CN105319965A - Self-moving robot restriction system - Google Patents
Self-moving robot restriction system Download PDFInfo
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- CN105319965A CN105319965A CN201510846342.XA CN201510846342A CN105319965A CN 105319965 A CN105319965 A CN 105319965A CN 201510846342 A CN201510846342 A CN 201510846342A CN 105319965 A CN105319965 A CN 105319965A
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Abstract
The invention relates to a self-moving robot restriction system, including a portable restriction device and a robot. The portable restriction device includes a pair of pedestals provided with light reflecting surfaces, and when the pair of the pedestals are arranged at left and right sides of an area to be restricted, the two light reflecting surfaces can directly face each other at left and right sides; the robot includes a steering device, a light emission unit, a light receiving unit used for receiving reflected light after light beams pass through the two light reflecting surfaces and a control device, the light receiving unit includes a left side light receiving group and a right side light receiver group, the control device executes an algorithm, and the algorithm includes a step of outputting an instruction that changes a current movement direction of the robot to the steering device when the left side light receiver group and the right side light receiver group can receive the reflected light at the same time. Since the pair of pedestals in the portable restriction device work by means of the respective light reflecting surfaces, a battery or power supply is not needed for power supply, and thus the self-moving robot restriction system is relatively reliable in use.
Description
Technical field
The present invention relates to a kind of self-movement robot system for restricting.
Background technology
At present, self-movement robot is widely used, and as the robot of cleaning floor, the inspecting robot etc. of replacement hand inspection, these robots operationally, need to be limited in a scope of limiting to mobile with execution work.
As the robot of cleaning floor, complete a room clean after, another room can be moved to by room door.Common solution closes room door to make to be limited to work in this room.Closedown door can make user pass in and out room and frequently will close door at that time, thus caused inconvenience to user.
Publication number is disclose a kind of for the location of robot and the method and system of restriction in the Chinese patent of CN1241080C, and this system comprises: a portable obstacle signal forwarder, and this portable obstacle signal forwarder is mainly along an axle transmission signal; One movable machine people, can make once detect that this obstacle signal avoids this obstacle signal at once.In a preferred embodiment, this obstacle signal is launched with a ultrared frequency, and this robot comprises an omnibearing signal detector.Once this signal be detected, this robot revolute to by the selected direction of an obstacle avoidance algorithm, until this obstacle signal no longer detected.
Above-mentioned system is owing to have employed a portable obstacle signal forwarder, user can be formed in the position of such as room door artificial " obstacle " together, as long as robot detects that this obstacle is avoided at once, thus effectively prevent robot pass this room door move to outside.But, because portable obstacle signal forwarder needs to continue externally transmission signal, this portable obstacle signal forwarder is made to need continued power to meet the requirement of transmission signal, therefore, if give the portable obstacle signal forwarder battery electric quantity of powering not enough or thoroughly do not have electricity and user does not change battery in time, then this forwarder is by cisco unity malfunction, thus loses the effectiveness of the robot scope of constrained robot's work.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of self-movement robot system for restricting that can work long hours.
In order to realize foregoing invention object.The present invention adopts following technical scheme: a kind of self-movement robot system for restricting, comprising:
One portable confining device, comprise left side pedestal and right side pedestal, described left side pedestal is provided with the first reflective surface, described right side pedestal is provided with the second reflective surface, when described left side pedestal and right side pedestal are supported in time restricting the left and right sides in region, the first described reflective surface and the second reflective surface can face left and right;
One robot, comprise the steering gear turned to for drive machines people, can to the Optical Transmit Unit of transmitted beam outside described robot, for the light that receives described light emitting units emitting through the light receiving unit of the reflected light of the first described reflective surface and the reflection of the second reflective surface and control device, described light receiving unit comprises for receiving from the left side optical receiver group of the reflected light of the first described reflective surface reflection and the right side optical receiver group for receiving the reflected light from the second described reflective surface reflection, described left side optical receiver group, described right side optical receiver group and described steering gear all connect with signal with described control device, described left side optical receiver group and described right side optical receiver group all at least comprise a directional light receiver,
Described control device performs an algorithm; Described algorithm comprises: when described left side optical receiver group receive receive the reflected light from the second described reflective surface reflection from the reflected light of described first reflective surface reflection, described right side optical receiver group simultaneously time, described control device exports to described steering gear the step that changes the current moving direction instruction of robot.
In technique scheme, preferably, described left side optical receiver group comprises multiple left sides directional light receiver, described right side optical receiver group comprises multiple right sides directional light receiver, described left side directional light receiver is identical with the number of described right side directional light receiver, multiple described left side directional light receiver and multiple described right side directional light receiver are distributed in circumferentially same, and the left side optical receiver described in each is all for symmetric points Central Symmetry with the central point of described circumference with corresponding described right side optical receiver.
In technique scheme, preferably, described algorithm comprises: receiving from all left sides directional light receiver of the reflected light of the first reflective surface with in receiving from the reflected light of the second reflective surface all right sides directional light receiver, wherein have a left side directional light receiver and right side directional light receiver be with the central point of described circumference for symmetric points Central Symmetry time, described control device exports to described steering gear the step that changes the current moving direction instruction of robot.
In technique scheme, preferably, described robot body comprises an excircle sidewall, multiple described left side directional light receiver is distributed on the part excircle sidewall of described robot left-half, and multiple described right side directional light receiver is distributed on the part excircle sidewall of described robot right half part.
In technique scheme, preferably, the top of described robot is provided with the circular mounting platform of a projection, multiple described left side directional light receiver is distributed in the left-half of described circular mounting platform, and multiple described right side directional light receiver is distributed on the right half part of described circular mounting platform.
In technique scheme, preferably, described Optical Transmit Unit is the Optical Transmit Unit outwards can launching infrared beam.
In technique scheme, preferably, described Optical Transmit Unit comprises the omnidirectional light transmitter being arranged on described robot top.
In technique scheme, preferably, described Optical Transmit Unit comprises the multiple directional light emitter be arranged in described robot outer peripheral sidewall, and multiple described directional light emitter can launch the light beam within the scope of 360 °.
Present invention obtains technique effect useful as follows: because in portable confining device, two pedestals rely on respective reflective surface to carry out work, therefore it use more reliable without the need to battery or Power supply.
Accompanying drawing explanation
Accompanying drawing 1 is the schematic diagram of self-movement robot system for restricting of the present invention;
Accompanying drawing 2 is the schematic perspective view of portable confining device of the present invention;
Accompanying drawing 3 is the structural representation of robot of the present invention;
Accompanying drawing 4 is the control principle drawing of robot of the present invention;
Accompanying drawing 5 is for robot of the present invention is near course of work schematic diagram when constraint;
Accompanying drawing 6 enters course of work schematic diagram when constraint for robot of the present invention;
Wherein: 10, robot; 101, robot housing; 105, omnidirectional light transmitter; 1051, light beam; 1061, left side directional light receiver; 1062, right side directional light receiver; 107, control device; 20, portable confining device; 201, left side pedestal; 202, right side pedestal; 2011, the first side wall; 2021, the second sidewall; 2012, the first reflective surface; 2022, the second reflective surface.
Embodiment
By describe in detail invention technology contents, structural attitude, reached object and effect, coordinate accompanying drawing to be described in detail below in conjunction with embodiment.
In this example, with room door position for treating that example is carried out in constraint.As shown in Figure 1, can remain in this room to make robot and work, in room, be provided with one to be made up of left side pedestal 201 and right side pedestal 202 from the robot 10 of movement and a portable confining device 20(confining device 10) the self-movement robot system for restricting that forms, by the mating reaction of robot 10 and portable confining device 20, robot 10 can not cross door and move to outside, room.The mating reaction of robot 10 and portable confining device 20 can judge whether to move to a position place by Bang Zu robot 10, thus determines whether to notify that moving direction is turned by robot 10 immediately.The robot 10 of this example is the robot for cleaning floor, robot 10 is provided with cleaning module (not shown), and cleaning module is used for the ground dust at place place of robot 10 to remove.When robot moves, the front towards robot is moved, and this front defined, as the direction of arrow in accompanying drawing 1 by the main direct of travel of robot.
Portable confining device 20 as shown in Figure 2, it comprises a left side pedestal 201 and a right side pedestal 202, and left side pedestal 201 and right side pedestal 202 all can be supported on ground.Left side pedestal 201 has a first side wall 2011, the first side wall 2011 is provided with one first reflective surface 2012; Right side pedestal 202 has on second sidewall 2021, second sidewall 2021 and is provided with one second reflective surface 2022.When left side pedestal 201 and right side pedestal 202 are placed on left and right sides respectively, the first reflective surface 2012 of left side pedestal 201 and the second reflective surface 2022 of right side pedestal 202 can left and right relative.
Robot 10 as shown in Figure 3, comprise a robot housing 101, steering gear is provided with in robot housing 101, steering gear comprises a pair movable pulley being arranged on robot housing 101 lower bottom part, one can move along with movable pulley and the castor rotated, drive the electro-motor that each movable pulley rotates, a pair electro-motor is configured with a motor controller respectively, the rotating speed that robot 10 controls each movable pulley by electro-motor realizes turning to and moving forward, be specially: when Robot fore-and-aft direction normally travels, the rotating speed that electro-motor corresponding to two movable pulleys is carried is identical, when robot needs turn to or turn around, the rotating speed that the electro-motor corresponding to two movable pulleys is carried is different, and two movable pulleys form velocity contrast thus realize turning to or turning around work.
The top of robot housing 101 is provided with an omnidirectional light transmitter 105, and the excircle sidewall of robot housing 101 is provided with light receiving unit, omnidirectional light transmitter 105 can be omnidirectional's light beam 1051 of 360 ° to the outside utilizing emitted light beam angle of robot 10, light receiving unit is made up of with the right side optical receiver group being positioned at robot housing 101 right half part the left side optical receiver group being positioned at robot housing 101 left-half, left side optical receiver group comprises 4 left side directional light receivers 1061, right side optical receiver group comprises 4 right side directional light receivers 1062, 4 left side directional light receivers 1061 are evenly distributed on the outer circumferential sides wall of robot housing 101 left-half, 4 right side directional light receivers 1062 are evenly distributed on the outer circumferential sides wall of robot housing 101 right half part.In 4 left side directional light receivers 1061 and 4 right side directional light receivers 1062, on the left of each directional light receiver 1061 all with corresponding one on the right side of directional light receiver 1062 are center of circle O with robot housing 101
1centered by dot center symmetrical.On the left of in the of 4, directional light receivers 1061 can be used to the reflected light that reception is reflected from the first reflecting surface 2012 on the left of robot, and 4 right side directional light receivers 1062 can be used to receive the reflected light from obtaining the first reflecting surface 2012 reflection on the left of robot.4 left side directional light receivers 1061 and 4 right side directional light receivers 1062 can be set to can receiving beam angle at the reflected light of 45 ° to 60 °.When light receiving unit is in appropriate position, omnidirectional's light beam 1051 has part can be reflected by the first reflective surface 2012 and the second reflective surface 2022, and the reflected light reflected by the first reflective surface 2012 and the second reflective surface 2022 just can received by left side directional light receiver 1061 and right side directional light receiver 1062.When designing omnidirectional light transmitter 105, the light of omnidirectional light transmitter 105 is launched radius and should be selected to be more than or equal to the width treating constraint, as constraint be door position time, its light launches the width that radius should be more than or equal to door.Like this, no matter robot 10 moves to any position at constraint (or door place place), light beam 1051 run into the first reflective surface 2012 or the second reflective surface 2022 folded light beam can by left side directional light receiver 1061 and right side directional light receiver 1062 receive.
As shown in Figure 4, robot housing 101 inside is also provided with control device 107, and omnidirectional light transmitter 105,4 left side directional light receiver 1061,4 right side directional light receivers 1062 and steering gear all connect with signal with control device 107.4 left side directional light receivers 1061 and 4 enough reflected light information received of right side directional light receiver 1062 feed back to control device 107 in time, and omnidirectional light transmitter 105 and steering gear all can perform work under the control of control device 107.
In this example, as long as robot 10 needs and portable confining device 20 cooperating, omnidirectional light transmitter 105 will continue the light beam 1051 outwards launching 360 ° of omnidirectionals under the control of control device 107, when robot 10 moves between left side pedestal 201 and right side pedestal 202, light beam 1051 will be reflected to form reflected light by the first reflective surface 2012 and the second reflective surface 2022 and then be received by left side directional light receiver 1061 and right side directional light receiver 1062.Control device 107 performs an algorithm, under this algorithm, when in all optical receivers that can receive the reflected light that light beam 1051 reflects through the first reflective surface 2012 and the second reflective surface 2022 in multiple left sides directional light receiver 1061 and multiple right sides directional light receiver 1062, if there is directional light receiver 1062 on the right side of a left side directional light receiver 1061 and to be the center of circle O with robot housing 101
1centered by dot center symmetrical time, the steering gear of control device 107 control 10 immediately changes the current moving direction of robot thus leaves a place local.The steering gear of robot 10 changes the current moving direction of robot and is preferably control 10 original place along turning round certain angle counterclockwise or clockwise, this anglec of rotation can be low-angle, after revolution low-angle, above-mentioned steering condition can be met both again judging, if still met, then turn round again, judge again, till directional light receiver in the optical receiver group of both sides no longer meets the condition performing above-mentioned algorithm, now robot 10 has successfully avoided and has treated constraint.
In this example, during symmetrical centered by the left side directional light receiver 1061 simultaneously receiving reflected light and right side directional light receiver 1,062 two receivers, control device 107 exports to steering gear the algorithm that changes the current moving direction instruction of robot body.For the self-movement robot system for restricting shown in accompanying drawing 5, when judging 1. number left side directional light receiver and 5. number right side directional light receiver, or 2. number left side directional light receiver and 6. number right side directional light receiver, or 3. number left side directional light receiver and 7. number right side directional light receiver, or 4. number left side directional light receiver and the first reflective surface 2012 of 8. simultaneously receiving left side respectively in number right side directional light receiver reflect the reflected light signal with second reflective surface 2022 reflection on right side time, robot starts to perform the steering order avoiding constraint, such setting can make the periphery of robot 10 opposite house region as far as possible clean.
The light beam that above-mentioned omnidirectional light transmitter 105 is launched is preferably the infrared beam after modulation, and namely transmitter is infrared transmitter, and left side directional light receiver 1061 and right side directional light receiver 1062 are the components and parts that can receive infrared beam.Certainly, in other embodiments, omnidirectional light transmitter 105 also can select the transmitter that can send other wavelength light, as long as arrange the receiver matched with it.
Move to outside, room to prevent robot 10 from striding across a region below, explain the process of robot 10 and portable confining device 20 cooperating:
As shown in Figure 5, the first step, left side pedestal 201 and right side pedestal 202 are placed on a left and right sides for outlet, and the first reflective surface 2012 and the second reflective surface about 2022 face, for treating constraint X between the first reflective surface 2012 and the second reflective surface 2022
1, the omnidirectional light transmitter 105 in robot 10 continues outwards to launch omnidirectional light beam 1051, and the working direction of robot 10 is towards X
1the direction of side, place is moved; Second step, along with the movement of robot 10, the left part of light beam 1051 will have on portions incident to the first reflective surface 2012 and reflected to form left side reflected light, on the left of these, first reflected light will can be received by the 1. number left side directional light receiver 1061 on periphery wall on the left of robot, meanwhile, the right part of light beam 1051 will have on partial illumination to the second reflective surface 2022 and reflected to form right side reflected light, and first right side reflected light will be received by a 8. number right side directional light receiver 1062; As shown in Figure 6,3rd step, along with the further movement of robot 10, when 3. number left side directional light receiver 1061 and 7. number on the right side of a directional light receiver 1062 can receive simultaneously send out the reflected light of reflection from corresponding side reflective surface time, control 10 is immediately performed the step changing the current moving direction of robot by control device 107, namely order about robot 10 to turn around, robot 10 continues mobile until leave and treat constraint X after having turned around
1.
Robot in this example, due to be limited to receive simultaneously left side reflected light all left sides directional light receiver and receive right side reflected light right side directional light receiver in have two optical receivers to be with center of circle O
1centered by two directional light receivers of dot center's symmetry time, the control device ability control of robot clubhauls, therefore it is compared to other system for restricting, and robot can treat that neighboring area, constraint works as far as possible, and therefore clean scope is larger.And in the self-movement robot system for restricting of this programme, portable confining device 20 is without the need to power supply, and therefore its old of manufacture is low, and also convenient when using.
In other embodiments, multiple left sides directional light receiver 1061 and multiple right sides directional light receiver 1062 are except being arranged on the excircle sidewall of robot, can also be arranged on the boss at a protrusion robot top along a circumferencial direction, the effect of its receiving optical signals is same with the above-mentioned embodiment.In other embodiments, omnidirectional light transmitter 105 in above-described embodiment also can be substituted by multiple directional light emitter consistent with left side directional light receiver 1061 and the total quantity of right side directional light receiver 1062, these directional light emitter and multiple directional light receiver are formed organizes optical signal launch receiver assembly more, can also by the directional light emitter in same group of optical signal launch receiver assembly and directional light receiver between two near being arranged on a support, so that repair and replacement.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to the present invention's spirit change or modify, and all should be encompassed within protection scope of the present invention.Within bright protection domain.
Claims (8)
1. a self-movement robot system for restricting, is characterized in that: comprising:
One portable confining device, comprise left side pedestal and right side pedestal, described left side pedestal is provided with the first reflective surface, described right side pedestal is provided with the second reflective surface, when described left side pedestal and right side pedestal are supported in time restricting the left and right sides in region, the first described reflective surface and the second reflective surface can face left and right;
One robot, comprise the steering gear turned to for drive machines people, can to the Optical Transmit Unit of transmitted beam outside described robot, for the light that receives described light emitting units emitting through the light receiving unit of the reflected light of the first described reflective surface and the reflection of the second reflective surface and control device, described light receiving unit comprises for receiving from the left side optical receiver group of the reflected light of the first described reflective surface reflection and the right side optical receiver group for receiving the reflected light from the second described reflective surface reflection, described left side optical receiver group, described right side optical receiver group and described steering gear all connect with signal with described control device, described left side optical receiver group and described right side optical receiver group all at least comprise a directional light receiver,
Described control device performs an algorithm; Described algorithm comprises: when described left side optical receiver group receive receive the reflected light from the second described reflective surface reflection from the reflected light of described first reflective surface reflection, described right side optical receiver group simultaneously time, described control device exports to described steering gear the step that changes the current moving direction instruction of robot.
2. self-movement robot system for restricting according to claim 1, it is characterized in that: described left side optical receiver group comprises multiple left sides directional light receiver, described right side optical receiver group comprises multiple right sides directional light receiver, described left side directional light receiver is identical with described right side directional light receiver number, multiple described left side directional light receiver and multiple described right side directional light receiver are distributed in circumferentially same, left side optical receiver described in each is all for symmetric points Central Symmetry with the central point of described circumference with the right side optical receiver described in corresponding.
3. self-movement robot system for restricting according to claim 2, it is characterized in that: described algorithm comprises: receiving from all left sides directional light receiver of the reflected light of the first reflective surface with in receiving from the reflected light of the second reflective surface all right sides directional light receiver, wherein have a left side directional light receiver and right side directional light receiver be with the central point of described circumference for symmetric points Central Symmetry time, described control device exports to described steering gear the step that changes the current moving direction instruction of robot.
4. self-movement robot system for restricting according to claim 2, it is characterized in that: described robot body comprises an excircle sidewall, multiple described left side directional light receiver is distributed on the part excircle sidewall of described robot left-half, and multiple described right side directional light receiver is distributed on the part excircle sidewall of described robot right half part.
5. self-movement robot system for restricting according to claim 2, it is characterized in that: the top of described robot is provided with the circular mounting platform of a projection, multiple described left side directional light receiver is distributed in the left-half of described circular mounting platform, and multiple described right side directional light receiver is distributed on the right half part of described circular mounting platform.
6. self-movement robot system for restricting according to claim 2, is characterized in that: described Optical Transmit Unit is the Optical Transmit Unit outwards can launching infrared beam.
7. the self-movement robot system for restricting according to claim 1 or 6, is characterized in that: described Optical Transmit Unit comprises the omnidirectional light transmitter being arranged on described robot top.
8. the self-movement robot system for restricting according to claim 1 or 6, it is characterized in that: described Optical Transmit Unit comprises the multiple directional light emitter be arranged in described robot outer peripheral sidewall, multiple described directional light emitter can launch the light beam within the scope of 360 °.
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| CN201510846342.XA CN105319965B (en) | 2015-11-27 | 2015-11-27 | Self-movement robot system for restricting |
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| CN115325658A (en) * | 2022-08-11 | 2022-11-11 | 珠海格力电器股份有限公司 | Signal channel matching method, control device, air conditioning system and storage medium |
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