of a plurality of rotatable spherical massage beads, or a plurality of cylindrical massage rods with uniform convex hemispheres arranged in parallel; the massage device is of a detachable replacement structure, so that a user can replace and update the massage device conveniently, and a pet can keep the massage device fresh; particularly, the cleaning robot can be provided with corresponding massage modules in the preset area of the upper surface of the body according to actual requirements, so that the effect of massaging the body of the pet is achieved.

The cleaning module is arranged on a chassis of the cleaning robot and used for completing ground cleaning work; the cleaning module may include, but is not limited to, one or more sweeping brush heads, a moisture adjustable mop swab, or other cleaning device. The motion module is arranged in the cleaning robot and extends to a chassis of the cleaning robot, the motion module comprises a driving device and a moving base, the driving device is arranged in the cleaning robot, and the moving base is arranged on the chassis of the cleaning robot on the same plane as the cleaning module.

The central processing module is disposed inside the cleaning robot body, and may include one or more processors to execute instructions to perform all or part of the steps of the cleaning robot. The power module provides power for each module of the intelligent pet-accompanied cleaning robot, and the power module may include a power management system, one or more power sources, a charging interface, and other components associated with generating, managing, and distributing power for the cleaning robot. The charging interface is arranged on the vertical surface of the side of the cleaning robot body and is used for being in butt joint with the charging seat when the cleaning robot returns to the seat for charging.

The invention discloses another embodiment of the intelligent pet accompanying cleaning robot system, which comprises a cleaning robot, a user terminal and a communication module, wherein the cleaning robot is used for carrying out pet accompanying; the intelligent pet accompany cleaning robot further comprises a communication module based on the previous embodiment, wherein the communication module is configured to be convenient for a communication device in a wired or wireless mode between the intelligent pet accompany cleaning robot and other equipment. Intelligence companion's cleaning machines people can access wireless network based on communication standard, like: WiFi, 2G, 3G, or a combination thereof. In this embodiment, intelligence accompanies clean robot of pet is based on communication module and user terminal communication, and receiving user terminal sets up the instruction to intelligence accompanies clean robot's of pet relevant, and the user of being convenient for carries out the custom setting to intelligence accompanies clean robot of pet, if: massage rotating speed of the massage module, working sequence of the cleaning robot, walking path of the cleaning robot and the like. In particular, the user terminal may be, but is not limited to, a mobile phone, a mobile tablet computer.

Based on the intelligent pet accompanying cleaning robot and the system thereof, the embodiment of the invention discloses a control method of the intelligent pet accompanying cleaning robot, which specifically comprises the following steps:

step S11: judging the current working state of the cleaning robot, if the cleaning robot is in a low power early warning state or a charging state, entering step S21, and if the cleaning robot is in a cleaning working state, entering step S22; specifically, the low power early warning state is a state which is preset in the cleaning robot and sends out a warning signal when the power of the cleaning robot is smaller than a preset low power value; the cleaning working state refers to that a cleaning module of the cleaning robot is started to clean a room; the charging state refers to that a charging port of the cleaning robot is in butt joint with a charging seat and an internal power supply of the cleaning robot receives charging.

Step S21: the central processing module controls the pet induction module, the massage module and the cleaning module of the cleaning robot to be closed, and the step S11 is repeated; specifically, when the cleaning robot is in a low-power early warning state, functional modules which are irrelevant to seat return, such as the pet induction module, the massage module and the cleaning module, are closed, so that the residual power of the cleaning robot can support the cleaning robot to return to a charging seat, and the situation that the power consumption of the cleaning robot per unit time is increased due to the fact that various functional modules work simultaneously is prevented; when the cleaning robot is in a charging state, the cleaning robot motion module does not work, the cleaning robot is static, the cleaning module does not need to be started to work, the pet induction module and the massage module are closed, and the power consumption of the cleaning robot in unit time is reduced so as to improve the charging efficiency of the cleaning robot.

Step S22: judging whether a pet exists in a preset area of the upper surface of the cleaning robot body based on the pet induction module, transmitting a first signal to the central processing module by the pet induction module, entering step S31 if the pet exists in the preset area of the upper surface of the cleaning robot body, and entering step S32 if the pet does not exist in the preset area of the upper surface of the cleaning robot body; specifically, the pet sensing module may be, but is not limited to, a pressure sensor, an infrared sensor, or other devices for detecting whether a pet is present in a preset area on the upper surface of the cleaning robot; the first signal is a judgment result signal which is output by the pet induction module and used for judging whether a pet exists in a preset area on the upper surface of the cleaning robot body or not; the central processing module is arranged in the cleaning robot body and can comprise one or more processors for executing relevant instructions so as to complete all or part of the steps of the functions of the cleaning robot; the step is to use whether a pet exists in a preset area on the upper surface of the cleaning robot as a triggering condition for starting the massage device.

Step S31: the central processing module receives the first signal and outputs a first instruction to control the massage module to work, a servo motor in the massage module rotates according to a preset rotating speed and drives the massage device to rotate according to the preset rotating speed, and the step S11 is repeated; specifically, the first instruction is to control a servo motor of the massage device to rotate at a preset rotation speed and drive the massage device to rotate at the preset rotation speed; the massage module includes servo motor and massage device, the massage device can be but not limited to the cylindrical massage stick that has even protruding hemisphere or by the massage board that many rotatable spherical massage beads are constituteed etc. have the device of massage pet function, servo motor is used for doing massage device provides rotation power, and servo motor's pivot is connected in order to realize that servo motor rotates the effect that drives massage device pivoted with massage device's one end.

Step S32: the central processing module receives the first signal and outputs a second instruction to control the massage module to keep the closing state, and the step S11 is repeated; specifically, the second instruction is that the central processing module controls the massage module to keep a closed state; the cleaning robot keeps the massage module closed, and repeats the working state judgment step of the cleaning robot, so as to improve the interaction timeliness of the cleaning robot and the pet while keeping the cleaning robot working efficiently.

Obviously, the terms "first", "second", "third", etc. appearing in the above embodiments are for the convenience of distinguishing between related features, and are not to be construed as indicating or implying any relative importance, order or number of features.

In the embodiments provided by the present invention, it should be understood that the disclosed system and method can be implemented in other ways, and the above-described embodiments are only illustrative, for example, the division of the units is only one logical function division, and other division ways can be implemented in practice, for example, a plurality of modules or components can be combined or can be integrated into another system, or some features can be omitted or not implemented, and some or all of the modules can be selected according to actual needs to implement the purpose of the embodiment.

Finally, it should be noted that: the above embodiments are only a part of the embodiments of the present invention, and not all embodiments, and the technical solutions of the embodiments may be combined with each other, and the specific steps disclosed in the embodiments may be adjusted in order according to actual requirements to achieve the same technical effect. It will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and are intended to be included within the scope of the invention.