CN105319965B - Self-movement robot system for restricting - Google Patents
Self-movement robot system for restricting Download PDFInfo
- Publication number
- CN105319965B CN105319965B CN201510846342.XA CN201510846342A CN105319965B CN 105319965 B CN105319965 B CN 105319965B CN 201510846342 A CN201510846342 A CN 201510846342A CN 105319965 B CN105319965 B CN 105319965B
- Authority
- CN
- China
- Prior art keywords
- robot
- optical receiver
- reflective surface
- light
- reflected light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of self-movement robot system for restricting, including portable confining device and robot, portable confining device includes a pair of pedestal for being equipped with reflective surface, and when a pair of base is disposed in the left and right sides wait restrict region, two reflective surfaces, which can control, to be faced；Robot includes transfer, light emitting unit, light receiving unit and control device for receiving reflected light of the light beam through two reflective surfaces, light receiving unit includes left and right side optical receiver group, control device executes an algorithm, which includes the instruction for changing the current moving direction of robot to transfer output one when left and right side optical receiver group can receive reflected light simultaneously.It since a pair of base in portable confining device works by respective reflective surface, powers without battery or power, therefore using more reliable.
Description
Technical field
The present invention relates to a kind of self-movement robot system for restricting.
Background technique
Currently, self-movement robot is widely used, robot, the tour machine instead of manual inspection on ground are such as cleaned
People etc., at work, movement is in the range of needing to be limited at a limitation to execute work for these robots.
The robot for such as cleaning ground can be moved to another room after the cleaning for completing a room by room door
Between.Common solution is to close room door to make to be limited to work in the room.Door meeting was closed at that time so that user passes in and out room
Between frequently to close door, to cause inconvenience to user.
A kind of method of positioning and restriction for robot is disclosed in the Chinese patent of Publication No. CN1241080C
And system, the system include: a portable obstacle signal conveyer, which mainly transmits along an axis
Signal;One movable machine people can make once to detect that the obstacle signal avoids the obstacle signal at once.It is preferably implemented one
In example, which is emitted with the frequency of an infrared ray, and the robot includes a comprehensive signal detector.Once
The signal is detected, on the robot revolute to the direction selected by an obstacle avoidance algorithm, until no longer detecting the obstacle
Until signal.
Above-mentioned system allows user in such as room door due to using a portable obstacle signal conveyer
Position forms artificial together " obstacle ", as long as robot detects that the obstacle is avoided at once, to effectively prevent robot
Outside is moved to across the room door.But since portable obstacle signal conveyer needs to continue to transmit signal to outside, make
It obtains the portable obstacle signal conveyer and needs continued power to meet the requirement of transmission signal, therefore, if giving portable barrier
The battery capacity for hindering signal transmitter to be powered is insufficient or thoroughly out of power and user does not replace battery in time, then conveyer general
Cisco unity malfunction, to lose the effectiveness of the robot range of constrained robot's work.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide the self-movement robots that one kind can work long hours to restrict system
System.
In order to achieve the above-mentioned object of the invention.The present invention adopts the following technical scheme: a kind of self-movement robot system for restricting,
Include:
It is anti-to be provided with first on the left side pedestal for one portable confining device, including left side pedestal and right side pedestal
Smooth surface is provided with the second reflective surface on the right side pedestal, when the left side pedestal and right side pedestal are supported on wait make
About the left and right sides in region when, first reflective surface and the second reflective surface can be controlled and be faced；
One robot, including for driving robot to turn to transfer, can be to transmitting on the outside of the robot
The light emitting unit of light beam, the light for receiving the light emitting units emitting are reflective through first reflective surface and second
The light receiving unit and control device of the reflected light of face reflection, the light receiving unit include for receiving from described
The left side optical receiver group of the reflected light of first reflective surface reflection and for receives reflected from second reflective surface it is anti-
Penetrate the right side optical receiver group of light, the left side optical receiver group, the right side optical receiver group and the steering
Device connects with signal with the control device, and the left side optical receiver group and the right side optical receiver group are equal
Including at least an orientation optical receiver；
The control device executes an algorithm；The algorithm includes: when the left side optical receiver group receives
Reflected light, the right side optical receiver group reflected from first reflective surface is received from described second simultaneously
When the reflected light of reflective surface reflection, the control device changes the current moving direction of robot to transfer output one
The step of instruction.
In above-mentioned technical proposal, it is preferred that the left side optical receiver group includes multiple left side orientation optical receivers, institute
The right side optical receiver group stated includes multiple right side orientation optical receivers, the left side orientation optical receiver and the right side
The number for orienting optical receiver is identical, and multiple left side orientation optical receivers and multiple right sides orient optical receiver
It is distributed on the same circumference, each left side optical receiver is with institute with the corresponding one right side optical receiver
The central point for the circumference stated is symmetric points central symmetry.
In above-mentioned technical proposal, it is preferred that the algorithm includes: to receive the reflected light from the first reflective surface
All left side orientation optical receivers and all right sides for receiving the reflected light from the second reflective surface orient in optical receiver,
In have one left side orientation optical receiver and one right side orientation optical receiver be using the central point of the circumference as symmetric points
When central symmetry, the control device changes the step that the current moving direction of robot instructs to transfer output one
Suddenly.
In above-mentioned technical proposal, it is preferred that the robot body includes an excircle side wall, multiple left sides
Orientation optical receiver is distributed on the part excircle side wall of the robot left-half, multiple right side directional lights
Receiver is distributed on the part excircle side wall of the robot right half part.
In above-mentioned technical proposal, it is preferred that the circular mounting platform of a protrusion is provided at the top of the robot, it is multiple
The left side orientation optical receiver is distributed in the left-half of the circular mounting platform, multiple right side directional lights
Receiver is distributed on the right half part of the circular mounting platform.
In above-mentioned technical proposal, it is preferred that the light emitting unit is the light emitting that can launch outward infrared beam
Unit.
In above-mentioned technical proposal, it is preferred that the light emitting unit includes one be arranged at the top of the robot
Omnidirectional's optical transmitting set.
In above-mentioned technical proposal, it is preferred that the light emitting unit includes that the robot outer peripheral sidewall is arranged in
On multiple directional light emitters, multiple directional light emitters can emit the light beam within the scope of 360 °.
Present invention obtains following beneficial technical effects: since two pedestals are by respective in portable confining device
Reflective surface work, power without battery or power, therefore using more reliable.
Detailed description of the invention
Attached drawing 1 is the schematic diagram of self-movement robot system for restricting of the invention；
Attached drawing 2 is the stereoscopic schematic diagram of portable confining device of the invention；
Attached drawing 3 is the structural schematic diagram of robot of the invention；
Attached drawing 4 is the control principle drawing of robot of the invention；
Attached drawing 5 is robot of the invention close to course of work schematic diagram when constraint；
Attached drawing 6 is that robot of the invention enters course of work schematic diagram when constraint；
Wherein: 10, robot；105, omnidirectional's optical transmitting set；1051, light beam；1061, left side orients optical receiver；1062,
Right side orients optical receiver；107, control device；20, portable confining device；201, left side pedestal；202, right side pedestal；
2011, the first side wall；2021, second sidewall；2012, the first reflective surface；2022, the second reflective surface.
Specific embodiment
By the technology contents of invention are described in detail, construction feature, are reached purpose and efficacy, simultaneously below in conjunction with embodiment
Cooperation attached drawing is described in detail.
It is to carry out example to constraint with room door position in this example.As shown in Figure 1, in order to enable robot
It is able to maintain and works in the room, being provided with one in the room can be from mobile robot 10 and a portable restriction
Device 20(confining device 10 is made of left side pedestal 201 and right side pedestal 202) the self-movement robot system for restricting that forms, leads to
The mating reaction of robot 10 and portable confining device 20 is crossed, robot 10 will not more move into one's husband's household upon marriage and be moved to outside room.Machine
The mating reaction of people 10 and portable confining device 20 can Bang Zu robot 10 judge whether to be moved into a position
Place, to decide whether to that robot 10 is notified to turn moving direction immediately.The robot 10 of this example is for cleaning ground
Robot, cleaning module (not shown) is provided in robot 10, and cleaning module is used for the ground where robot 10
Dust on face removes.It is mobile towards the front of robot when robot is mobile, the front by robot main direction of travel
It is defined, such as the arrow direction in attached drawing 1.
Portable confining device 20 as shown in Figure 2, it includes a left side pedestal 201 and a right side pedestal 202, a left side
Side group seat 201 and right side pedestal 202 can be supported on the ground.Left side pedestal 201 has a first side wall 2011, the
One first reflective surface 2012 is provided in one side wall 2011；Right side pedestal 202 has a second sidewall 2021, second sidewall
One second reflective surface 2022 is provided on 2021.When left side pedestal 201 and right side pedestal 202 are disposed respectively in a left and right sides
When, the first reflective surface 2012 of left side pedestal 201 and the second reflective surface 2022 of right side pedestal 202 can control relatively.
Robot 10 as shown in Figure 3, including a robot shell are provided with transfer in robot shell, turn
It include a pair of of movable pulley that robot shell lower bottom part is set, a foot that can be rotated as movable pulley is mobile to device
The electric motor of each movable pulley rotation is taken turns, driven, is each configured with a motor controller, robot 10 on a pair of of electric motor
It is realized by the revolving speed that electric motor controls each movable pulley and turns to and move forward, specifically: in Robot front-rear direction
When normally travel, the revolving speed that electric motor corresponding to two movable pulleys is conveyed is identical；It needs to turn to or fall in robot
When head, the revolving speed that electric motor corresponding to two movable pulleys is conveyed is different, and two movable pulleys form speed difference to realize
Turn to or turn around work.
It is provided with omnidirectional's optical transmitting set 105 at the top of robot shell, is arranged on the excircle side wall of robot shell
There is light receiving unit；Omnidirectional's optical transmitting set 105 can emit omnidirectional's light beam that beam angle is 360 ° to the outside of robot 10
1051, light receiving unit is by being located at the left side optical receiver group of robot shell left-half and being located at robot shell right side
The right side optical receiver group divided is constituted, and left side optical receiver group includes that 4 left sides orient optical receivers 1061, right side optical receiver
Group includes that 4 right side orientation optical receivers, 1062,4 left side orientation optical receivers 1061 are evenly distributed on robot shell left half
On partial outer circumferential sides wall surface, 4 right side orientation optical receivers 1062 are evenly distributed on the outer of robot shell right half part
On circumference wall surface.On the right side of 4 left side orientation optical receivers 1061 and 4 in orientation optical receiver 1062, each left side orientation
It is the center of circle O with robot shell that optical receiver 1061, which orients optical receiver 1062 with a corresponding right side,1Centered on point
Central symmetry.4 left side orientation optical receivers 1061 can be used for receiving the first reflecting surface 2012 on the left of robot
The reflected light of reflection, 4 right side orientation optical receivers 1062 can be used for receiving on the left of the robot obtaining the first reflecting surface
The reflected light of 2012 reflections.Orientation optical receiver 1062 can be arranged on the right side of 4 left side orientation optical receivers 1061 and 4
At reflected light of the beam angle at 45 ° to 60 ° can be received.When light receiving unit is at appropriate position, omnidirectional's light beam 1051 has
Part can be reflected by the first reflective surface 2012 and the second reflective surface 2022, anti-by the first reflective surface 2012 and the second reflective surface 2022
The reflected light penetrated can be oriented by left side received by optical receiver 1061 and right side orientation optical receiver 1062.It is complete in design
When to optical transmitting set 105, the light emitting radius of omnidirectional's optical transmitting set 105 should select to be more than or equal to the width to constraint,
When such as constraint being door position, light emitting radius should be greater than the width equal to door.In this way, no matter robot 10 is mobile
To any position of constraint (or door where at), light beam 1051 encounters the first reflective surface 2012 or the second reflective surface 2022
The reflected beams can be oriented optical receiver 1061 by left side and right side orientation optical receiver 1062 receives.
As shown in figure 4, robot enclosure interior is additionally provided with control device 107,105,4 left sides of omnidirectional's optical transmitting set are fixed
It connects with signal to 1061,4 right side orientation optical receivers 1062 of optical receiver and transfer with control device 107.4
Orientation optical receiver 1062 is enough anti-in time by received reflected light information on the right side of a left side orientation optical receiver 1061 and 4
It feeds control device 107, omnidirectional's optical transmitting set 105 and transfer can execute work under the control of control device 107.
In this example, as long as robot 10 needs and portable 20 cooperating of confining device, omnidirectional's optical transmitting set 105 will
The light beam 1051 that 360 ° of omnidirectionals are persistently launched outward under the control of control device 107, when robot 10 is moved to left side pedestal
When between 201 and right side pedestal 202, light beam 1051 will reflect to form reflection by the first reflective surface 2012 and the second reflective surface 2022
Light then orients optical receiver 1061 by left side and right side orientation optical receiver 1062 receives.Control device 107 executes an algorithm,
Under the algorithm, light can be received when multiple left sides orient in optical receiver 1061 and multiple right sides orientation optical receiver 1062
In all optical receivers for the reflected light that beam 1051 is reflected through the first reflective surface 2012 and the second reflective surface 2022, if there is one
Left side orientation optical receiver 1061 and a right side orientation optical receiver 1062 are the center of circle O with robot shell1Centered on point
When central symmetry, the transfer that robot 10 is immediately controlled in control device 107 change the current moving direction of robot to
Leave a place local.The transfer of robot 10 changes the current moving direction of robot and preferably controls 10 original of robot
The ground angle certain along revolution counterclockwise or clockwise, which can be low-angle, after turning round a low-angle,
Can both judgements meet above-mentioned steering condition again, if still met, turn round again, then judge, until two sidelights
Until orientation optical receiver in receiver group no longer meets the condition for executing above-mentioned algorithm, robot 10 is successfully kept away at this time
It has opened to constraint.
In this example, when the left side orientation optical receiver 1061 and right side orientation optical receiver 1062 for receiving reflected light simultaneously
Centered on symmetrical two receivers when, control device 107 changes the current movement side of robot body to transfer output one
To the algorithm of instruction.For the self-movement robot system for restricting shown in the attached drawing 5, when judging that 1. a number left side directional light connects
It receives device and 5. a number right side orients optical receiver, or 2. a number left side orients optical receiver and 6. a number right side orients optical receiver, or 3.
Number left side orientation optical receiver and 7. number right side orients optical receiver, or 4. number left side orientation optical receiver and 8. number on the right side of orient
The first reflective surface 2012 reflection in left side and right side the second reflective surface 2022 reflection is respectively received in optical receiver simultaneously
Reflected light signal when, robot, which starts to execute, avoids the steering order of constraint, is arranged enables to robot 10 in this way
The periphery of region is cleaned on the door as far as possible.
The light beam that above-mentioned omnidirectional's optical transmitting set 105 is emitted be preferably it is modulated after infrared beam, i.e. transmitter is
Infrared transmitter, it is the first device that can receive infrared beam that left side, which orients optical receiver 1061 and right side orientation optical receiver 1062,
Part.Certainly, in other embodiments, omnidirectional's optical transmitting set 105 also can choose the transmitter that can send other wavelength lights, only
Matched receiver is set.
Below for preventing robot 10 to be moved to room outside across door region, robot 10 and portable is illustrated
The process of 20 cooperating of formula confining device:
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, first
Reflective surface 2012 and the second reflective surface 2022 or so face, for about between the first reflective surface 2012 and the second reflective surface 2022
Beam region X1, omnidirectional's optical transmitting set 105 in robot 10 persistently launches outward omnidirectional light beam 1051, before robot 10
It is towards X into direction1The direction of place side is mobile；Second step, 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, these left side reflected lights will first can be by machine
A 1. number left side orientation optical receiver 1061 on the left of device people on the wall surface of periphery receives, at the same time, the right side of light beam 1051
8. number point will have on partial illumination to the second reflective surface 2022 and be reflected to form right side reflected light, right side reflected light first will be by
Right side orientation optical receiver 1062 receives；As shown in fig. 6, third step, with the further movement of robot 10, when a 3. number left side
Side positioning optical receiver 1061 and 7. a number right side orientation optical receiver 1062 can receive to send out from corresponding side reflective surface simultaneously to be reflected
Reflected light when, control device 107 will be immediately controlled robot 10 and execute the step of changing robot current moving direction, that is, drive
Robot 10 is set to turn around, robot 10 is continued to move to after the completion of turning around until leaving to constraint X1。
Robot in this example, all left sides due to limiting the reflected light for receiving left side at the same time orient optical receiver
With receive right side reflected light right side orientation optical receiver in there are two optical receiver be with center of circle O1For center dot center
When symmetrical two orientation optical receivers, the control device of robot just controls robot and clubhauls, therefore it is compared to it
His system for restricting, robot can work to constraint neighboring area as far as possible, therefore it is bigger to clean range.And this
In the self-movement robot system for restricting of scheme, portable confining device 20 is without power supply, therefore its old of manufacture is low, and makes
Used time is also more convenient.
In other embodiments, multiple left sides orientation optical receivers 1061 and multiple right sides orientation optical receiver 1062 in addition to
It is mounted on the excircle side wall of robot, on the boss that can also be circumferentially mounted at the top of a protrusion robot along one,
Its effect for receiving optical signal is same with the above-mentioned embodiment.In other embodiments, omnidirectional's light emitting in above-described embodiment
Device 105 can also be by consistent multiple fixed with left side orientation optical receiver 1061 and the total quantity of right side orientation optical receiver 1062
It is substituted to optical transmitting set, these directional light emitters and multiple orientation optical receivers constitute multiple groups optical signal launch receiver group
Part by the directional light emitter in same group of optical signal launch receiver assembly and can also orient optical receiver two-by-two close to peace
On a bracket, in order to repair and replacement.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by spirit, should be covered by the protection scope of the present invention.Within bright protection scope.
Claims (6)
1. a kind of self-movement robot system for restricting, it is characterised in that: include:
One portable confining device, including left side pedestal and right side pedestal are provided with the first reflective surface on the left side pedestal,
It is provided with the second reflective surface on the right side pedestal, when the left side pedestal and right side pedestal are supported on region to be restricted
The left and right sides when, first reflective surface and the second reflective surface can be controlled and be faced；
One robot, including for driving robot to turn to transfer, can be to emitting light beam on the outside of the robot
Light emitting unit, the light for receiving the light emitting units emitting it is anti-through first reflective surface and the second reflective surface
The light receiving unit and control device for the reflected light penetrated, the light receiving unit include for receiving from described first
The left side optical receiver group of the reflected light of reflective surface reflection and for receiving the reflected light reflected from second reflective surface
Right side optical receiver group, the left side optical receiver group, the right side optical receiver group and the transfer
It connects with signal with the control device, the left side optical receiver group includes multiple left side orientation optical receivers, institute
The right side optical receiver group stated includes multiple right side orientation optical receivers, the left side orientation optical receiver and the right side
Orientation optical receiver number is identical, multiple left sides orientation optical receivers and multiple right side orientation optical receivers point
For cloth on the same circumference, each left side optical receiver is with institute with right side optical receiver described in corresponding one
The central point for the circumference stated is symmetric points central symmetry；
The control device executes an algorithm；The algorithm includes: to come from when the left side optical receiver group receives
Reflected light, the right side optical receiver group of the first reflective surface reflection receive reflective from described second simultaneously
When the reflected light of face reflection, in all left sides orientation optical receiver for receiving the reflected light from the first reflective surface and receive
In all right sides orientation optical receiver of reflected light from the second reflective surface, wherein there is a left side to orient optical receiver and one
When a right side orientation optical receiver is using the central point of the circumference as symmetric points central symmetry, the control device is to institute
It states transfer output one and changes the step of current moving direction of robot instructs.
2. self-movement robot system for restricting according to claim 1, it is characterised in that: the robot body includes
One excircle side wall, multiple left side orientation optical receivers are distributed in the part excircle of the robot left-half
On side wall, multiple right side orientation optical receivers are distributed in the part excircle side wall of the robot right half part
On.
3. self-movement robot system for restricting according to claim 1, it is characterised in that: set at the top of the robot
It is equipped with the circular mounting platform of a protrusion, multiple left side orientation optical receivers are distributed in left the half of the circular mounting platform
On part, multiple right side orientation optical receivers are distributed on the right half part of the circular mounting platform.
4. self-movement robot system for restricting according to claim 1, it is characterised in that: the light emitting unit is energy
Enough launch outward the light emitting unit of infrared beam.
5. self-movement robot system for restricting according to claim 1 or 4, it is characterised in that: the light emitting unit
Including omnidirectional's optical transmitting set at the top of the robot is arranged in.
6. self-movement robot system for restricting according to claim 1 or 4, it is characterised in that: the light emitting unit
Including the multiple directional light emitters being arranged in the robot outer peripheral sidewall, multiple directional light emitters can
Emit the light beam within the scope of 360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510846342.XA CN105319965B (en) | 2015-11-27 | 2015-11-27 | Self-movement robot system for restricting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510846342.XA CN105319965B (en) | 2015-11-27 | 2015-11-27 | Self-movement robot system for restricting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105319965A CN105319965A (en) | 2016-02-10 |
| CN105319965B true CN105319965B (en) | 2019-09-27 |
Family
ID=55247578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510846342.XA Active CN105319965B (en) | 2015-11-27 | 2015-11-27 | Self-movement robot system for restricting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105319965B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
| CN1866046A (en) * | 2005-05-18 | 2006-11-22 | 洋通工业股份有限公司 | Virtual wall system of self-walking apparatus |
| CN102156473A (en) * | 2010-12-16 | 2011-08-17 | 深圳市银星智能电器有限公司 | Restricting system for mobile robot |
| CN102727143A (en) * | 2011-04-11 | 2012-10-17 | 恩斯迈电子(深圳)有限公司 | Cleaning system |
| CN103631262A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic-mobile robot walking scope restriction system and restriction method thereof |
| CN204091896U (en) * | 2014-09-15 | 2015-01-14 | 湖南格兰博智能科技有限责任公司 | A kind of virtual wall device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060020370A1 (en) * | 2004-07-22 | 2006-01-26 | Shai Abramson | System and method for confining a robot |
| KR101021267B1 (en) * | 2010-09-20 | 2011-03-11 | 주식회사 모뉴엘 | Cleaning robot system and its method for controlling |
| US20140114525A1 (en) * | 2012-10-20 | 2014-04-24 | Ali Ebrahimi Afrouzi | Method for confinement of an autonomous robot |
-
2015
- 2015-11-27 CN CN201510846342.XA patent/CN105319965B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
| CN1866046A (en) * | 2005-05-18 | 2006-11-22 | 洋通工业股份有限公司 | Virtual wall system of self-walking apparatus |
| CN102156473A (en) * | 2010-12-16 | 2011-08-17 | 深圳市银星智能电器有限公司 | Restricting system for mobile robot |
| CN102727143A (en) * | 2011-04-11 | 2012-10-17 | 恩斯迈电子(深圳)有限公司 | Cleaning system |
| CN103631262A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic-mobile robot walking scope restriction system and restriction method thereof |
| CN204091896U (en) * | 2014-09-15 | 2015-01-14 | 湖南格兰博智能科技有限责任公司 | A kind of virtual wall device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105319965A (en) | 2016-02-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103948354B (en) | A kind of robot for cleaning floor and control method thereof | |
| EP2581797B1 (en) | Beacon collision avoidance method for a mobile robot system | |
| CN1241080C (en) | Method and system for positioning and restricting robot | |
| CN107095622B (en) | A dock station and clean robot for docking clean robot | |
| CN201469183U (en) | Ground processing system | |
| CN102048499B (en) | Mobile robot system and control method thereof | |
| CN103941735B (en) | Floor cleaning robot and method for controlling robot to avoid obstacle | |
| KR101738931B1 (en) | Signal guided cleaning device and signal guided cleaning system thereof | |
| CN105361817A (en) | Automatic docking system of robot | |
| CN105958578B (en) | The cradle and automatic charging system and method for a kind of robot | |
| CN103941307A (en) | Cleaning robot and controlling method thereof for avoiding barriers | |
| CN103941306A (en) | Cleaning robot and method for controlling same to avoid obstacle | |
| CN201757860U (en) | Ground processing system | |
| CN104977929B (en) | Guiding type cleaning device and guiding type cleaning set | |
| TWM532256U (en) | Compound type virtual wall and lighthouse system for self-propelled device | |
| CN101502406B (en) | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand | |
| CN105319965B (en) | Self-movement robot system for restricting | |
| KR20160053997A (en) | Self-propelled device | |
| CN215227260U (en) | Mobile robot, base station and system of mobile robot | |
| CN102133078A (en) | Ground processing system and method for guiding ground processing device thereof | |
| ES2402920T3 (en) | Mobile robot system and improved workspace confinement procedure | |
| CN105116903A (en) | Automatic moving robot restricting system | |
| CN105388898B (en) | A kind of self-movement robot system for restricting | |
| CN201602712U (en) | Ground processing system | |
| JP6382634B2 (en) | Autonomous vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |