CN104503448A - Device used to define working area of mobile robot and defining method thereof - Google Patents
Device used to define working area of mobile robot and defining method thereof Download PDFInfo
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- CN104503448A CN104503448A CN201410570402.5A CN201410570402A CN104503448A CN 104503448 A CN104503448 A CN 104503448A CN 201410570402 A CN201410570402 A CN 201410570402A CN 104503448 A CN104503448 A CN 104503448A
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Abstract
The invention discloses a device used to define working area of a mobile robot and a defining method thereof. The device comprises a controller and at least a signal detector. The controller and the signal detector are installed on a mobile robot. The signal detector comprises an induction coil used to generate electromagnetic induction phenomenon with the boundary of a conductive material, and a detection circuit used to acquire loss resistance of the induction coil or resonant frequency. The position of the induction coil on the mobile robot is higher than the boundary. The detection circuit acquires the loss resistance of the induction coil or the resonant frequency, and converts the loss resistance of the induction coil or the resonant frequency to real-time digital signals, and then sends the signals to the controller. The controller compares the real-time digital signals with a reference value range. If the real-time digital signals are in the reference value range, the mobile robot gets to the boundary. The device is advantaged in that just the conductive material is needed to be used as a passive boundary, selection range of a boundary material is wide, a signal generator does not need to be configured, and cost of the device is relatively low.
Description
Technical field
The present invention relates to a kind of mobile work robot region deviding technology, especially relating to a kind of device for defining mobile work robot region and confining method thereof.
Background technology
Mobile robot technology originates from abroad, all in the content studying this one side energetically, and there are more significant achievement in the research institutions such as current Massachusetts science and engineering, Georgia science and engineering, Caltech and Stamford at artificial intelligence field and robot hardware's design field.On market, better performances all comes from external big companies mostly for mobile robot that is clean or that prune, the such as Roomba of Irobot company, the clean robots such as the FM of RC and the Fmart company of Karcher company, and the Robomow of Friendly Machines company, the grass-removing robots such as the Ambrigio Robo-Lawnmower of Zucchetti company and the Husqvarna Auto Mower of Electrolux company.These mobile robots clean or pruning work by traveling through in the perform region of specifying at, and thus, the device defining mobile work robot region becomes the requisite ingredient of mobile robot.
The patent No. is disclose a kind of device for defining mobile work robot region in the U.S. patent documents of US20080097645.This device detects border based on galvanomagnetic effect, mainly comprises controller, signal generator and signal sensor.This device with the cable being connected with signal generator surround one square, form an active square boundary, boundary magnetic field intensity is maximum.Signal generator makes generation magnetic field, border, move closer in the process on border mobile robot, be arranged on the field signal that the signal sensor Real-time Obtaining border on mobile robot produces, signal sensor converts the field signal of acquisition to voltage signal and is real-time transmitted to controller, the reference voltage signal that the voltage signal of reception is corresponding with the boundary magnetic field intensity of its storage inside contrasts by controller, judge whether mobile robot reaches border, the direct of travel of mobile robot is controlled according to result of determination, ensure that mobile robot moves in the perform region that border surrounds thus.
But there is following problem in the above-mentioned device for defining mobile work robot region: the restriction that border material is subject to is larger, in order to make generation magnetic field, border, signal generator must be equipped with and cable forms active border, each border needs a signal generator in addition, if lay new border in existing border, need extra signal generator, cost is higher.
Summary of the invention
One of technical matters to be solved by this invention is to provide a kind of device for defining mobile work robot region, in this device, signal sensor comprises inductive coil and testing circuit, based on inductive coil and conductive material near time can produce electromagnetic induction phenomenon, the principle that the loss resistance of inductive coil and the size of resonance frequency can change, testing circuit Real-time Obtaining inductive coil loss resistance or resonance frequency can determine border, only need thus to adopt conductive material as passive border, the scope that border material is selected is wide, and do not need optional equipment signal generator, cost is lower.
The present invention one of to solve the problems of the technologies described above the technical scheme adopted: a kind of device for defining mobile work robot region, comprise controller and at least one signal sensor, described controller and described signal sensor are arranged on mobile robot, it is characterized in that described signal sensor comprises for producing the inductive coil of electromagnetic induction phenomenon and the testing circuit for the loss resistance or resonance frequency that obtain described inductive coil with the border of conductive material, the position of described inductive coil on mobile robot is higher than border, the reference range of loss resistance when described inductive coil reaches above border or resonance frequency is stored in described controller, the loss resistance of the described inductive coil described in testing circuit Real-time Obtaining or resonance frequency, and send to described controller after loss resistance or resonance frequency are converted into digital signal, the value of real time digital signal and reference range contrast by described controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border.
Described testing circuit comprises inductance digital quantizer, first electric capacity, second electric capacity, 3rd electric capacity, 4th electric capacity, 5th electric capacity, 6th electric capacity and the 7th electric capacity, the model of described inductance digital quantizer is LDC1000, LDC1041 or LDC1051, 4th pin of described inductance digital quantizer, one end of the first described electric capacity is connected with one end of the second described electric capacity and its link access 3.3V voltage, the other end of the first described electric capacity and the equal ground connection of the other end of the second described electric capacity, 13rd pin of described inductance digital quantizer is connected with one end of the 3rd described electric capacity, the other end ground connection of the 3rd described electric capacity, 7th pin of described inductance digital quantizer is connected with one end of the 4th described electric capacity, the other end of the 4th described electric capacity is connected with the 8th pin of described inductance digital quantizer, 11st pin and the 17th pin of described inductance digital quantizer all connect in analog, 9th pin of described inductance digitizer, one end of the 7th described electric capacity is connected with one end of described inductive coil, 10th pin of described inductance digital quantizer, the other end of the 7th described electric capacity is connected with the other end of described inductive coil, 12nd pin of described inductance digital quantizer, one end of the 5th described electric capacity is connected with one end of the 6th described electric capacity and its link access 5V voltage, the other end of the 5th described electric capacity and the other end of the 6th described electric capacity all connect in analog, 1st pin of described inductance digital quantizer, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with described controller respectively with the 16th pin.
Described controller comprises for model is the control chip of STM32F103, model is the voltage stabilizing chip of SPX1117, first resistance, second resistance, 3rd resistance, 4th resistance, 8th electric capacity, 9th electric capacity, tenth electric capacity, 11 electric capacity, 12 electric capacity, 13 electric capacity, 14 electric capacity, 15 electric capacity, 16 electric capacity, 17 electric capacity, 18 electric capacity, 19 electric capacity, 20 electric capacity, 21 electric capacity, 22 electric capacity, 23 electric capacity, first crystal oscillator, second crystal oscillator, button and splicing ear,
One end ground connection of the first described resistance, another termination of the first described resistance in analog, 2nd pin of described voltage stabilizing chip, one end of the 8th described electric capacity are connected with one end of the 9th described electric capacity and its link access 5V voltage, 3rd pin of described voltage stabilizing chip, one end of the tenth described electric capacity are connected with one end of the 11 described electric capacity and its link exports 3.3V voltage, the other end of the 8th described electric capacity, the other end of the 9th described electric capacity, the other end of the tenth described electric capacity and the equal ground connection of the other end of the 11 described electric capacity;
One end of the 12 described electric capacity, the 2nd pin of the first described crystal oscillator are connected with the 12nd pin of described control chip, the other end of the 12 described electric capacity and the equal ground connection in one end of the 13 described electric capacity, the other end of the 13 described electric capacity, the 1st pin of the first described crystal oscillator are connected with one end of the second described resistance, and the other end of the second described resistance is connected with the 13rd pin of described control chip;
One end of the 14 described electric capacity, the 2nd pin of the second described crystal oscillator are connected with the 8th pin of described control chip, the other end of the 14 described electric capacity and the equal ground connection in one end of the 15 described electric capacity, the other end of the 15 described electric capacity, the 1st pin of the second described crystal oscillator are connected with the 9th pin of described control chip;
One end of the 16 described electric capacity, one end of the 17 described electric capacity, one end of the 18 described electric capacity, one end of the 19 described electric capacity, one end of the 20 described electric capacity, one end of the 21 described electric capacity is connected with one end of the 22 described electric capacity and its link access 3.3V voltage, the other end of the 16 described electric capacity, the other end of the 17 described electric capacity, the other end of the 18 described electric capacity, the other end of the 19 described electric capacity, the other end of the 20 described electric capacity, the other end of the 21 described electric capacity and the equal ground connection of the other end of the 22 described electric capacity,
One end access 3.3V voltage of the 3rd described resistance, the other end of the 3rd described resistance, the 2nd pin of described splicing ear are connected with the 94th pin of described control chip, the 1st pin ground connection of described splicing ear; One end access 3.3V voltage of the 4th described resistance, the other end of the 4th described resistance, described one end of the 23 electric capacity, one end of described button are connected with the 14th pin of described control chip, the other end of described button and the equal ground connection of the other end of the 23 described electric capacity;
47th pin of described control chip is connected with the 16th pin of described inductance digital quantizer, 48th pin of described control chip is connected with the 14th pin of described inductance digital quantizer, 51st pin of described control chip is connected with the 2nd pin of described inductance digital quantizer, 52nd pin of described control chip is connected with the 1st pin of described inductance digital quantizer, 53rd pin of described control chip is connected with the 5th pin of described inductance digital quantizer, 54th pin of described control chip is connected with the 3rd pin of described inductance digital quantizer, 6th pin of described control chip, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of described control chip, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
Two of technical matters to be solved by this invention is to provide a kind of confining method of the device for defining mobile work robot region, this confining method based on inductive coil and conductive material near time can produce electromagnetic induction phenomenon, the principle that the loss resistance of inductive coil and the size of resonance frequency can change, border can be determined by testing circuit Real-time Obtaining inductive coil loss resistance or resonance frequency, being driven by controller after determining border guides mobile robot to travel through in perform region, realize the guiding with mobile work robot of defining on border, only need in the method thus to adopt conductive material as passive border, the scope that border material is selected is wide, and do not need optional equipment signal generator, cost is lower, and the complete traversal of perform region can be realized.
Compared with prior art, the advantage of device of the present invention is by arranging inductive coil and testing circuit, based on inductive coil and conductive material near time can produce electromagnetic induction phenomenon, the principle that the loss resistance of inductive coil and the size of resonance frequency can change, loss resistance when inductive coil reaches above border or reference range corresponding to resonance frequency is stored in controller, the loss resistance of testing circuit Real-time Obtaining inductive coil or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into digital signal, the value of real time digital signal and reference range contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border, Real-time Obtaining inductive coil loss resistance or resonance frequency can determine border, only need thus to adopt conductive material as passive border, the scope that border material is selected is wide, and do not need optional equipment signal generator, cost is lower.
Two technical schemes adopted that the present invention solves the problems of the technologies described above are: a kind of confining method of the device for defining mobile work robot region, it is characterized in that the quantity of described signal sensor is two, the inductive coil of the signal sensor described in two is parallel to be arranged, and specifically comprises the following steps:
1. controller and signal sensor are carried out initialization;
Loss resistance when 2. being reached above border by inductive coil or reference range Vmin ~ Vmax corresponding to resonance frequency are deposited in controller, wherein Vmin is the size of inductive coil loss resistance or digital signal corresponding to resonance frequency when starting to enter above border, and Vmax is the size of inductive coil loss resistance or digital signal corresponding to resonance frequency when entering above border completely;
3. the moving direction that mobile robot enters perform region is adjusted:
3.-1 controller drives mobile robot to enter perform region through a border, the loss resistance of two testing circuit Real-time Obtaining inductive coils or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of the loss resistance of two testing circuit Real-time Obtainings or digital signal corresponding to resonance frequency is designated as V1 and V2;
If 3. have one in-2 V1 and V2 first to fall within the scope of Vmin ~ Vmax, then controller drives mobile robot to adjust moving direction all to fall within the scope of Vmin ~ Vmax and equal and opposite in direction to V1 and V2; If when V1 and V2 falls within the scope of Vmin ~ Vmax simultaneously, if V1 and V2 is equal, then mobile robot's moving direction need not adjust, if V1 and V2 is unequal, then controller drives mobile robot to adjust moving direction to V1 and V2 equal and opposite in direction all to fall within the scope of Vmin ~ Vmax, and now the moving direction of mobile robot in perform region is perpendicular to entering border, place;
4. control mobile robot to travel through in the right area of perform region, detailed process is:
4.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of the inductive coil described in two testing circuit Real-time Obtainings or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range Vmin ~ Vmax contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
4.-2 when mobile robot arrive with enter locate the relative boundary in border time, the direction that controller controls to be parallel to after mobile robot rotates clockwise 90 degree the border relative with border, the place of entering moves forward a distance, d, d equals the working width of mobile robot, and then rotates clockwise 90 degree and move forward;
4.-3 run at every turn with enter and locate relative border, border after, all repeat step 4.-2, and add up the number of times that mobile robot moves forward along the direction being parallel to the border relative with border, the place of entering, this number of times is designated as n; When mobile robot is along being parallel to when arriving border, the right when entering and locate the relative Boundary Moving in border, stops mobile, after control mobile robot rotates clockwise 90 degree, moving forward to boundary, completing right area and travel through;
5. controlling mobile robot, to move size perpendicular to the direction on border, the right after boundary rotates clockwise 90 degree be on the right rotate clockwise 90 degree again after the distance of n*d, and now the moving direction of mobile robot is perpendicular to entering border, place;
6. control the left area of mobile robot in perform region to travel through, detailed process is:
6.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of the inductive coil described in two testing circuit Real-time Obtainings or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range Vmin ~ Vmax contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
6.-2 when mobile robot arrive with enter locate the relative boundary in border time, controller controls to move forward a distance, d along the direction being parallel to the border relative with border, the place of entering after mobile robot rotates counterclockwise 90 degree, d equals the working width of mobile robot, and then rotates counterclockwise 90 degree and move forward;
6.-3 run at every turn with enter and locate relative border, border after, all repeat step 6.-2, when mobile robot moves to reach left boundary, stop mobile, control to move forward to boundary after mobile robot rotates counterclockwise 90 degree, complete left area traversal.
Described testing circuit comprises inductance digital quantizer, first electric capacity, second electric capacity, 3rd electric capacity, 4th electric capacity, 5th electric capacity, 6th electric capacity and the 7th electric capacity, the model of described inductance digital quantizer is LDC1000, LDC1041 or LDC1051, 4th pin of described inductance digital quantizer, one end of the first described electric capacity is connected with one end of the second described electric capacity and its link access 3.3V voltage, the other end of the first described electric capacity and the equal ground connection of the other end of the second described electric capacity, 13rd pin of described inductance digital quantizer is connected with one end of the 3rd described electric capacity, the other end ground connection of the 3rd described electric capacity, 7th pin of described inductance digital quantizer is connected with one end of the 4th described electric capacity, the other end of the 4th described electric capacity is connected with the 8th pin of described inductance digital quantizer, 11st pin and the 17th pin of described inductance digital quantizer all connect in analog, 9th pin of described inductance digitizer, one end of the 7th described electric capacity is connected with one end of described inductive coil, 10th pin of described inductance digital quantizer, the other end of the 7th described electric capacity is connected with the other end of described inductive coil, 12nd pin of described inductance digital quantizer, one end of the 5th described electric capacity is connected with one end of the 6th described electric capacity and its link access 5V voltage, the other end of the 5th described electric capacity and the other end of the 6th described electric capacity all connect in analog, 1st pin of described inductance digital quantizer, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with described controller respectively with the 16th pin.
Described controller comprises for model is the control chip of STM32F103, model is the voltage stabilizing chip of SPX1117, first resistance, second resistance, 3rd resistance, 4th resistance, 8th electric capacity, 9th electric capacity, tenth electric capacity, 11 electric capacity, 12 electric capacity, 13 electric capacity, 14 electric capacity, 15 electric capacity, 16 electric capacity, 17 electric capacity, 18 electric capacity, 19 electric capacity, 20 electric capacity, 21 electric capacity, 22 electric capacity, 23 electric capacity, first crystal oscillator, second crystal oscillator, button and splicing ear,
One end ground connection of the first described resistance, another termination of the first described resistance in analog, 2nd pin of described voltage stabilizing chip, one end of the 8th described electric capacity are connected with one end of the 9th described electric capacity and its link access 5V voltage, 3rd pin of described voltage stabilizing chip, one end of the tenth described electric capacity are connected with one end of the 11 described electric capacity and its link exports 3.3V voltage, the other end of the 8th described electric capacity, the other end of the 9th described electric capacity, the other end of the tenth described electric capacity and the equal ground connection of the other end of the 11 described electric capacity;
One end of the 12 described electric capacity, the 2nd pin of the first described crystal oscillator are connected with the 12nd pin of described control chip, the other end of the 12 described electric capacity and the equal ground connection in one end of the 13 described electric capacity, the other end of the 13 described electric capacity, the 1st pin of the first described crystal oscillator are connected with one end of the second described resistance, and the other end of the second described resistance is connected with the 13rd pin of described control chip;
One end of the 14 described electric capacity, the 2nd pin of the second described crystal oscillator are connected with the 8th pin of described control chip, the other end of the 14 described electric capacity and the equal ground connection in one end of the 15 described electric capacity, the other end of the 15 described electric capacity, the 1st pin of the second described crystal oscillator are connected with the 9th pin of described control chip;
One end of the 16 described electric capacity, one end of the 17 described electric capacity, one end of the 18 described electric capacity, one end of the 19 described electric capacity, one end of the 20 described electric capacity, one end of the 21 described electric capacity is connected with one end of the 22 described electric capacity and its link access 3.3V voltage, the other end of the 16 described electric capacity, the other end of the 17 described electric capacity, the other end of the 18 described electric capacity, the other end of the 19 described electric capacity, the other end of the 20 described electric capacity, the other end of the 21 described electric capacity and the equal ground connection of the other end of the 22 described electric capacity,
One end access 3.3V voltage of the 3rd described resistance, the other end of the 3rd described resistance, the 2nd pin of described splicing ear are connected with the 94th pin of described control chip, the 1st pin ground connection of described splicing ear; One end access 3.3V voltage of the 4th described resistance, the other end of the 4th described resistance, described one end of the 23 electric capacity, one end of described button are connected with the 14th pin of described control chip, the other end of described button and the equal ground connection of the other end of the 23 described electric capacity;
47th pin of described control chip is connected with the 16th pin of described inductance digital quantizer, 48th pin of described control chip is connected with the 14th pin of described inductance digital quantizer, 51st pin of described control chip is connected with the 2nd pin of described inductance digital quantizer, 52nd pin of described control chip is connected with the 1st pin of described inductance digital quantizer, 53rd pin of described control chip is connected with the 5th pin of described inductance digital quantizer, 54th pin of described control chip is connected with the 3rd pin of described inductance digital quantizer, 6th pin of described control chip, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of described control chip, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
Compared with prior art, method advantage of the present invention is by arranging inductive coil and testing circuit, based on inductive coil and conductive material near time can produce electromagnetic induction phenomenon, the principle that the loss resistance of inductive coil and the size of resonance frequency can change, loss resistance when inductive coil reaches above border or reference range corresponding to resonance frequency is stored in controller, the loss resistance of testing circuit Real-time Obtaining inductive coil or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border, Real-time Obtaining inductive coil loss resistance or resonance frequency can determine border, only need thus to adopt conductive material as passive border, the scope that border material is selected is wide, and do not need optional equipment signal generator, cost is lower, when mobile robot enters border, the moving direction that adjustment mobile robot enters perform region moves it direction perpendicular to entering border, place, when mobile robot arrives the border of relative border or the right and left, controller to change one's plans task according to the border that mobile robot reaches, driving makes mobile robot's adjustment direction, get back in perform region, and so forth, make mobile robot's working in reciprocating mode in perform region, realize the guiding of mobile work robot thus, simple to operate and precision is higher.
Accompanying drawing explanation
Fig. 1 is the circuit diagram of signal sensor of the present invention;
Fig. 2 is the circuit diagram of controller of the present invention;
Fig. 3 is the structural representation of mobile robot in method of the present invention;
Fig. 4 is the schematic diagram of advancing of mobile robot in confining method of the present invention;
Fig. 5 is the schematic diagram that in confining method of the present invention, mobile robot advances along boundary.
Embodiment
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
The invention discloses a kind of device for defining mobile work robot region, comprise controller and at least one signal sensor, controller and signal sensor are arranged on mobile robot, signal sensor comprises for producing the inductive coil L1 of electromagnetic induction phenomenon and the testing circuit for the loss resistance or resonance frequency that obtain inductive coil L1 with the border of conductive material, the position on mobile robot of inductive coil L1 is higher than border, loss resistance when inductive coil L1 reaches above border or reference range corresponding to resonance frequency is stored in controller, the loss resistance of testing circuit Real-time Obtaining inductive coil L1 or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border.
Embodiment: a kind of device for defining mobile work robot region, comprise controller and at least one signal sensor, controller and signal sensor are arranged on mobile robot, signal sensor comprises for producing the inductive coil L1 of electromagnetic induction phenomenon and the testing circuit for the loss resistance or resonance frequency that obtain inductive coil L1 with the border of conductive material, the position on mobile robot of inductive coil L1 is higher than border, loss resistance when inductive coil L1 reaches above border or reference range Vmin ~ Vmax corresponding to resonance frequency is stored in controller, the loss resistance of testing circuit Real-time Obtaining inductive coil L1 or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border.
In the present embodiment, in reference digital signal scope, Vmin is the size of inductive coil L1 loss resistance or digital signal corresponding to resonance frequency when starting to enter above border, and Vmax is the size of inductive coil L1 loss resistance or digital signal corresponding to resonance frequency when entering above border completely.
In the present embodiment, the material source on border is extensive, and can be the blocking of low cost, also can be common iron wire, as long as general conductor all can be used for the foundation on border.
In the present embodiment, as shown in Figure 1, testing circuit comprises inductance digital quantizer U1, first electric capacity C1, second electric capacity C2, 3rd electric capacity C3, 4th electric capacity C4, 5th electric capacity C5, the model of the 6th electric capacity C6 and the 7th electric capacity C7, inductance digital quantizer U1 is LDC1000, 4th pin of LDC1041 or LDC1051, inductance digital quantizer U1, one end of first electric capacity C1 is connected with one end of the second electric capacity C2 and its link access 3.3V voltage, the other end of the first electric capacity C1 and the equal ground connection of the other end of the second electric capacity C2, 13rd pin of inductance digital quantizer U1 is connected with one end of the 3rd electric capacity C3, the other end ground connection of the 3rd electric capacity C3, 7th pin of inductance digital quantizer U1 is connected with one end of the 4th electric capacity C4, the other end of the 4th electric capacity C4 is connected with the 8th pin of inductance digital quantizer U1, 11st pin and the 17th pin of inductance digital quantizer U1 all connect in analog, the 9th pin of inductance digitizer, one end of 7th electric capacity C7 is connected with one end of inductive coil L1, the 10th pin of inductance digital quantizer U1, the other end of the 7th electric capacity C7 is connected with the other end of inductive coil L1, the 12nd pin of inductance digital quantizer U1, one end of 5th electric capacity C5 is connected with one end of the 6th electric capacity C6 and its link access 5V voltage, and the other end of the 5th electric capacity C5 and the other end of the 6th electric capacity C6 all connect in analog, the 1st pin of inductance digital quantizer U1, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with controller respectively with the 16th pin.
In the present embodiment, as shown in Figure 2, controller comprises for model is the control chip U2 of STM32F103, model is the voltage stabilizing chip M1 of SPX1117, first resistance R1, second resistance R2, 3rd resistance R3, 4th resistance R4, 8th electric capacity C8, 9th electric capacity C9, tenth electric capacity C10, 11 electric capacity C11, 12 electric capacity C12, 13 electric capacity C13, 14 electric capacity C14, 15 electric capacity C15, 16 electric capacity C16, 17 electric capacity C17, 18 electric capacity C18, 19 electric capacity C19, 20 electric capacity C20, 21 electric capacity C21, 22 electric capacity C22, 23 electric capacity C23, first crystal oscillator Y1, second crystal oscillator Y2, button S1 and splicing ear P1,
One end ground connection of the first resistance R1, another termination of first resistance R1 in analog, 2nd pin of voltage stabilizing chip M1, one end of the 8th electric capacity C8 are connected with one end of the 9th electric capacity C9 and its link access 5V voltage, 3rd pin of voltage stabilizing chip M1, one end of the tenth electric capacity C10 are connected with one end of the 11 electric capacity C11 and its link exports 3.3V voltage, the other end of the 8th electric capacity C8, the other end of the 9th electric capacity C9, the other end of the tenth electric capacity C10 and the equal ground connection of the other end of the 11 electric capacity C11;
One end of 12 electric capacity C12, the 2nd pin of the first crystal oscillator Y1 are connected with the 12nd pin of control chip U2, the other end of the 12 electric capacity C12 and the equal ground connection in one end of the 13 electric capacity C13, the other end of the 13 electric capacity C13, the 1st pin of the first crystal oscillator Y1 are connected with one end of the second resistance R2, and the other end of the second resistance R2 is connected with the 13rd pin of control chip U2;
One end of 14 electric capacity C14, the 2nd pin of the second crystal oscillator Y2 are connected with the 8th pin of control chip U2, the other end of the 14 electric capacity C14 and the equal ground connection in one end of the 15 electric capacity C15, the other end of the 15 electric capacity C15, the 1st pin of the second crystal oscillator Y2 are connected with the 9th pin of control chip U2;
One end of 16 electric capacity C16, one end of the 17 electric capacity C17, one end of the 18 electric capacity C18, one end of the 19 electric capacity C19, one end of the 20 electric capacity C20, one end of the 21 electric capacity C21 are connected with one end of the 22 electric capacity C22 and its link access 3.3V voltage, the other end of the other end of the other end of the 16 electric capacity C16, the other end of the 17 electric capacity C17, the 18 electric capacity C18, the other end of the 19 electric capacity C19, the 20 electric capacity C20, the other end of the 21 electric capacity C21 and the equal ground connection of the other end of the 22 electric capacity C22;
One end access 3.3V voltage of the 3rd resistance R3, the other end of the 3rd resistance R3, the 2nd pin of splicing ear P1 are connected with the 94th pin of control chip U2, the 1st pin ground connection of splicing ear P1; One end access 3.3V voltage of the 4th resistance R4, the other end of the 4th resistance R4, one end of the 23 electric capacity C23, one end of button S1 are connected with the 14th pin of control chip U2, the other end of button S1 and the equal ground connection of the other end of the 23 electric capacity C23;
47th pin of control chip U2 is connected with the 16th pin of inductance digital quantizer U1, 48th pin of control chip U2 is connected with the 14th pin of inductance digital quantizer U1, 51st pin of control chip U2 is connected with the 2nd pin of inductance digital quantizer U1, 52nd pin of control chip U2 is connected with the 1st pin of inductance digital quantizer U1, 53rd pin of control chip U2 is connected with the 5th pin of inductance digital quantizer U1, 54th pin of control chip U2 is connected with the 3rd pin of inductance digital quantizer U1, 6th pin of control chip U2, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of control chip U2, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
The invention also discloses a kind of confining method of the above-mentioned device for defining mobile work robot region, the quantity of signal sensor is two, and the inductive coil L1 of two signal sensors is parallel to be arranged on mobile robot, as shown in Figure 3.Be described below in conjunction with specific embodiment.
Embodiment: a kind of confining method of the device for defining mobile work robot region, perform region is by bounded squarely, and the material source on border is extensive, can be the blocking of low cost, can be also common iron wire, specifically comprise the following steps:
1. controller and signal sensor are carried out initialization;
Loss resistance when 2. being reached above border by inductive coil L1 or reference range Vmin ~ Vmax corresponding to resonance frequency are deposited in controller, wherein Vmin is the size of inductive coil L1 loss resistance or digital signal corresponding to resonance frequency when starting to enter above border, and Vmax is the size of inductive coil L1 loss resistance or digital signal corresponding to resonance frequency when entering above border completely;
3. the moving direction that mobile robot enters perform region is adjusted:
3.-1 controller drives mobile robot to enter perform region through a border, the loss resistance of two testing circuit Real-time Obtaining inductive coil L1 or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the loss resistance of two testing circuit Real-time Obtainings or digital signal corresponding to resonance frequency are designated as V1 and V2;
If 3. have one in-2 V1 and V2 first to fall within the scope of Vmin ~ Vmax, then controller drives mobile robot to adjust moving direction all to fall within the scope of Vmin ~ Vmax and equal and opposite in direction to V1 and V2; If when V1 and V2 falls within the scope of Vmin ~ Vmax simultaneously, if V1 and V2 is equal, then mobile robot's moving direction need not adjust, if V1 and V2 is unequal, then controller drives mobile robot to adjust moving direction to V1 and V2 equal and opposite in direction all to fall within the scope of Vmin ~ Vmax, and now the moving direction of mobile robot in perform region is perpendicular to entering border, place;
4. control mobile robot to travel through in the right area of perform region, detailed process is:
4.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of two testing circuit Real-time Obtaining inductive coil L1 or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into digital signal, the value of real time digital signal and reference range Vmin ~ Vmax contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
4.-2 when mobile robot arrive with enter locate the relative boundary in border time, the direction that controller controls to be parallel to after mobile robot rotates clockwise 90 degree the border relative with border, the place of entering moves forward a distance, d, d equals the working width of mobile robot, and (such as mowing is the length of mowing cutter with d in mobile robot, sweeping the floor with d in mobile robot is the absorption distance of dust collection equipment), and then rotate clockwise 90 degree and move forward;
4.-3 run at every turn with enter and locate relative border, border after, all repeat step 4.-2, and add up the number of times that mobile robot moves forward along the direction being parallel to the border relative with border, the place of entering, this number of times is designated as n; When mobile robot is along being parallel to when arriving border, the right when entering and locate the relative Boundary Moving in border, stops mobile, after control mobile robot rotates clockwise 90 degree, moving forward to boundary, completing right area and travel through;
5. controlling mobile robot, to move size perpendicular to the direction on border, the right after boundary rotates clockwise 90 degree be on the right rotate clockwise 90 degree again after the distance of n*d, and now the moving direction of mobile robot is perpendicular to entering border, place;
6. control the left area of mobile robot in perform region to travel through, detailed process is:
6.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of the inductive coil L1 described in two testing circuit Real-time Obtainings or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, real time digital signal and reference range Vmin ~ Vmax contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
6.-2 when mobile robot arrive with enter locate the relative boundary in border time, controller controls to move forward a distance, d along the direction being parallel to the border relative with border, the place of entering after mobile robot rotates counterclockwise 90 degree, d equals the working width of mobile robot, and then rotates counterclockwise 90 degree and move forward;
6.-3 run at every turn with enter and locate relative border, border after, all repeat step 6.-2, when mobile robot is along being parallel to when arriving left boundary when entering and locate the relative Boundary Moving in border, stop mobile, control to move forward to boundary after mobile robot rotates counterclockwise 90 degree, complete left area traversal.
In the present embodiment, scrambler adopts the matured product of its technical field.As shown in Figure 4, mobile robot 1 according to planned task, moves by certain way in perform region 2, when entering perform region 2, by two testing circuits, correcting the position of mobile robot 1 retive boundary 3, making it be remedied to perpendicular to entering the state locating border 31.Testing circuit is real to be detected the loss resistance of inductive coil L1 or resonance frequency and sends the signal of correspondence to controller, when mobile robot runs into the border 32 relative with border 31, the change of inductive coil L1 field signal, testing circuit detects the loss resistance that inductive coil L1 changes or resonance frequency, the signal of correspondence is sent to controller, controller judges that mobile robot reaches boundary, change one's plans task, driving makes mobile robot 1 turn around, get back in perform region, and so forth, mobile robot 1 working in reciprocating mode in perform region is made.
In the present embodiment, as shown in Figure 1, testing circuit comprises inductance digital quantizer U1, first electric capacity C1, second electric capacity C2, 3rd electric capacity C3, 4th electric capacity C4, 5th electric capacity C5, the model of the 6th electric capacity C6 and the 7th electric capacity C7, inductance digital quantizer U1 is LDC1000, 4th pin of LDC1041 or LDC1051, inductance digital quantizer U1, one end of first electric capacity C1 is connected with one end of the second electric capacity C2 and its link access 3.3V voltage, the other end of the first electric capacity C1 and the equal ground connection of the other end of the second electric capacity C2, 13rd pin of inductance digital quantizer U1 is connected with one end of the 3rd electric capacity C3, the other end ground connection of the 3rd electric capacity C3, 7th pin of inductance digital quantizer U1 is connected with one end of the 4th electric capacity C4, the other end of the 4th electric capacity C4 is connected with the 8th pin of inductance digital quantizer U1, 11st pin and the 17th pin of inductance digital quantizer U1 all connect in analog, the 9th pin of inductance digitizer, one end of 7th electric capacity C7 is connected with one end of inductive coil L1, the 10th pin of inductance digital quantizer U1, the other end of the 7th electric capacity C7 is connected with the other end of inductive coil L1, the 12nd pin of inductance digital quantizer U1, one end of 5th electric capacity C5 is connected with one end of the 6th electric capacity C6 and its link access 5V voltage, and the other end of the 5th electric capacity C5 and the other end of the 6th electric capacity C6 all connect in analog, the 1st pin of inductance digital quantizer U1, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with controller respectively with the 16th pin.
In the present embodiment, as shown in Figure 2, controller comprises for model is the control chip U2 of STM32F103, model is the voltage stabilizing chip M1 of SPX1117, first resistance R1, second resistance R2, 3rd resistance R3, 4th resistance R4, 8th electric capacity C8, 9th electric capacity C9, tenth electric capacity C10, 11 electric capacity C11, 12 electric capacity C12, 13 electric capacity C13, 14 electric capacity C14, 15 electric capacity C15, 16 electric capacity C16, 17 electric capacity C17, 18 electric capacity C18, 19 electric capacity C19, 20 electric capacity C20, 21 electric capacity C21, 22 electric capacity C22, 23 electric capacity C23, first crystal oscillator Y1, second crystal oscillator Y2, button S1 and splicing ear P1,
One end ground connection of the first resistance R1, another termination of first resistance R1 in analog, 2nd pin of voltage stabilizing chip M1, one end of the 8th electric capacity C8 are connected with one end of the 9th electric capacity C9 and its link access 5V voltage, 3rd pin of voltage stabilizing chip M1, one end of the tenth electric capacity C10 are connected with one end of the 11 electric capacity C11 and its link exports 3.3V voltage, the other end of the 8th electric capacity C8, the other end of the 9th electric capacity C9, the other end of the tenth electric capacity C10 and the equal ground connection of the other end of the 11 electric capacity C11;
One end of 12 electric capacity C12, the 2nd pin of the first crystal oscillator Y1 are connected with the 12nd pin of control chip U2, the other end of the 12 electric capacity C12 and the equal ground connection in one end of the 13 electric capacity C13, the other end of the 13 electric capacity C13, the 1st pin of the first crystal oscillator Y1 are connected with one end of the second resistance R2, and the other end of the second resistance R2 is connected with the 13rd pin of control chip U2;
One end of 14 electric capacity C14, the 2nd pin of the second crystal oscillator Y2 are connected with the 8th pin of control chip U2, the other end of the 14 electric capacity C14 and the equal ground connection in one end of the 15 electric capacity C15, the other end of the 15 electric capacity C15, the 1st pin of the second crystal oscillator Y2 are connected with the 9th pin of control chip U2;
One end of 16 electric capacity C16, one end of the 17 electric capacity C17, one end of the 18 electric capacity C18, one end of the 19 electric capacity C19, one end of the 20 electric capacity C20, one end of the 21 electric capacity C21 are connected with one end of the 22 electric capacity C22 and its link access 3.3V voltage, the other end of the other end of the other end of the 16 electric capacity C16, the other end of the 17 electric capacity C17, the 18 electric capacity C18, the other end of the 19 electric capacity C19, the 20 electric capacity C20, the other end of the 21 electric capacity C21 and the equal ground connection of the other end of the 22 electric capacity C22;
One end access 3.3V voltage of the 3rd resistance R3, the other end of the 3rd resistance R3, the 2nd pin of splicing ear P1 are connected with the 94th pin of control chip U2, the 1st pin ground connection of splicing ear P1; One end access 3.3V voltage of the 4th resistance R4, the other end of the 4th resistance R4, one end of the 23 electric capacity C23, one end of button S1 are connected with the 14th pin of control chip U2, the other end of button S1 and the equal ground connection of the other end of the 23 electric capacity C23;
47th pin of control chip U2 is connected with the 16th pin of inductance digital quantizer U1, 48th pin of control chip U2 is connected with the 14th pin of inductance digital quantizer U1, 51st pin of control chip U2 is connected with the 2nd pin of inductance digital quantizer U1, 52nd pin of control chip U2 is connected with the 1st pin of inductance digital quantizer U1, 53rd pin of control chip U2 is connected with the 5th pin of inductance digital quantizer U1, 54th pin of control chip U2 is connected with the 3rd pin of inductance digital quantizer U1, 6th pin of control chip U2, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of control chip U2, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
In the present invention, when mobile robot needs to walk along border, we can come by the similar guidance mode of above-mentioned confining method, namely after running into border, adjustment mobile robot makes the moving direction of mobile robot perpendicular to this border, and then control mobile robot and rotate 90 degree and make it be parallel to this border, then just can along this Boundary Moving, as shown in Figure 5.
Claims (6)
1. one kind for defining the device in mobile work robot region, comprise controller and at least one signal sensor, described controller and described signal sensor are arranged on mobile robot, it is characterized in that described signal sensor comprises for producing the inductive coil of electromagnetic induction phenomenon and the testing circuit for the loss resistance or resonance frequency that obtain described inductive coil with the border of conductive material, the position of described inductive coil on mobile robot is higher than border, the reference range of loss resistance when described inductive coil reaches above border or resonance frequency is stored in described controller, the loss resistance of the described inductive coil described in testing circuit Real-time Obtaining or resonance frequency, and send to described controller after loss resistance or resonance frequency are converted into digital signal, the value of real time digital signal and reference range contrast by described controller, if the value of real time digital signal falls in reference range, then mobile robot arrives border.
2. the device for defining mobile work robot region according to claim 1, it is characterized in that described testing circuit comprises inductance digital quantizer, first electric capacity, second electric capacity, 3rd electric capacity, 4th electric capacity, 5th electric capacity, 6th electric capacity and the 7th electric capacity, the model of described inductance digital quantizer is LDC1000, LDC1041 or LDC1051, 4th pin of described inductance digital quantizer, one end of the first described electric capacity is connected with one end of the second described electric capacity and its link access 3.3V voltage, the other end of the first described electric capacity and the equal ground connection of the other end of the second described electric capacity, 13rd pin of described inductance digital quantizer is connected with one end of the 3rd described electric capacity, the other end ground connection of the 3rd described electric capacity, 7th pin of described inductance digital quantizer is connected with one end of the 4th described electric capacity, the other end of the 4th described electric capacity is connected with the 8th pin of described inductance digital quantizer, 11st pin and the 17th pin of described inductance digital quantizer all connect in analog, 9th pin of described inductance digitizer, one end of the 7th described electric capacity is connected with one end of described inductive coil, 10th pin of described inductance digital quantizer, the other end of the 7th described electric capacity is connected with the other end of described inductive coil, 12nd pin of described inductance digital quantizer, one end of the 5th described electric capacity is connected with one end of the 6th described electric capacity and its link access 5V voltage, the other end of the 5th described electric capacity and the other end of the 6th described electric capacity all connect in analog, 1st pin of described inductance digital quantizer, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with described controller respectively with the 16th pin.
3. the device for defining mobile work robot region according to claim 2, it is characterized in that described controller comprises for model is the control chip of STM32F103, model is the voltage stabilizing chip of SPX1117, first resistance, second resistance, 3rd resistance, 4th resistance, 8th electric capacity, 9th electric capacity, tenth electric capacity, 11 electric capacity, 12 electric capacity, 13 electric capacity, 14 electric capacity, 15 electric capacity, 16 electric capacity, 17 electric capacity, 18 electric capacity, 19 electric capacity, 20 electric capacity, 21 electric capacity, 22 electric capacity, 23 electric capacity, first crystal oscillator, second crystal oscillator, button and splicing ear,
One end ground connection of the first described resistance, another termination of the first described resistance in analog, 2nd pin of described voltage stabilizing chip, one end of the 8th described electric capacity are connected with one end of the 9th described electric capacity and its link access 5V voltage, 3rd pin of described voltage stabilizing chip, one end of the tenth described electric capacity are connected with one end of the 11 described electric capacity and its link exports 3.3V voltage, the other end of the 8th described electric capacity, the other end of the 9th described electric capacity, the other end of the tenth described electric capacity and the equal ground connection of the other end of the 11 described electric capacity;
One end of the 12 described electric capacity, the 2nd pin of the first described crystal oscillator are connected with the 12nd pin of described control chip, the other end of the 12 described electric capacity and the equal ground connection in one end of the 13 described electric capacity, the other end of the 13 described electric capacity, the 1st pin of the first described crystal oscillator are connected with one end of the second described resistance, and the other end of the second described resistance is connected with the 13rd pin of described control chip;
One end of the 14 described electric capacity, the 2nd pin of the second described crystal oscillator are connected with the 8th pin of described control chip, the other end of the 14 described electric capacity and the equal ground connection in one end of the 15 described electric capacity, the other end of the 15 described electric capacity, the 1st pin of the second described crystal oscillator are connected with the 9th pin of described control chip;
One end of the 16 described electric capacity, one end of the 17 described electric capacity, one end of the 18 described electric capacity, one end of the 19 described electric capacity, one end of the 20 described electric capacity, one end of the 21 described electric capacity is connected with one end of the 22 described electric capacity and its link access 3.3V voltage, the other end of the 16 described electric capacity, the other end of the 17 described electric capacity, the other end of the 18 described electric capacity, the other end of the 19 described electric capacity, the other end of the 20 described electric capacity, the other end of the 21 described electric capacity and the equal ground connection of the other end of the 22 described electric capacity,
One end access 3.3V voltage of the 3rd described resistance, the other end of the 3rd described resistance, the 2nd pin of described splicing ear are connected with the 94th pin of described control chip, the 1st pin ground connection of described splicing ear; One end access 3.3V voltage of the 4th described resistance, the other end of the 4th described resistance, described one end of the 23 electric capacity, one end of described button are connected with the 14th pin of described control chip, the other end of described button and the equal ground connection of the other end of the 23 described electric capacity;
47th pin of described control chip is connected with the 16th pin of described inductance digital quantizer, 48th pin of described control chip is connected with the 14th pin of described inductance digital quantizer, 51st pin of described control chip is connected with the 2nd pin of described inductance digital quantizer, 52nd pin of described control chip is connected with the 1st pin of described inductance digital quantizer, 53rd pin of described control chip is connected with the 5th pin of described inductance digital quantizer, 54th pin of described control chip is connected with the 3rd pin of described inductance digital quantizer, 6th pin of described control chip, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of described control chip, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
4. the confining method of the device for defining mobile work robot region according to claim 1, it is characterized in that the quantity of described signal sensor is two, the inductive coil of the signal sensor described in two is parallel to be arranged, and specifically comprises the following steps:
1. controller and signal sensor are carried out initialization;
Loss resistance when 2. being reached above border by inductive coil or reference range Vmin ~ Vmax corresponding to resonance frequency are deposited in controller, wherein Vmin is the size of inductive coil loss resistance or digital signal corresponding to resonance frequency when starting to enter above border, and Vmax is the size of inductive coil loss resistance or digital signal corresponding to resonance frequency when entering above border completely;
3. the moving direction that mobile robot enters perform region is adjusted:
3.-1 controller drives mobile robot to enter perform region through a border, the loss resistance of two testing circuit Real-time Obtaining inductive coils or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the loss resistance of two testing circuit Real-time Obtainings or digital signal corresponding to resonance frequency are designated as V1 and V2;
If 3. have one in-2 V1 and V2 first to fall within the scope of Vmin ~ Vmax, then controller drives mobile robot to adjust moving direction all to fall within the scope of Vmin ~ Vmax and equal and opposite in direction to V1 and V2; If when V1 and V2 falls within the scope of Vmin ~ Vmax simultaneously, if V1 and V2 is equal, then mobile robot's moving direction need not adjust, if V1 and V2 is unequal, then controller drives mobile robot to adjust moving direction to V1 and V2 equal and opposite in direction all to fall within the scope of Vmin ~ Vmax, and now the moving direction of mobile robot in perform region is perpendicular to entering border, place;
4. control mobile robot to travel through in the right area of perform region, detailed process is:
4.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of the inductive coil described in two testing circuit Real-time Obtainings or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, real time digital signal and reference range Vmin ~ Vmax contrast by controller, if real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
4.-2 when mobile robot arrive with enter locate the relative boundary in border time, the direction that controller controls to be parallel to after mobile robot rotates clockwise 90 degree the border relative with border, the place of entering moves forward a distance, d, d equals the working width of mobile robot, and then rotates clockwise 90 degree and move forward;
4.-3 run at every turn with enter and locate relative border, border after, all repeat step 4.-2, and add up the number of times that mobile robot moves forward along the direction being parallel to the border relative with border, the place of entering, this number of times is designated as n; When mobile robot is along being parallel to when arriving border, the right when entering and locate the relative Boundary Moving in border, stops mobile, after control mobile robot rotates clockwise 90 degree, moving forward to boundary, completing right area and travel through;
5. controlling mobile robot, to move size perpendicular to the direction on border, the right after boundary rotates clockwise 90 degree be on the right rotate clockwise 90 degree again after the distance of n*d, and now the moving direction of mobile robot is perpendicular to entering border, place;
6. control the left area of mobile robot in perform region to travel through, detailed process is:
6.-1 mobile robot moves forward along the direction perpendicular to border, the place of entering, the loss resistance of the inductive coil described in two testing circuit Real-time Obtainings or resonance frequency, and send to controller after loss resistance or resonance frequency are converted into real time digital signal, the value of real time digital signal and reference range Vmin ~ Vmax contrast by controller, if the value of real time digital signal falls in reference range, then mobile robot arrives and locates relative border, border with entering;
6.-2 when mobile robot arrive with enter locate the relative boundary in border time, controller controls to move forward a distance, d along the direction being parallel to the border relative with border, the place of entering after mobile robot rotates counterclockwise 90 degree, d equals the working width of mobile robot, and then rotates counterclockwise 90 degree and move forward;
6.-3 run at every turn with enter and locate relative border, border after, all repeat step 6.-2, when mobile robot is along being parallel to when arriving left boundary when entering and locate the relative Boundary Moving in border, stop mobile, control to move forward to boundary after mobile robot rotates counterclockwise 90 degree, complete left area traversal.
5. the confining method of the device for defining mobile work robot region according to claim 4, it is characterized in that described testing circuit comprises inductance digital quantizer, first electric capacity, second electric capacity, 3rd electric capacity, 4th electric capacity, 5th electric capacity, 6th electric capacity and the 7th electric capacity, the model of described inductance digital quantizer is LDC1000, LDC1041 or LDC1051, 4th pin of described inductance digital quantizer, one end of the first described electric capacity is connected with one end of the second described electric capacity and its link access 3.3V voltage, the other end of the first described electric capacity and the equal ground connection of the other end of the second described electric capacity, 13rd pin of described inductance digital quantizer is connected with one end of the 3rd described electric capacity, the other end ground connection of the 3rd described electric capacity, 7th pin of described inductance digital quantizer is connected with one end of the 4th described electric capacity, the other end of the 4th described electric capacity is connected with the 8th pin of described inductance digital quantizer, 11st pin and the 17th pin of described inductance digital quantizer all connect in analog, 9th pin of described inductance digitizer, one end of the 7th described electric capacity is connected with one end of described inductive coil, 10th pin of described inductance digital quantizer, the other end of the 7th described electric capacity is connected with the other end of described inductive coil, 12nd pin of described inductance digital quantizer, one end of the 5th described electric capacity is connected with one end of the 6th described electric capacity and its link access 5V voltage, the other end of the 5th described electric capacity and the other end of the 6th described electric capacity all connect in analog, 1st pin of described inductance digital quantizer, 2nd pin, 3rd pin, 5th pin, 14th pin is connected with described controller respectively with the 16th pin.
6. the confining method of the device for defining mobile work robot region according to claim 5, it is characterized in that described controller comprises for model is the control chip of STM32F103, model is the voltage stabilizing chip of SPX1117, first resistance, second resistance, 3rd resistance, 4th resistance, 8th electric capacity, 9th electric capacity, tenth electric capacity, 11 electric capacity, 12 electric capacity, 13 electric capacity, 14 electric capacity, 15 electric capacity, 16 electric capacity, 17 electric capacity, 18 electric capacity, 19 electric capacity, 20 electric capacity, 21 electric capacity, 22 electric capacity, 23 electric capacity, first crystal oscillator, second crystal oscillator, button and splicing ear,
One end ground connection of the first described resistance, another termination of the first described resistance in analog, 2nd pin of described voltage stabilizing chip, one end of the 8th described electric capacity are connected with one end of the 9th described electric capacity and its link access 5V voltage, 3rd pin of described voltage stabilizing chip, one end of the tenth described electric capacity are connected with one end of the 11 described electric capacity and its link exports 3.3V voltage, the other end of the 8th described electric capacity, the other end of the 9th described electric capacity, the other end of the tenth described electric capacity and the equal ground connection of the other end of the 11 described electric capacity;
One end of the 12 described electric capacity, the 2nd pin of the first described crystal oscillator are connected with the 12nd pin of described control chip, the other end of the 12 described electric capacity and the equal ground connection in one end of the 13 described electric capacity, the other end of the 13 described electric capacity, the 1st pin of the first described crystal oscillator are connected with one end of the second described resistance, and the other end of the second described resistance is connected with the 13rd pin of described control chip;
One end of the 14 described electric capacity, the 2nd pin of the second described crystal oscillator are connected with the 8th pin of described control chip, the other end of the 14 described electric capacity and the equal ground connection in one end of the 15 described electric capacity, the other end of the 15 described electric capacity, the 1st pin of the second described crystal oscillator are connected with the 9th pin of described control chip;
One end of the 16 described electric capacity, one end of the 17 described electric capacity, one end of the 18 described electric capacity, one end of the 19 described electric capacity, one end of the 20 described electric capacity, one end of the 21 described electric capacity is connected with one end of the 22 described electric capacity and its link access 3.3V voltage, the other end of the 16 described electric capacity, the other end of the 17 described electric capacity, the other end of the 18 described electric capacity, the other end of the 19 described electric capacity, the other end of the 20 described electric capacity, the other end of the 21 described electric capacity and the equal ground connection of the other end of the 22 described electric capacity,
One end access 3.3V voltage of the 3rd described resistance, the other end of the 3rd described resistance, the 2nd pin of described splicing ear are connected with the 94th pin of described control chip, the 1st pin ground connection of described splicing ear; One end access 3.3V voltage of the 4th described resistance, the other end of the 4th described resistance, described one end of the 23 electric capacity, one end of described button are connected with the 14th pin of described control chip, the other end of described button and the equal ground connection of the other end of the 23 described electric capacity;
47th pin of described control chip is connected with the 16th pin of described inductance digital quantizer, 48th pin of described control chip is connected with the 14th pin of described inductance digital quantizer, 51st pin of described control chip is connected with the 2nd pin of described inductance digital quantizer, 52nd pin of described control chip is connected with the 1st pin of described inductance digital quantizer, 53rd pin of described control chip is connected with the 5th pin of described inductance digital quantizer, 54th pin of described control chip is connected with the 3rd pin of described inductance digital quantizer, 6th pin of described control chip, 11st pin, 28th pin, 50th pin, 75th pin and the 100th pin all access 3.3V voltage, 10th pin of described control chip, 27th pin, 49th pin, 74th pin and the equal ground connection of the 99th pin.
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| CN107479099A (en) * | 2017-09-30 | 2017-12-15 | 深圳拓邦股份有限公司 | A kind of electromagnetic field detection device, movable equipment and Boundary Recognition system |
| CN107743771A (en) * | 2017-10-19 | 2018-03-02 | 谢新昇 | One kind can avoidance automatic mowing robot |
| WO2019061441A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳拓邦股份有限公司 | Electromagnetic field detection apparatus, movable device and boundary identification system |
| CN111381569A (en) * | 2018-12-29 | 2020-07-07 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof, door control equipment and self-moving equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107479099A (en) * | 2017-09-30 | 2017-12-15 | 深圳拓邦股份有限公司 | A kind of electromagnetic field detection device, movable equipment and Boundary Recognition system |
| WO2019061441A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳拓邦股份有限公司 | Electromagnetic field detection apparatus, movable device and boundary identification system |
| CN107743771A (en) * | 2017-10-19 | 2018-03-02 | 谢新昇 | One kind can avoidance automatic mowing robot |
| CN111381569A (en) * | 2018-12-29 | 2020-07-07 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof, door control equipment and self-moving equipment |
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|---|---|
| CN104503448B (en) | 2017-02-01 |
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