CN102048499B - Mobile robot system and control method thereof - Google Patents
Mobile robot system and control method thereof Download PDFInfo
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- CN102048499B CN102048499B CN201010502527.6A CN201010502527A CN102048499B CN 102048499 B CN102048499 B CN 102048499B CN 201010502527 A CN201010502527 A CN 201010502527A CN 102048499 B CN102048499 B CN 102048499B
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Abstract
The invention provides a mobile robot system and a control method thereof.Only when a remote controller reception module of a beacon senses a signal transmitted from a mobile robot, the sensed result is reported to the mobile robot in the form of a response signal.In addition, the Field-of-View (FOV) of the remote control reception module is restricted by a directivity receiver.Only when the signal transmitted from the mobile robot is sensed within the restricted FOV, the sensed result is reported to the mobile robot.
Description
Technical field
Embodiment relates to a kind of mobile-robot system and controls the method for this mobile-robot system, and wherein, described mobile-robot system is used for the travel zone of limiting robot and goes to another region for guided robot.
Embodiment
Now describe embodiment in detail, the example of embodiment is shown in the drawings, and wherein, identical label indicates identical parts all the time.Below, embodiment is described to explain the present invention by referring to accompanying drawing.
Fig. 1 is the diagram of the configured in one piece of the mobile-robot system illustrated according to embodiment.Mobile-robot system comprises: mobile robot 10, while ought independently advancing in predetermined areas, perform clean operation, and for sending infrared ray (IR) signal with bag unit; And Radio Beacon 20, separate with mobile robot 10, for receiving the signal sent from mobile robot 10.
Radio Beacon 20 is arranged on movably the border (door etc. as between the corner between bedroom and kitchen, room) of travel zone, to limit the travel zone of mobile robot 10.Radio Beacon 20 detects the signal sent from mobile robot 10, and omni-directionally send response signal to control to keep away barrier navigation according to result of detection to mobile robot 10, thus prevent mobile robot 10 from passing through the border (restricted boundary) of travel zone, and prevent mobile robot 10 and Radio Beacon 20 from bumping against.
In addition, Radio Beacon 20 has beacon function to lead mobile robot 10 to another room, thus mobile robot performs the clean operation in another room after the clean operation in an end room.
Fig. 2 is the skeleton view of the outward appearance of the mobile robot illustrated according to embodiment.
In fig. 2, mobile robot 10 comprises the main body 12 forming outward appearance, and a pair is arranged on the wheel 14 for driving mobile robot 10 below main body 12 with predetermined space.This optionally drives by making the driver element of rotating of wheel (engine) driving wheel 14, and mobile robot 10 is advanced towards the direction expected.Multiple auxiliary wheels for supportive body 12 and for making mobile robot 10 smoothly advance can be arranged on front side and the rear side of driving wheel 14.
In addition, mobile robot 10 comprises one for sending IR signal to report the transmitter 100 that mobile robot advances with bag unit, and multiple (such as 5) are for receiving the receiver 102 of the response signal of Radio Beacon 20.Transmitter 100 is installed in the top of the front surface of main body 12, and uses 360 degree of dispersing lenss to carry out omni-directionally (with 360 degree) transmission IR signal.Multiple receiver 102 is installed in front surface and the side surface of main body 12 with predetermined space, and uses 180 degree of dispersing lenss omni-directionally to receive IR signal.
Fig. 3 is the skeleton view of the outward appearance of the Radio Beacon illustrated according to embodiment.
In figure 3, Radio Beacon 20 comprises the main body 22 forming outward appearance and the sensor window 24 for transmitt or receive signal being arranged on main body 22 periphery.The outer wall of sensor window 24 is annulars, and the wave beam of the signal sending or receive is not bent.
In addition, Radio Beacon 20 comprises: the first directional reception device 200, for being received in the signal (high/medium/low/close signal) that mobile robot 10 sends while advancing to perform cleaning of a room in the visual field (FOV) limited, and whether enter the border (restricted boundary) of travel zone for sensing movement robot 10; Second directional reception device 202, for receiving the clean completed signal in an instruction room in the FOV limited, and whether close for guiding mobile robot 10 from a room to the guiding area in another room for sensing movement robot 10; Whether omnidirectional's receiver 204, for receiving " close " signal sent from mobile robot 10, and for sensing movement robot 10 near Radio Beacon 20; And multiple (as 3) transmitter 206, response signal (the IR signal of transmission, to prevent mobile robot from passing through restricted boundary or to guide mobile robot to another region) is omni-directionally sent to mobile robot 10 for the result according to detection.
First directional reception device 200 is the directional reception slits for restricted boundary recognition mode, described directional reception slit is installed in the top of the front surface of Radio Beacon 20, to be defined for the region being received in the signal (high/medium/low/close signal) sent while mobile robot 10 performs a home cleaning.By using the gap of described slit (width), length and highly limiting Signal reception region, the described directional reception slit for restricted boundary recognition mode has directive property.
Each second directional reception device 202 is the directional reception slits for motor pattern, described directional reception slit is installed in left side or the right side of the first directional reception device 200, so that restriction is used for the region of the clean completed signal receiving an instruction room from mobile robot 10.Be similar to the directional reception slit for restricted boundary recognition mode corresponding to the first directional reception device 200, by using the gap of described slit (width), length and highly limiting Signal reception region, the described directional reception slit for motor pattern has directive property.The width of the directional reception slit for motor pattern corresponding to the second directional reception device 202 is greater than the width of the directional reception slit for restricted boundary recognition mode, to lead mobile robot 10 from a room to another room.
Multiple (as 2) second directional reception device 202 be installed in left side and the right side of the first directional reception device 200, to guide mobile robot 10 from right receiving area to left receiving area when mobile robot 10 moves to another room from a room, or from left receiving area to right receiving area.
Omnidirectional's receiver 204 is the omnidirectional's receivers of the core being arranged on Radio Beacon 20 bottom, to receive with 360 degree " close " signal sent from mobile robot 10.Omnidirectional's receiver 204 uses refraction and the reflecting attribute of lens 204a, receives IR signal, and produce area of scattered light by receiver module 204b from any given direction.
First directional reception device 200, second directional reception device 202 and omnidirectional's receiver 204 use the remote control module with pole low current loss, and wherein, current loss maximal value is about 0.4mA to 2.0mA.
When first directional reception device 200, second directional reception device 202 and omnidirectional's receiver 204 receive the signal sent from mobile robot 10, described multiple transmitter 206 sends to mobile robot 10 and is used for report receiver to the response signal with Received signal strength, and uses 180 degree of dispersing lenss.
Radio Beacon 20 also comprises the battery 26 of the driving power for providing Radio Beacon 20, for the signal of Radio Beacon 20 is arrived distance be set to " height ", " in " or the signal setting switch 28 of " low ", and for the operator scheme of Radio Beacon 20 being set to the mode setting switch 30 of " restricted boundary recognition mode " or " motor pattern ".
If signal setting switch 28 is set to " height ", then the signal arrival distance of Radio Beacon 20 is about 4m, and this is equivalent to 1/2 distance in the bedroom of average family.
If signal setting switch 28 is set to " in ", then the signal arrival distance of Radio Beacon 20 is about 2m, and this is equivalent to the distance in the corridor in kitchen in average family.
If signal setting switch 28 is set to " low ", then the signal arrival distance of Radio Beacon 20 is about 1m, and this is equivalent to the width of door in average family.
Fig. 4 is the control block diagram of the mobile-robot system according to embodiment.
In the diagram, except the basic configuration of Fig. 2, mobile robot 10 also comprises input block 104, barrier sensing cell 106, driver element 108, battery sense unit 110, storage unit 112 and robot control unit 114.
Input block 104 comprises the multiple button or the telepilot (not shown) that are arranged on main body 12 top of mobile robot, to make user's input command to perform the operation of mobile robot 10.
In barrier sensing cell 106 sensing movement robot 10 travel zone as barriers such as furniture, office equipment or walls.The outlet openings ultrasonic signal that barrier sensing cell 106 is advanced to mobile robot 10 along it, receives the ultrasonic signal from barrier reflection, and sense barrier in the presence/absence of and to the distance of barrier.Now, barrier sensing cell 106 can be IR sensor, comprises multiple IR emission element and light-receiving member, to launch IR and to receive reflected light.
Driver element 108 drives the dual drive wheel 14 below the main body 12 being arranged on mobile robot, so that mobile robot 10 independently advances in travel zone, the obstacle information simultaneously sensed based on the sensing cell 106 that breaks the barriers changes its direction, does not collide with wall or barrier.
Battery sense unit 110 senses the charging residual quantity of rechargeable battery 109, and send the information about charging residual quantity to robot control unit 114, wherein, described rechargeable battery 109 is for providing the driving power of mobile robot 10 (such as sending the necessary energy of signal by multiple transmitter).
Storage unit 112 is storeies, for the running program of storing driver mobile robot 10, traveling mode and the positional information of mobile robot 10 obtained in traveling process and obstacle information.
Robot control unit 114 is microprocessors of the integrated operation for controlling mobile robot 10.Robot control unit 114 controls transmitter 100 and sends IR signal to report that mobile robot 10 is advancing with bag unit, and if multiple receiver 102 receives the response signal from Radio Beacon 20, then robot control unit 114 control mobile robot 10 keep away barrier navigation, until no longer receive the response signal from Radio Beacon 20.
In the diagram, except basic configuration shown in Figure 3, Radio Beacon 20 also comprises: storage unit 208, for the header etc. of storing mobile robot 10; With Radio Beacon control module 210, for the integrated operation of mouse beacon machine 20, that is, use IR signal to report the first directional reception device 200 and the second directional reception device 202 or omnidirectional's receiver 204 to receive the signal sent from mobile robot 10 for controlling described multiple transmitter 206.
The operation and effect with the mobile-robot system of configuration described above and the method controlling this mobile-robot system will be described below.
Fig. 5 explains the concept map according to the principle of operation of the mobile-robot system such as when the operator scheme of Radio Beacon 20 being set to restricted boundary recognition mode of embodiment.
In Figure 5, mobile robot 10 independently advances (as along by thick arrow indicated direction) in travel zone, and the border (door etc. as between the corner between bedroom and kitchen, room) of travel zone mobile robot 10 arranges Radio Beacon 20.
As shown in Figure 5, while mobile robot 10 independently advances in travel zone, described mobile robot sends IR signal, to report that mobile robot is advancing by the transmitter 100 being arranged on the top of the front surface of the main body 12 of robot with bag unit.Now, the bag signal sent from mobile robot 10 comprise the header of mobile robot 10 and intensity be " height ", " ", " low " or the signal data for reporting " close " that mobile robot 10 is close.Bag signal sending time is about each cycle 180 milliseconds to 200 milliseconds.
In an embodiment, if mobile robot 10 is positioned at the position away from Radio Beacon 20, then Radio Beacon 20 does not send signal, and thus the energy of Radio Beacon battery 26 is not unnecessarily consumed.Now, Radio Beacon 20 is in holding state, to make the first directional reception device 200 and omnidirectional's receiver 204 use the non-firm power with the remote control module of extremely low power dissipation to receive the signal sent from mobile robot 10.
First directional reception device 200 of Radio Beacon 20 limits restricted boundary with slit shape and has directive property to make remote control module, and when the signal sent from mobile robot 10 enters the restricted boundary of described restriction, described first directional reception device 200 sensing movement robot 10 is near restricted boundary.
Omnidirectional's receiver 204 of Radio Beacon 20 receives with 360 degree the signal sent from mobile robot 10, and when receiving " close " signal the signal sent from mobile robot 10 (the arrival distance instruction mobile robot of " close " signal moves this apart from being just enough to bump against with Radio Beacon near Radio Beacon), described omnidirectional receiver 204 senses mobile robot 10 near Radio Beacon 20.
If the first directional reception device 200 of Radio Beacon 20 or omnidirectional's receiver 204 receive the signal sent from mobile robot 10, then Radio Beacon 20 omni-directionally sends response signal by multiple transmitter 206 to mobile robot 10, to report that the signal of mobile robot 10 receives, thus prevent mobile robot 10 from entering the border of travel zone or preventing mobile robot 10 and Radio Beacon 20 from bumping against.
Correspondingly, mobile robot 10 receives the response signal of Radio Beacon 20 to stop advancing of mobile robot 10 by multiple receiver 102, and execution keeps away barrier navigation, thus prevent mobile robot 10 from passing through the border of travel zone or preventing mobile robot and Radio Beacon 20 from bumping against.
Fig. 6 illustrates the process flow diagram limiting the method for the travel zone of mobile robot in mobile-robot system according to embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 to be set to restricted boundary recognition mode.
In figure 6, IR signal is sent, to report that mobile robot is in advance (300) by transmitter 100 with bag unit while mobile robot 10 advances in travel zone.
Now, Radio Beacon 20 is in the holding state using and have the non-firm power of the remote control module of extremely low power dissipation, and by the first directional reception device 200 receive mobile robot 10 send signal, and when the signal sent from mobile robot 10 enters the FOV of restriction to Radio Beacon control module 210 transmission and reception to signal.
Radio Beacon control module 210 determines whether the first directional reception device 200 has received the signal (302) sent from mobile robot 10.If the first directional reception device 200 of Radio Beacon 20 does not receive the signal sent from mobile robot 10, then Radio Beacon 20 keeps holding state (304).
If determine that the first directional reception device 200 of Radio Beacon 20 has received the signal sent from mobile robot 10 in operation 302, then Radio Beacon control module 210 senses mobile robot 10 and enters restricted boundary, and omni-directionally send response signal (IR signal) by multiple transmitter 206, to report " prohibited area " (306) to mobile robot 10.
Mobile robot 10 receives the response signal of Radio Beacon 20 by multiple receiver 102, and sends response signal to robot control unit 114.
Robot control unit 114 determines whether multiple receiver 102 has received the response signal (308) of Radio Beacon 20.If mobile robot 10 does not receive the response signal of Radio Beacon 20, then described method proceeds to operation 300 and repeats to continue operation thereafter.
If determine that in operation 308 mobile robot 10 has received the response signal of Radio Beacon 20, then robot control unit 114 stops the clean navigation of mobile robot 10, and control keep away barrier navigation mobile robot 10 is rotated, in order to avoid pass through restricted boundary (310).
After this, robot control unit 114 determines whether keep away barrier navigation by the rotation of mobile robot 10 and do not sense the response signal (312) of Radio Beacon 20, and if sense the response signal of Radio Beacon 20, the rotation that then described robot control unit 114 continuation performs mobile robot 10 keeps away barrier navigation, until do not sense the response signal of Radio Beacon 20.
If determine the response signal not sensing Radio Beacon 20 in operation 312, then the rotation terminating Radio Beacon 10 keeps away barrier navigation, and is rotating the clean navigation (314) direction of terminating starting mobile robot.
Fig. 7 is the process flow diagram of the method preventing mobile robot from colliding in mobile-robot system illustrated according to embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 to be set to restricted boundary recognition mode.
In the figure 7, IR signal is sent, to report that mobile robot is in advance (400) by transmitter 100 with bag unit while mobile robot 10 advances in travel zone.
Now, Radio Beacon 20 is in the holding state using and have the non-firm power of the remote control module of extremely low power dissipation, and received " close " signal sent from mobile robot 10 by omnidirectional's receiver 204, and to the signal that Radio Beacon control module 210 transmission and reception are arrived.
Radio Beacon control module 210 determines whether omnidirectional's receiver 204 has received the signal (402) sent from mobile robot 10.If omnidirectional's receiver 204 of Radio Beacon 20 does not receive " close " signal sent from mobile robot 10, then Radio Beacon 20 keeps holding state (404).
If determine that omnidirectional's receiver 204 of Radio Beacon 20 receives " close " signal sent from mobile robot 10 in operation 402, then Radio Beacon control module 210 sensing movement robot 10 is near Radio Beacon 20, and omni-directionally send response signal (IR signal) by multiple transmitter 206, to report " prohibited area " (406) to mobile robot 10.
Mobile robot 10 receives the response signal of Radio Beacon 20 by multiple receiver 102, and sends response signal to robot control unit 114.
Robot control unit 114 determines whether described multiple receiver 102 has received the response signal (408) of Radio Beacon 20.If mobile robot 10 does not receive the response signal of Radio Beacon 20, then described method proceeds to operation 400 and repeats to continue operation thereafter.
If determine that mobile robot 10 has received the response signal of Radio Beacon 20 in operation 408, then robot control unit 114 stops the clean navigation of mobile robot 10, and control keep away barrier navigation mobile robot 10 is rotated, in order to avoid bump against (410) with Radio Beacon 20.
After this, robot control unit 114 determines whether keep away barrier navigation by the rotation of mobile robot 10 and do not sense the response signal (412) of Radio Beacon 20, and if sense the response signal of Radio Beacon 20, then described robot control unit 114 continues to perform the rotation of mobile robot 10 and keeps away barrier navigation, until do not sense the response signal of Radio Beacon 20 on the reverse direction of direct of travel.
If determine the response signal not sensing Radio Beacon 20 in operation 412, then the rotation terminating mobile robot 10 on the reverse direction of direct of travel keeps away barrier navigation, and on the reverse direction of direct of travel, start clean navigation (414).
Fig. 8 explains the such as concept map of the principle of operation of mobile-robot system when the operator scheme of Radio Beacon 20 being set to motor pattern according to embodiment.
In fig. 8, mobile robot 10 advances along guiding area, and Radio Beacon 20 is installed in the border (door etc. as between room) of the travel zone of mobile robot 10.
As shown in Figure 8, if mobile robot 10 completes the clean of a room, then mobile robot 10 sends IR signal by the transmitter 100 being arranged on the top of the front surface of the main body 12 of robot with 360 degree, completes to report to clean.
Second directional reception device 202 of Radio Beacon 20 limits left FOV or right FOV (guiding area) with slit shape and has directive property to make remote control module, and when the signal sent from mobile robot 10 enters left FOV or right FOV (guiding area) of restriction, sense mobile robot 10 and entered this guiding area.
Omnidirectional's receiver 204 of Radio Beacon 20 receives with 360 degree the signal sent from mobile robot 10, and when " close " signal sent from mobile robot 10 is received, described omnidirectional receiver 204 senses mobile robot 10 near Radio Beacon 20.
When the second directional reception device 202 of Radio Beacon 20 or omnidirectional's receiver 204 sense the signal sent from mobile robot 10, it is received to report the signal of mobile robot 10 that Radio Beacon 20 omni-directionally sends response signal by multiple transmitter 206, thus mobile robot 10 along the guiding area formed by Radio Beacon 20 near Radio Beacon, to move to another room from a room, or when mobile robot senses " close " signal, mobile robot 10 performs wall following navigation along close region (dizzy FOV, halo FOV).
Correspondingly, mobile robot 10 receives the response signal of Radio Beacon 20 by multiple receiver 102, along guiding area near Radio Beacon 20, and when when close region (the dizzy FOV) of Radio Beacon 20, close region (dizzy FOV) along Radio Beacon 20 performs wall following navigation, in order to avoid pass through restricted boundary.
Although describe mobile robot 10 in fig. 8 along right guiding area near Radio Beacon 20, wall following navigation is performed along the close region of Radio Beacon 20 after the close region near Radio Beacon 20, and move to the situation in left room from right room, but embodiment is not limited thereto.Mobile robot 10 along left guiding area near Radio Beacon 20, can perform wall following navigation along the close region of Radio Beacon 20, and moves to right room from left room after the close region near Radio Beacon 20.
Fig. 9 illustrates to arrive the process flow diagram of the method in another region according to the mobile robot that guides in mobile-robot system of embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 to be set to motor pattern.
In fig .9, if complete the clean of a room, then mobile robot 10 sends with 360 degree the IR signal being used for motor pattern by transmitter 100, to report clean completing (500).
Now, Radio Beacon 20 is in the holding state using and have the non-firm power of the remote control module of extremely low power dissipation, and the signal sent from mobile robot 10 is received by the second directional reception device 202, and when the signal for motor pattern sent from mobile robot 10 enters the left FOV of restriction or right FOV, to the signal that Radio Beacon control module 210 transmission and reception are arrived.
Correspondingly, Radio Beacon control module 210 determines whether the second directional reception device 202 has received the signal (502) sent from mobile robot 10.If the second directional reception device 202 of Radio Beacon 20 does not receive the signal sent from mobile robot 10, then Radio Beacon 20 keeps holding state (504).
If determine that the second directional reception device 202 of Radio Beacon 20 has received the signal sent from mobile robot 10 in operation 502, then Radio Beacon control module 210 senses left FOV or the right FOV (guiding area) that mobile robot 10 has entered restriction, and omni-directionally send response signal (IR signal) by multiple transmitter 206, to report " guiding area " (506) to mobile robot 10.
Mobile robot 10 receives the response signal of Radio Beacon 20 by multiple receiver 102, and sends response signal to robot control unit 114.
Robot control unit 114 determines whether multiple receiver 102 has received the response signal (508) of Radio Beacon 20.If mobile robot 10 does not receive the response signal of Radio Beacon 20, then described method proceeds to operation 500 and repeats to continue operation thereafter.
If determine that mobile robot 10 has received the response signal of Radio Beacon 20 in operation 508, then robot control unit 114 controls to guide navigation, make mobile robot 10 along the guiding area formed by Radio Beacon 20 near Radio Beacon 20, to move to another room (510) from completing a clean room.
After this, guide navigation so that mobile robot 10 is while the close region (dizzy FOV) of Radio Beacon 20 when performing, beacon control module 210 determines whether omnidirectional's receiver 204 has received " close " signal (512) sent from mobile robot 10.
If determine that omnidirectional's receiver 204 of Radio Beacon 20 does not receive " close " signal sent from mobile robot 10 in operation 512, then described method proceeds to operation 510, and Radio Beacon 20 continues the guiding navigation performing mobile robot 10.
If determine that omnidirectional's receiver 204 of Radio Beacon 20 has received " close " signal sent from mobile robot 10 in operation 512, then Radio Beacon control module 210 senses mobile robot 10 near the close region (dizzy FOV) of Radio Beacon 20, and Radio Beacon 20 omni-directionally to send response signal by multiple transmitter 206 received to report " close " signal of mobile robot 10.
Then, mobile robot 10 receives the response signal of Radio Beacon 20 by multiple receiver 102, and controls wall following navigation, to pass through restricted boundary (514) along the close region (dizzy FOV) of Radio Beacon 20.
After this, robot control unit 114 determines whether mobile robot 10 passes through restricted boundary (516) along close region (dizzy FOV), and if mobile robot 10 does not pass through restricted boundary, then described method proceeds to operation 514, to continue to perform wall following navigation, mobile robot is made to pass through restricted boundary along close region (dizzy FOV).
If determine that in operation 516 mobile robot 10 passes through restricted boundary, the navigation of mobile robot 10 is then controlled herein by another guiding area (if mobile robot moves to left room along right guiding area from right room, being then left guiding area).
Controlled in the navigation of mobile robot 10 by another guiding area, mobile robot 10 continues to perform wall following navigation along close region (dizzy FOV), until the second directional reception device 202 of Radio Beacon 20 (more specifically, the second directional reception device shown in the left side of Fig. 5) receive after mobile robot 10 passes through restricted boundary from the signal that mobile robot 10 sends, and when the second directional reception device 202 of Radio Beacon 20 receives the signal sent from mobile robot 10, sense mobile robot 10 and enter left receiving area (guiding area), and (namely mobile robot 10 is controlled to left guiding area, another guiding area) based on start left room (namely, another room) clean navigation.
Figure 10 illustrates the table sent according to the mobile robot's signal arranging state according to Radio Beacon in mobile-robot system of embodiment.
In Fig. 10, the signal setting switch 28 of user operation Radio Beacon 20 so that the arrival distance of Radio Beacon 20 is set to " height ", " in " or " low ".Then, even if when Radio Beacon 20 receives the signal sent from mobile robot 10, Radio Beacon 20 does not send response signal according to settings, thus the barrier of keeping away can distinguishing control mobile robot 10 navigates.
Such as, if the signal setting switch 28 of Radio Beacon 20 is set to " low " by user, even if then when the first directional reception device 200 of Radio Beacon 20 receives the signal sent from mobile robot 10, Radio Beacon 20 does not also omni-directionally send response signal, thus mobile robot 10 ignore for having in the signal sent from mobile robot 10 " in " or " height " intensity signal keep away barrier navigation, and only barrier is kept away for the signal report in the signal sent from mobile robot 10 with " low " or " close " intensity and navigates.
Such as, if the signal setting switch 28 of Radio Beacon 20 is set to by user " in ", even if then when the first directional reception device 200 of Radio Beacon 20 receives the signal sent from mobile robot 10, Radio Beacon 20 does not also omni-directionally send response signal, thus mobile robot 10 ignores and keeps away barrier navigation for the signal in the signal sent from mobile robot 10 with " height " intensity, and only for having in the signal sent from mobile robot 10 " in ", the signal report of " low " or " close " intensity keeps away barrier and navigates.
First directional reception device 200 of example described above instruction Radio Beacon 20 when the mode setting switch 30 of Radio Beacon 20 is set to " restricted boundary recognition mode " receives the situation of the signal from mobile robot 10 transmission.If the mode setting switch 30 of Radio Beacon 20 is set to " motor pattern " by user, then the second directional reception device 202 of Radio Beacon 20 receives the signal for motor pattern sent from mobile robot 10, to be led mobile robot 10 to another room by left guiding area and right guiding area.
Although the signal sent from mobile robot 10 is in the described embodiment IR signal, embodiment is not limited thereto.Even if use visible ray, ultrasound wave or laser signal, also same effect can be realized.
Although the signal sent from Radio Beacon 20 is in the described embodiment IR signal, embodiment is not limited thereto.Even if use visible ray, ultrasound wave, radio frequency (RF) signal or laser signal, also same effect can be realized.
Although illustrate and described some embodiments, but it will be appreciated by those skilled in the art that when not departing from principle and the spirit of embodiment, can change these embodiments, wherein, the scope of embodiment is defined in claim and equivalent thereof.
Background technology
Usually, mobile robot is the device for controlling executable operations while independently advancing in travel zone without the need to user.Robot cleaning machine, as mobile robot, from floor draws the foreign impurities such as such as dust while independently advancing in predetermined cleaning area such as such as family or office etc., thus performs clean operation.
In order to allow mobile robot to perform described operation, need prevent mobile robot from departing from from travel zone provides virtual wall unit (following, be called " Radio Beacon " (beacon)) to limit the row edge regions of mobile robot, wherein, the border (as doorway or separatrix bedroom and kitchen between) of described virtual wall unit for preventing mobile robot from entering travel zone.
For limiting border lasting transmission infrared ray (IR) signal of Radio Beacon to travel zone of the travel zone of mobile robot, to produce beam zone (beam region).When advancing mobile robot so that when detecting IR signal while executable operations, mobile robot changes its direct of travel in order to avoid pass through beam zone, thus execution keeps away barrier navigation.Mobile robot only performs when the signal sent from Radio Beacon is detected and keeps away barrier navigation.But even if due to when in the signal coverage area of mobile robot not in Radio Beacon, Radio Beacon still continues to send signal, and institute is unnecessarily consumed for the high power of transmission signal.Due to described unnecessary power consumption, the battery of Radio Beacon is rushed electricity continually and is therefore more renewed battery continually.Therefore, user may be unsatisfied with the life-span of battery.
Summary of the invention
Therefore, an aspect of of the present present invention is a kind of method providing mobile-robot system and control this mobile-robot system, wherein, described mobile-robot system is used for only when the remote control module in Radio Beacon detects with low-power consumption the signal sent from mobile robot, by reporting that to mobile robot the response signal of the travel zone for limiting mobile robot is to improve the energy efficiency of the battery of Radio Beacon.
The aspect that the present invention is other and/or advantage will be partly articulated in the following description, and apparent from this description to a certain extent, or recognize by enforcement of the present invention.
By providing a kind of mobile-robot system to realize above-mentioned and/or other aspects, described mobile-robot system comprises: mobile robot, while advancing in travel zone, send signal; And Radio Beacon, for receive from mobile robot send signal and for sending response signal to mobile robot, wherein, described Radio Beacon is defined for the visual field (FOV) of Received signal strength, and and if only if when being sensed to be within the FOV limited to the signal sent from mobile robot, send response signal to mobile robot.
The signal sent from mobile robot can comprise infrared ray, visible ray, ultrasound wave or laser beam.
The response signal sent from Radio Beacon can comprise infrared ray, visible ray, ultrasound wave, radio frequency (RF) signal or laser beam.
Mobile robot also can comprise one or more transmitter, and for sending signal to report the travel condition of mobile robot, and described one or more transmitter can send signal by bag unit.
Transmitter can be 360 degree of dispersing lenss, and described 360 degree of dispersing lenss are installed in the top of the front surface of the main body of mobile robot, on all directions of advancing mobile robot, send signal.
Mobile robot also can comprise: one or more receiver, for receiving the response signal of Radio Beacon; And robot control unit, if the response signal of Radio Beacon is received, then what control mobile robot keeps away barrier navigation.
Mobile robot keep away barrier navigation mobile robot can be made to rotate, until no longer receive the response signal of Radio Beacon.
Robot control unit can control mobile robot and start when receiving the response signal of Radio Beacon to rotate, and controls mobile robot and terminates when not receiving the response signal of Radio Beacon to rotate, and on the direction rotating stopping, starting clean navigation.
Multiple receiver can comprise 180 degree of dispersing lenss, and described 180 degree of dispersing lenss are installed in front surface and the side surface of the main body of mobile robot at predetermined intervals, Received signal strength on all directions of advancing mobile robot.
Radio Beacon can be installed to be separates with mobile robot.
Radio Beacon also can comprise directional reception device, and for receiving the signal sent from mobile robot in the FOV limited, and described directional reception device can be the remote control module of wide, long, the high slit shape had for limiting FOV.
Whether directional reception device can comprise: the first directional reception device, for sensing movement robot near the restricted boundary of travel zone; And the second directional reception device, whether passed through restricted boundary for sensing movement robot and near front porch area to move to another region.
First directional reception device can work as Received signal strength when performing clean while mobile robot advances in travel zone, and described signal is used for preventing mobile robot from passing through restricted boundary.
First directional reception device can be the slit for restricted boundary recognition mode, and described slit is installed in the top of the front surface of the main body of Radio Beacon.
Second directional reception device can Received signal strength, and described signal is used to indicate mobile robot and has completed the clean of travel zone.Second directional reception device can be the slit for motor pattern, and described slit is installed in left side and the right side of the first directional reception device.
Radio Beacon also can comprise omnidirectional's receiver, and for receiving with 360 degree the signal sent from mobile robot, and whether sensing movement robot is close.
By providing a kind of method controlling mobile-robot system to realize above-mentioned and/or other aspects, described method comprises: mobile robot, sends signal while advancing in travel zone; The signal sent from mobile robot is sensed in the visual field (FOV) determining whether the restriction in Radio Beacon; In Radio Beacon, if sense the signal sent from mobile robot in the FOV limited, then send response signal to mobile robot; And when mobile robot receives the response signal of Radio Beacon, limit advancing of mobile robot, make mobile robot not pass through the restricted boundary of travel zone.
Can comprise to the restriction of advancing of mobile robot the barrier of keeping away controlling mobile robot to navigate, mobile robot be rotated, until no longer receive the response signal of Radio Beacon.
Mobile robot starts when can work as the response signal receiving Radio Beacon to rotate, and terminates when not receiving the response signal of Radio Beacon to rotate, and stops direction starting clean navigation in rotation.
By providing a kind of method controlling mobile-robot system to realize above-mentioned and/or other aspects, described side goes to comprise: mobile robot, sends signal while advancing in travel zone; In Radio Beacon, receive with 360 degree the signal sent from mobile robot, and determine that whether mobile robot is near Radio Beacon; In Radio Beacon, if mobile robot is near Radio Beacon, then send response signal to mobile robot; And mobile robot, when mobile robot receives the response signal of Radio Beacon, perform and keep away barrier navigation to prevent from bumping against with Radio Beacon.
Determine whether mobile robot can comprise near the process of Radio Beacon, if Radio Beacon senses " close " signal sent from mobile robot, then determine that mobile robot is near Radio Beacon.
By providing a kind of method controlling mobile-robot system to realize above-mentioned and/or other aspects, described method comprises: mobile robot, sends signal when completing travel zone clean; The signal sent from mobile robot is sensed in the visual field (FOV) determining whether the restriction in Radio Beacon; In Radio Beacon, if sense the signal sent from mobile robot in the FOV limited, then send response signal to mobile robot; And when mobile robot receives the response signal of Radio Beacon, guide mobile robot pass through the restricted boundary of travel zone and move to another region.
Can comprise the guiding of mobile robot makes mobile robot come, near Radio Beacon, to determine that whether mobile robot is near the close region of Radio Beacon along the guiding area formed by Radio Beacon; In Radio Beacon, when mobile robot is when the close region of Radio Beacon, send response signal to mobile robot; Mobile robot, if mobile robot receives the response signal of Radio Beacon, then the close region along Radio Beacon performs wall following navigation to pass through restricted boundary.
Radio Beacon can receive the clean completed signal of indication lines recessed region, and sensing movement robot whether near guiding area to pass through restricted boundary to move to another region.
According to the embodiment of the present invention, the remote control module with low-power consumption is used to replace with high power consumption to send signal.Only when the remote control module senses of Radio Beacon is to the signal sent from mobile robot, sensing result is reported to mobile robot with the form of response signal.Correspondingly, can while the travel zone limiting mobile robot, energy consumption minimized by Radio Beacon battery, and the energy efficiency of Radio Beacon battery can be improved.In addition, the visual field (FOV) of remote control module limited by directional reception device.Only when sensing the signal sent from mobile robot in the FOV limited, sensing result is reported to mobile robot.Therefore, the motion localized area of mobile robot is minimized, thus does not limit the region will cleaned by mobile robot.Increase beacon function, even if thus when clean several room, still can meet the various demand of user, wherein, described beacon function to be used for when mobile robot completes a room clean guiding moveable robot movement to another room.
Accompanying drawing explanation
By the description to embodiment carried out below in conjunction with accompanying drawing, these and/or other aspect of the present invention will become clear and easy to understand more, wherein;
Fig. 1 is the diagram of the configured in one piece of the mobile-robot system illustrated according to embodiment;
Fig. 2 is the skeleton view of the outward appearance of the mobile robot illustrated according to embodiment;
Fig. 3 is the skeleton view of the outward appearance of the Radio Beacon illustrated according to embodiment;
Fig. 4 is the control block diagram of the mobile-robot system according to embodiment;
Fig. 5 explains the concept map according to the principle of operation of the mobile-robot system of embodiment;
Fig. 6 illustrates the process flow diagram limiting the method for the travel zone of mobile robot in mobile-robot system according to embodiment;
Fig. 7 is the process flow diagram of the method preventing mobile robot from colliding in mobile-robot system illustrated according to embodiment;
Fig. 8 explains the concept map according to the principle of operation of the mobile-robot system of embodiment;
Fig. 9 illustrates to arrive the process flow diagram of the method in another region according to the moveable robot movement that guides in mobile-robot system of embodiment;
Figure 10 illustrates the table sent according to the mobile robot's signal arranging state according to Radio Beacon in mobile-robot system of embodiment.
Claims (15)
1. a mobile-robot system, comprising:
Mobile robot, sends signal while advancing in travel zone; With
Radio Beacon, for receive from mobile robot send signal and send response signal to mobile robot,
Wherein, described Radio Beacon is defined for the visual field of Received signal strength, and and if only if when being sensed to be within the visual field limited from the signal of mobile robot's transmission, described Radio Beacon sends response signal to mobile robot, when the signal sent from mobile robot is sensed to be not within the visual field limited, described Radio Beacon is in holding state.
2. mobile-robot system as claimed in claim 1, wherein:
Mobile robot also comprises one or more transmitter, for sending signal to report the travel condition of mobile robot, and
Mobile robot comprises main body, and described transmitter is 360 degree of dispersing lenss, and described 360 degree of dispersing lenss are installed in the top of the front surface of the main body of mobile robot, on all directions of advancing mobile robot, send signal.
3. mobile-robot system as claimed in claim 1, wherein, mobile robot also comprises:
Receiver, for receiving the response signal of Radio Beacon; With
Robot control unit, if the response signal for receiving Radio Beacon, then what control mobile robot keeps away barrier navigation.
4. mobile-robot system as claimed in claim 3, also comprise multiple receiver, mobile robot comprises main body, and, described receiver comprises 180 degree of dispersing lenss, described 180 degree of dispersing lenss are installed in front surface and the side surface of the main body of mobile robot with predetermined space, Received signal strength on all directions of advancing mobile robot.
5. mobile-robot system as claimed in claim 1, wherein, described Radio Beacon is installed to be separates with mobile robot.
6. mobile-robot system as claimed in claim 5, wherein:
Radio Beacon also comprises directional reception device, for receiving the signal sent from mobile robot in the visual field limited, and
Described directional reception device is that the remote control module of wide, long, the high slit shape had for limiting visual field is to limit visual field.
7. mobile-robot system as claimed in claim 6, whether wherein, directional reception device comprises: the first directional reception device, for sensing movement robot near the restricted boundary of travel zone; With multiple second directional reception device, for sensing movement robot whether passed through restricted boundary and near guiding area to move to another region.
8. mobile-robot system as claimed in claim 7, wherein, Radio Beacon comprises main body, and described first directional reception device is the slit for restricted boundary recognition mode, and described slit is installed in the top of the front surface of the main body of Radio Beacon.
9. mobile-robot system as claimed in claim 8, wherein, the second directional reception device is the slit for motor pattern, and described slit is installed in left side and the right side of the first directional reception device.
10. mobile-robot system as claimed in claim 5, wherein, Radio Beacon also comprises omnidirectional's receiver, for receiving with 360 degree the signal sent from mobile robot, and whether close for sensing movement robot.
11. 1 kinds of methods controlling mobile-robot system, described method comprises:
Mobile robot, while advancing in travel zone, send signal;
Determine whether in the visual field of the restriction of Radio Beacon, sense the signal sent from mobile robot;
In Radio Beacon, if sense the signal sent from mobile robot in the visual field limited, then send response signal to mobile robot, otherwise Radio Beacon is in holding state; And
When mobile robot receives the response signal of Radio Beacon, limit advancing of mobile robot, make mobile robot not pass through the restricted boundary of travel zone.
12. methods as claimed in claim 11, wherein, comprise the restriction that mobile robot advances: what control mobile robot keeps away barrier navigation, mobile robot is rotated, until the response signal of Radio Beacon is no longer received.
13. 1 kinds of methods controlling mobile-robot system, described method comprises:
Mobile robot, while advancing in travel zone, send signal;
In Radio Beacon, receive with 360 degree the signal sent from mobile robot, and determine that whether mobile robot is near Radio Beacon;
In Radio Beacon, if mobile robot is near Radio Beacon, then send response signal to mobile robot, otherwise be in holding state; And
Mobile robot, when mobile robot receives the response signal of Radio Beacon, perform and keep away barrier navigation to prevent from bumping against with Radio Beacon.
14. 1 kinds of methods controlling mobile-robot system, described method comprises:
Mobile robot, send signal when completing travel zone clean;
Determine whether in the visual field of the restriction of Radio Beacon, sense the signal sent from mobile robot;
In Radio Beacon, if sense the signal sent from mobile robot in the visual field limited, then send response signal to mobile robot, otherwise be in holding state; And
When mobile robot receives the response signal of Radio Beacon, mobile robot is guided to pass through the restricted boundary of travel zone and move to another region.
15. methods as claimed in claim 14, wherein comprise the guiding of mobile robot:
Mobile robot is made to come near Radio Beacon along the guiding area formed by Radio Beacon;
Determine that whether mobile robot is near the close region of Radio Beacon;
In Radio Beacon, when mobile robot is when the close region of Radio Beacon, send response signal to mobile robot; And
Mobile robot, if mobile robot receives the response signal of Radio Beacon, then the close region along Radio Beacon performs wall following navigation to pass through restricted boundary.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| KR10-2009-0101527 | 2009-10-26 | ||
| KR20090101527A KR101487781B1 (en) | 2009-05-15 | 2009-10-26 | Mobile robot system and control method thereof |
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| CN102048499A CN102048499A (en) | 2011-05-11 |
| CN102048499B true CN102048499B (en) | 2015-04-01 |
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| JP7149502B2 (en) * | 2018-03-29 | 2022-10-07 | パナソニックＩｐマネジメント株式会社 | AUTONOMOUS MOBILE VACUUM CLEANER, CLEANING METHOD USING AUTONOMOUS MOBILE VACUUM CLEANER, AND PROGRAM FOR AUTONOMOUS MOBILE VACUUM CLEANER |
| JP7194914B2 (en) * | 2018-03-29 | 2022-12-23 | パナソニックＩｐマネジメント株式会社 | AUTONOMOUS MOBILE VACUUM CLEANER, CLEANING METHOD USING AUTONOMOUS MOBILE VACUUM CLEANER, AND PROGRAM FOR AUTONOMOUS MOBILE VACUUM CLEANER |
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