CN100541226C - Be applied to the virtual wall system of self-walking apparatus - Google Patents
Be applied to the virtual wall system of self-walking apparatus Download PDFInfo
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- CN100541226C CN100541226C CNB200510071325XA CN200510071325A CN100541226C CN 100541226 C CN100541226 C CN 100541226C CN B200510071325X A CNB200510071325X A CN B200510071325XA CN 200510071325 A CN200510071325 A CN 200510071325A CN 100541226 C CN100541226 C CN 100541226C
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- virtual wall
- walking apparatus
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Abstract
The present invention is relevant a kind of virtual wall system that is applied to self-walking apparatus, include: a self-walking apparatus, has a steering gear, and one control device be connected in this steering gear, and at least one signal projector is that a side to this self-walking apparatus transmits, and a sound wave receiver is in order to receive the sound wave signal; At least one virtual wall generation device, has at least one signal receiver, in order to receive the signal that this signal projector sends, and has at least one sound wave transmitter, in order to launch the sound wave signal to predetermined direction, and have a signal controller, in order to the signal of judging that this signal receiver is received, and control the emission of this sound wave transmitter; This self-walking apparatus is when advancing, and when received this signal of this signal receiver, this signal controller is promptly controlled this sound wave transmitter and sent sound wave, and this sound wave receiver promptly can receive this sound wave signal, and this control device is promptly controlled this steering gear and turned to.
Description
Technical field
The present invention is relevant with the control of self-walking apparatus, is meant a kind of virtual wall system that is applied to self-walking apparatus especially.
Background technology
Existing self-walking apparatus, for example, from robot walking, or walk carrier certainly, or walk suction cleaner etc. certainly, all are routes of importing according in advance, or decide the direction of advancing in the mode of image identification, speed and distance, and, communique US 2004/0,111 is disclosed in early days as United States Patent (USP), the technology of being taken off for No. 184, it mainly exposes a kind of suction cleaner of walking certainly with the next technology as virtual wall of light beam, and it is that a light emitted device is placed the precalculated position and launches light beam towards predetermined direction, and this is walked certainly to have the light source receiver on the suction cleaner and can receive this light beam, when this marches to when receiving this light beam from walking suction cleaner, promptly send diversion signal, reaching the position that light beam was limited that is no more than this light emitted device, and then have the effect of virtual wall.
Yet, aforesaid prior art, in when operation, this light emitted device must continual emitting beam, and could guarantee walking suction cleaner certainly through out-of-date, allow this from the light source receiver of walking on the suction cleaner, this can constantly use power supply, if this light emitted device use is battery supply, then the speed of battery consumption can be very fast, and if use external civil power, then have again and forget that unplugg or electric wire mop floor and may cause problem such as obstacle.
Supervise in above-mentioned shortcoming, this case inventor just has generation of the present invention eventually through after constantly studying and testing.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of virtual wall system that is applied to self-walking apparatus, and it can reach and make self-walking apparatus produce the effect of virtual wall in the process of advancing, and takes off existing technology before being different from.
Of the present invention time a purpose is to provide a kind of virtual wall system that is applied to self-walking apparatus, and it can more save power supply than prior art.
Edge is, according to a kind of virtual wall system that is applied to self-walking apparatus provided by the present invention, include: a self-walking apparatus, having a steering gear can be towards at least one directional steering, and has a control device and be connected in this steering gear, in order to control turning to of this steering gear, and have at least one signal projector, and being arranged on this self-walking apparatus, its signal is the side emission to this self-walking apparatus, and have a sound wave receiver, in order to receive the sound wave signal; At least one virtual wall generation device, place on the plane that this self-walking apparatus advances, this virtual wall generation device has at least one signal receiver, in order to receive the signal that this signal projector sends, and have at least one sound wave transmitter, in order to predetermined direction emission sound wave signal, and have a signal controller, in order to the signal of judging that this signal receiver is received, and control the emission of this sound wave transmitter; This self-walking apparatus is when advancing, and when received this signal of this signal receiver, this signal controller is promptly controlled this sound wave transmitter and sent sound wave, and this sound wave receiver promptly can receive this sound wave signal, and this control device is promptly controlled this steering gear and turned to.
In order to describe structure of the present invention and characteristics place in detail, lift following preferred embodiment now and cooperate graphic explanation as after, wherein:
Description of drawings
Fig. 1 is the member synoptic diagram of a preferred embodiment of the present invention;
Fig. 2 is the local member synoptic diagram of a preferred embodiment of the present invention, shows the structure of virtual wall generation device;
Fig. 3 is the operational motion figure of a preferred embodiment of the present invention;
Fig. 4 is another operational motion figure of a preferred embodiment of the present invention;
Fig. 5 is another synoptic diagram of the local member of a preferred embodiment of the present invention;
Fig. 6 is a synoptic diagram again of the local member of a preferred embodiment of the present invention;
Fig. 7 is the another operational motion figure of a preferred embodiment of the present invention.
(main element symbol description)
10 are applied to the virtual wall system of self-walking apparatus
11 self-walking apparatus, 12 steering gears, 14 control device
16 signal projectors, 18 sound wave receivers
21 virtual wall generation devices, 22 grooves
24 signal receivers, 26 sound wave transmitters, 28 signal controllers
29 power supply modules
Embodiment
To shown in Figure 2, a kind of virtual wall system 10 that is applied to self-walking apparatus that the present invention's first preferred embodiment is provided mainly is made up of a self-walking apparatus 11 and a virtual wall generation device 21 as Fig. 1, wherein:
This self-walking apparatus 11, having a steering gear 12 can be towards at least one directional steering, and have a control device 14 and be connected in this steering gear 12, in order to controlling turning to of this steering gear 12, and have at least one signal projector 16, be arranged at a side of this self-walking apparatus 11, it is that a side to this self-walking apparatus 11 transmits, be to be example in the present embodiment, and have a sound wave receiver 18, in order to receive the sound wave signal with the light signal.
This virtual wall generation device 21, place on the plane that this self-walking apparatus 11 advances, ground for example, this virtual wall generation device 21 has at least one groove 22, the opening of this groove 22 is outwards gradually to open, this virtual wall generation device 21 has a signal receiver 24, be located in this groove 22, in order to reception inject in this groove 22 signal, this signal is sent by this signal projector 16, and in addition, this virtual wall generation device 21 has a sound wave transmitter 26, be located in this groove 22, in order to the opening direction of this groove 22 emission sound wave signal, be to be example in the present embodiment, and have a signal controller 28 with the ultrasonic, in order to the signal of judging that this signal receiver 24 is received, and control the emission of this sound wave transmitter 26; This virtual wall generation device 21 has a power supply module 29, and battery for example is in order to provide power supply.
As shown in Figure 2 to Figure 3, this self-walking apparatus 11 is when advancing, when received this signal of this signal receiver 24, this signal controller 28 is promptly controlled this sound wave transmitter 26 and is sent sound wave, this sound wave receiver 18 promptly can receive this sound wave signal, and this control device 14 is promptly controlled this steering gear 12 and turned to.
Wherein, as shown in Figure 3, by opening both sides angle by this groove 22, can limit the angle of these signal receiver 24 received signals, also can limit the direction of this sound wave transmitter 26 sound wave that sends, the angle when guaranteeing this self-walking apparatus 11 through these virtual wall generation device 21 next doors is in predetermined angular; As shown in Figure 4, if during these self-walking apparatus 11 these virtual wall generation device 21 next doors of process, the angle that angle contains greater than the opening of this groove 22, then signal can't be emitted in this groove 22, this virtual wall generation device 21 promptly can not receive the signal of this self-walking apparatus 11, promptly can not send the sound wave signal that this self-walking apparatus 11 is turned to this moment.
As shown in Figure 5, this virtual wall generation device 21 of the present invention also can have two grooves 22, and respectively towards both sides; Again, as shown in Figure 6, two grooves 22 that this virtual wall generation device 21 is had can also opening direction 90 modes of spending that fold be provided with; Moreover, as shown in Figure 7, also can put a virtual wall generation device 21 respectively, and form the Virtual Space that four road virtual wall are enclosed in four corners, movable and can not run out of this Virtual Space in this zone to limit this self-walking apparatus 11.
As from the foregoing, the present invention mainly is the signal (light signal) by emission predetermined direction on this self-walking apparatus 11, again by after these virtual wall generation device 21 received signals, sending the sound wave signal touches this self-walking apparatus 11 and turns to, they are not only different with the prior art of preceding taking off, and because this virtual wall generation device 21 is after receiving signal, just send the sound wave signal, therefore be not to be in the state that constantly transmits, but just emission whenever necessary, this can significantly save power supply, than the more economic power saving of prior art.
Claims (9)
1. virtual wall system that is applied to self-walking apparatus is characterized in that including:
One self-walking apparatus, having a steering gear can be towards at least one directional steering, and have a control device and be connected in this steering gear, in order to control turning to of this steering gear, and have at least one signal projector, and being arranged on this self-walking apparatus, its signal is the side emission to this self-walking apparatus, and have a sound wave receiver, in order to receive the sound wave signal;
At least one virtual wall generation device, place on the plane that this self-walking apparatus advances, this virtual wall generation device has at least one signal receiver, in order to receive the signal that this signal projector sends, and have at least one sound wave transmitter, in order to predetermined direction emission sound wave signal, and have a signal controller, in order to the signal of judging that this signal receiver is received, and control the emission of this sound wave transmitter;
This self-walking apparatus is when advancing, and when received this signal of this signal receiver, this signal controller is promptly controlled this sound wave transmitter and sent sound wave, and this sound wave receiver promptly can receive this sound wave signal, and this control device is promptly controlled this steering gear and turned to.
2. according to the described virtual wall system that is applied to self-walking apparatus of claim 1, it is characterized in that: described this virtual wall generation device has at least one groove of opening towards the side, the opening of this groove is outwards gradually to open, and this signal receiver and this sound wave transmitter are to be located in this groove.
3. according to the described virtual wall system that is applied to self-walking apparatus of claim 2, it is characterized in that: described this virtual wall generation device has two grooves, and respectively towards both sides.
4. according to the described virtual wall system that is applied to self-walking apparatus of claim 2, it is characterized in that: described this virtual wall generation device has two grooves, and its opening direction folds 90 degree.
5. according to the described virtual wall system that is applied to self-walking apparatus of claim 1, it is characterized in that: described this virtual wall generation device has a power supply module can provide power supply.
6. according to the described virtual wall system that is applied to self-walking apparatus of claim 5, it is characterized in that: described this power supply module is a battery.
7. according to the described virtual wall system that is applied to self-walking apparatus of claim 1, it is characterized in that: the signal that described this signal projector is launched is a light signal.
8. according to the described virtual wall system that is applied to self-walking apparatus of claim 1, it is characterized in that: described this sound wave transmitter is the emission ultrasonic.
9. according to the described virtual wall system that is applied to self-walking apparatus of claim 1, it is characterized in that: described this signal projector is located at a side of this self-walking apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200510071325XA CN100541226C (en) | 2005-05-18 | 2005-05-18 | Be applied to the virtual wall system of self-walking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200510071325XA CN100541226C (en) | 2005-05-18 | 2005-05-18 | Be applied to the virtual wall system of self-walking apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1866046A CN1866046A (en) | 2006-11-22 |
| CN100541226C true CN100541226C (en) | 2009-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200510071325XA Expired - Fee Related CN100541226C (en) | 2005-05-18 | 2005-05-18 | Be applied to the virtual wall system of self-walking apparatus |
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| Country | Link |
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| CN (1) | CN100541226C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013177919A1 (en) * | 2012-05-30 | 2013-12-05 | 宁波市德霖机械有限公司 | Working area definition and guidance method for controlling automatic device and system thereof |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103251358A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Control method of sweeping robot |
| JP6378962B2 (en) * | 2014-07-31 | 2018-08-22 | シャープ株式会社 | Self-propelled electronic device |
| CN105629972B (en) * | 2014-11-07 | 2018-05-18 | 科沃斯机器人股份有限公司 | Guiding virtual wall system |
| CN105867364B (en) * | 2015-01-23 | 2019-04-12 | 燕成祥 | Restrict the system and method for robotic movement behavior |
| CN105319965B (en) * | 2015-11-27 | 2019-09-27 | 苏州爱普电器有限公司 | Self-movement robot system for restricting |
| CN105388898B (en) * | 2015-11-27 | 2018-05-04 | 苏州爱普电器有限公司 | A kind of self-movement robot system for restricting |
| CN105759814B (en) * | 2016-01-27 | 2020-02-14 | 深圳市银星智能科技股份有限公司 | Restriction device of robot and restriction system and method |
| CN106108766B (en) * | 2016-07-11 | 2019-06-18 | 江苏美的清洁电器股份有限公司 | Clean robot |
| CN108803589A (en) * | 2017-04-28 | 2018-11-13 | 深圳乐动机器人有限公司 | Robot virtual wall system |
-
2005
- 2005-05-18 CN CNB200510071325XA patent/CN100541226C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013177919A1 (en) * | 2012-05-30 | 2013-12-05 | 宁波市德霖机械有限公司 | Working area definition and guidance method for controlling automatic device and system thereof |
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| Publication number | Publication date |
|---|---|
| CN1866046A (en) | 2006-11-22 |
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Effective date of registration: 20151104 Address after: 518125, Guangdong, Shenzhen province Baoan District manhole street new two community, Nanling Road, No. 21, C building on the third floor West Patentee after: Shenzhen Hengrunhui Photoelectric Science & Technology Co., Ltd. Address before: Taichung City, Taiwan, China Patentee before: Yang Tong Industrial Co., Ltd. |
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Address after: 518125, Guangdong, Shenzhen province Baoan District manhole street new two community, Nanling Road, No. 21, C building on the third floor West Patentee after: Zhonghong intelligent high tech (Shenzhen) Co.,Ltd. Address before: 518125, Shenzhen, Baoan District manhole street new two community, Nanling Road, No. 21, C building on the third floor West Patentee before: Shenzhen Hengrunhui Photoelectric Science & Technology Co., Ltd. |
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