CN117368845A - Positioning signal radiation device, base station and method for radiating positioning signal by base station - Google Patents
Positioning signal radiation device, base station and method for radiating positioning signal by base station Download PDFInfo
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- CN117368845A CN117368845A CN202311132262.9A CN202311132262A CN117368845A CN 117368845 A CN117368845 A CN 117368845A CN 202311132262 A CN202311132262 A CN 202311132262A CN 117368845 A CN117368845 A CN 117368845A
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- 230000005855 radiation Effects 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000008054 signal transmission Effects 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 description 63
- 238000010408 sweeping Methods 0.000 description 18
- 239000000428 dust Substances 0.000 description 8
- 239000007788 liquid Substances 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000012545 processing Methods 0.000 description 6
- 238000005108 dry cleaning Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052987 metal hydride Inorganic materials 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N nickel Substances [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- -1 nickel metal hydride Chemical class 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 239000000725 suspension Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
Abstract
The embodiment of the invention discloses a positioning signal radiation device, a base station and a method for radiating positioning signals by the base station, wherein the positioning signal radiation device comprises a rotating component and a signal transmitting part; the signal transmitting part is arranged on the rotating component; the rotating assembly is used for driving the signal transmitting part to rotate, so that the signal transmitting part turns to different signal transmitting areas and transmits different positioning signals in the different signal transmitting areas, thereby realizing the coverage of the positioning transmitting signals in a larger range, greatly reducing the use quantity of transmitters, saving the space, simplifying the structure of the base station and simultaneously reducing the consumption of control resources of the controller.
Description
Technical Field
The invention relates to the technical field of intelligent home, in particular to a positioning signal radiation device, a base station and a method for radiating positioning signals by the base station.
Background
With the development of robot technology, various robots having an intelligent system, such as a floor sweeping robot, a floor mopping robot, a dust collector, a weeder, etc., have appeared. These robots can automatically travel in an area and perform cleaning or sweeping operations without user manipulation.
After the robot has lower electric quantity and dirty cleaning parts or the cleaning liquid in the clean water tank is used up, the robot needs to return to a base station to charge, store water or clean mop, and the like. At present, the scheme of the robot returning to the base station is that a plurality of signal transmitting parts with different radiation angles on the base station transmit different signals, and then the robot adjusts the pose based on the received signals, so that the autonomous mobile robot moves towards the position where the base station is located until returning to the base station, but the wider the range of the base station transmitting signals is, the more the number of the required signal transmitting parts is, so that the larger space is occupied, the structure of the base station is more complex, and the control resources of a large number of controllers are consumed.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, an embodiment of the present invention provides a positioning signal radiation device, including a rotating assembly and a signal transmitting portion; the signal transmitting part is arranged on the rotating component;
the rotating assembly is used for driving the signal transmitting part to rotate so that the signal transmitting part turns to different signal transmitting areas and transmits different positioning signals in the different signal transmitting areas.
Optionally, the number of the signal emitting areas is a plurality, wherein one signal emitting area covers a first side of the positioning signal radiating device, and the other signal emitting areas cover a second side of the positioning signal radiating device, and the second side of the positioning signal radiating device is opposite to the first side.
Optionally, a plurality of signal emitting areas located on the second side are symmetrically arranged.
Alternatively, the signal transmitting section transmits the positioning signal differently in the different signal transmitting areas.
Optionally, the rotation assembly includes a rotation driving part and an encoder disposed on the driving part, the encoder being configured to obtain a rotation angle of the rotation driving part to determine a signal emitting area in which the signal emitting part is currently oriented.
Optionally, the driving part is a motor, and the signal emitting part is an infrared light emitting part.
In a second aspect, an embodiment of the present invention provides a base station, including a base and a controller, where the base is provided with the positioning signal radiation device;
the controller is used for controlling the rotating assembly of the positioning signal radiation device to drive the signal transmitting part of the positioning signal radiation device to rotate so as to enable the signal transmitting part to turn to different signal transmitting areas and controlling the signal transmitting part to transmit different positioning signals in the different signal transmitting areas.
Optionally, the second side of the positioning signal radiation device and the front side of the base station are the same side, and the first side of the positioning signal radiation device and the rear side of the base station are the same side.
Optionally, the controller is configured to obtain a current signal emission angle of the signal emission part according to a rotation angle of a rotation driving component of the rotation assembly obtained by an encoder of the rotation assembly; determining a current signal transmitting area of the signal transmitting part according to the current signal transmitting angle; and controlling the signal transmitting part to transmit a corresponding positioning signal in the currently-oriented signal transmitting area.
In a third aspect, an embodiment of the present invention provides a method for a base station to radiate a positioning signal, including:
the rotation component of the positioning signal radiation device is controlled to drive the signal emission part of the positioning signal radiation device to rotate so as to lead the signal emission part to turn to different signal emission areas;
the signal transmitting part is controlled to transmit different positioning signals in different signal transmitting areas.
Optionally, the controlling the signal transmitting part to transmit different positioning signals in different signal transmitting areas includes:
obtaining the current signal emission angle of the signal emission part according to the rotation angle of the rotation driving part of the rotation assembly obtained by the encoder of the rotation assembly;
determining a current signal transmitting area of the signal transmitting part according to the current signal transmitting angle;
and controlling the signal transmitting part to transmit a corresponding positioning signal in the currently-oriented signal transmitting area.
According to the positioning signal radiation device, the base station and the method for radiating positioning signals by the base station, provided by the embodiment of the invention, the rotating assembly is used for driving the signal transmitting part to rotate so as to enable the signal transmitting part to turn to different signal transmitting areas and transmit different positioning signals in the different signal transmitting areas, so that the coverage of the positioning transmitting signals in a larger range can be realized, the number of the transmitters is greatly reduced, the space is saved, the structure of the base station is simplified, and the consumption of control resources of a controller is reduced.
Drawings
The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.
In the accompanying drawings:
FIG. 1 is a perspective view of a self-mobile device according to an alternative embodiment of the present invention;
FIG. 2 is a bottom view of FIG. 1;
FIG. 3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;
FIG. 4 is a top view of a self-mobile device according to an alternative embodiment of the present invention;
FIG. 5 is a schematic diagram of a positioning signal radiation device according to an alternative embodiment of the invention;
FIG. 6 is a schematic diagram of the locations of a base station and a sweeping robot according to an alternative embodiment of the present invention;
FIG. 7 is a schematic diagram of the locations of a base station and a sweeping robot according to another alternative embodiment of the present invention;
fig. 8 is a flow chart of a method of a base station radiating a positioning signal according to another alternative embodiment of the present invention;
fig. 9 is a flowchart of step S102.
Reference numerals illustrate:
10-floor sweeping robot, 110-machine body, 111-forward part, 112-backward part, 120-perception module, 121-position determination sensor, 122-front collision structure, 130-man-machine interaction module, 140-left wheel, 141-right wheel, 142-driven wheel, 150-cleaning system, 151-dry cleaning system, 152-side brush, 153-wet cleaning system, 1531-cleaning head, 1532-driving unit, 1533-driving platform, 1534-supporting platform, 160-alignment signal receiver, 161-first alignment signal receiver, 162-second alignment signal receiver, 170-wide angle signal receiver, 20-positioning signal radiation device, 210-signal transmitting part, 220-first side, 230-second side, 30-base.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
In a first aspect, as shown in fig. 5, an embodiment of the present invention provides a positioning signal radiation device, including a rotating assembly and a signal emitting portion 210; the signal transmitting part 210 is disposed on the rotating assembly; the rotating assembly is used for driving the signal emitting portion 210 to rotate, so that the signal emitting portion 210 turns to different signal emitting areas and emits different positioning signals in the different signal emitting areas.
The direction in which the rotating assembly drives the signal emitting portion 210 to rotate may be a first direction as shown by an arrow in fig. 5, or may be a second direction opposite to the first direction, and the specific rotation direction may be set by a worker, which is not strictly limited in this embodiment. The different positioning signals are emitted by the controller control signal emitting part 210, and in some embodiments the positioning signal emitting device 20 comprises a controller, and in other embodiments the work area detection device does not comprise a controller, i.e. the control signal emitting part emits the different positioning signals in the different signal emitting areas is performed by a controller independent of the positioning signal emitting device 20.
The signal transmitting part regions are arranged around the signal transmitting part 210, whereby the signal transmitting part 210 can be turned to a different signal transmitting region with the rotation of the rotating member. The number of signal emitting areas and the size of each signal emitting area can be set by a worker according to actual requirements, and the embodiment is not strictly limited.
The signal transmitting part 210 transmits different positioning signals in each signal transmitting area, so that the equipment (such as a base station, etc.) to be positioned provided with the positioning signal radiating device 20 can transmit different positioning signals in different areas, so that a signal receiver on the self-moving equipment (such as a cleaning robot, etc.) searching the equipment to be positioned receives the positioning signals, and determines the current area of the self-moving equipment through the received positioning signals, thereby determining the relative position of the self-moving equipment and the equipment to be positioned, and then adjusting the pose of the self-moving equipment according to the relative position, so that the self-moving equipment is opposite to the equipment to be positioned, and the aim of accurately docking the self-moving equipment and the equipment to be positioned is achieved.
In this embodiment, the rotating component is used to drive the signal transmitting portion 210 to rotate, so that the signal transmitting portion 210 turns to different signal transmitting areas, and different positioning signals are transmitted in different signal transmitting areas, so that not only can coverage of a wider range of positioning transmitting signals be realized, but also the number of transmitters is greatly reduced, the space is saved, the structure of the base station is simplified, and meanwhile, the consumption of control resources of the controller is reduced.
Specifically, as shown in fig. 5, the number of signal emitting areas is plural, wherein one signal emitting area covers the first side 220 of the positioning signal radiating device 20, the other signal emitting areas cover the second side 230 of the positioning signal radiating device 20, and the second side 230 of the positioning signal radiating device 20 is opposite to the first side 220.
In a specific application, the first side 220 of the positioning signal radiation device 20 is covered by only one signal emission area, which is suitable for a situation that accurate positioning is not needed in a certain range (such as the back side of a base station) of equipment (such as the base station) to be positioned, namely, the first side 220 of the positioning signal radiation device 20 and the back side of the base station are arranged on the same side, so that only one signal emission area can cover the whole back side of the base station, the dividing number of the signal emission areas is reduced, the complexity of controlling positioning signal emission is also reduced, and the consumption of control resources of a controller is further reduced. The second side 230 of the positioning signal radiation device 20 is covered by a plurality of signal emitting areas, which is suitable for the situation that the positioning needs to be performed in a certain range (such as the front side of the base station) of the equipment to be positioned (such as the base station, etc.), i.e. the second side 230 of the positioning signal radiation device 20 and the front side of the base station are arranged on the same side, so that the positioning accuracy can be improved, and the positioning requirement can be met.
As shown in fig. 5, there are five signal emitting areas, namely, a signal emitting area F1, a signal emitting area F2, a signal emitting area F3, a signal emitting area F4, and a signal emitting area F5. Wherein the signal emitting area F5 covers the first side 220 of the positioning signal radiating device 20, and the signal emitting area F1, the signal emitting area F2, the signal emitting area F3 and the signal emitting area F4 cover the second side 230 of the positioning signal radiating device 20. As shown in fig. 6 and 7, when the positioning signal radiation device 20 is applied to a base station, the first side 220 of the positioning signal radiation device 20 is the same side as the rear side of the base station, i.e. the signal transmitting area F5 covers the rear side of the base station, and the second side 230 of the positioning signal radiation device 20 is the same side as the front side of the base station, i.e. the signal transmitting area F1, the signal transmitting area F2, the signal transmitting area F3 and the signal transmitting area F4 cover the front side of the base station.
It is understood that the first side 220 and the second side 230 of the positioning signal radiating device 20 do not change with the rotation of the signal transmitting portion 210, that is, the coverage area of each signal transmitting area is fixed and does not change with the rotation of the signal transmitting portion 210.
Further, as shown in fig. 5, the plurality of signal emitting areas located at the second side 230 are symmetrically arranged.
The signal emitting areas on the second side 230 are symmetrically disposed, and as illustrated, the signal emitting area F1, the signal emitting area F2, the signal emitting area F3, and the signal emitting area F4 on the second side 230 of the positioning signal emitting device 20 are illustrated, wherein the signal emitting area F1 is symmetrically disposed with the signal emitting area F4, and the signal emitting area F2 is symmetrically disposed with the signal emitting area F3. Whereby the middle part of the front side of the base station can be aligned with the middle part of the front end of the self-moving device when the positioning signal radiating means 20 is applied to the base station.
Specifically, the signal transmitting section 210 transmits different codes of the positioning signals within different signal transmitting areas.
The controller performs different codes on the positioning signals transmitted by the signal transmitting part, so that the codes of the positioning signals transmitted by the signal transmitting part 210 in different signal transmitting areas are different, and the purpose that the positioning signals in different signal transmitting areas are different is achieved.
Illustratively, among the five signal transmission regions shown in fig. 5, the signal transmission section transmits the positioning signal a after the signal transmission region F1; the signal transmitting part transmits a positioning signal B after turning to a signal transmitting area F2; the signal transmitting part transmits a positioning signal C after turning to a signal transmitting area F3; the signal transmitting part transmits a positioning signal D after turning to a signal transmitting area F4; after turning to the signal transmitting area F5, the signal transmitting part transmits a positioning signal E, wherein the codes of the positioning signal A, the positioning signal B, the positioning signal C, the positioning signal D and the positioning signal E are different, and the codes of the positioning signals corresponding to each signal transmitting area can be preset by staff.
Further, the rotating assembly includes a rotating driving part and an encoder provided on the driving part for obtaining a rotation angle of the rotating driving part to determine a signal emitting area toward which the signal emitting part 210 is currently oriented.
The rotation angle of the driving component is also the rotation angle of the signal transmitting part 210, the current signal transmitting angle of the signal transmitting part 210 can be obtained, then the transmitting angle is compared with the angle range of each signal transmitting area, so as to determine the signal transmitting area currently oriented by the signal transmitting part 210, and finally the control signal transmitting part 210 is controlled to transmit the corresponding coded positioning signal in the currently oriented signal transmitting area.
Continuing with the example of fig. 5, where reference line K is the boundary line locating the first side 220 and the second side 230 of the signal radiating device 20, the angular extent of the signal emitting region F1 is 0-45 °, the angular extent of the signal emitting region F2 is 45 ° -90 °, the angular extent of the signal emitting region F3 is 90 ° -135 °, the angular extent of the signal emitting region F4 is 135 ° -180 °, and the angular extent of the signal emitting region F5 is 180 ° -360 ° (i.e., 0 °). The signal transmitting angle of the signal transmitting part 210 is an included angle between the direction in which the transmitting part transmits the signal and the reference line K. When the signal transmitting part 210 is at the initial position, the signal transmitting angle is 0 °, that is, the included angle between the direction in which the signal is transmitted by the transmitting part and the reference line K is 0 °; then, as the driving member rotates along the arrow in fig. 5, the angle between the direction in which the signal transmitting portion 210 transmits the signal and the reference line K is changed, that is, the signal transmitting angle of the signal transmitting portion 210 is changed, and assuming that the driving member rotates by 20 ° along the direction indicated by the arrow in fig. 5, the signal transmitting angle of the signal transmitting portion 210 is 20 °, whereby it can be determined that the signal transmitting angle of the signal transmitting portion 210 is within the angle range of the signal transmitting region F1, that is, it is determined that the signal transmitting portion 210 is currently oriented toward the signal transmitting region F1, and then the controller controls the signal transmitting portion 210 to transmit the positioning signal a.
When the positioning signal radiation device 20 is applied to a base station, as shown in fig. 5 and 6, the positioning signal radiation device 20 is disposed in the middle of the base 30 of the base station, and the center line N of the positioning signal radiation device 20 coincides with the center line M1 of the base 30 of the base station, wherein the center line N of the positioning signal radiation device 20 refers to the center line in a state that the signal transmitting portion 210 is perpendicular to the reference line K, the signal transmitting area F5 covers the rear side of the base station, the signal transmitting area F1, the signal transmitting area F2, the signal transmitting area F3 and the signal transmitting area F4 cover the front side of the base station, the signal transmitting area F1 and the signal transmitting area F4 are symmetrical with respect to the center line M1, and the signal transmitting area F2 and the signal transmitting area F3 are symmetrical with respect to the center line M1.
The base 30 of the base station is L-shaped, and a charging assembly, a water tank, a water supplementing assembly, a cleaning assembly and the like are configured on the base 30, so that functions of charging the self-mobile device, cleaning a cleaning part, supplementing water and the like are realized. And the self-moving device adapted to the base station may be a sweeping robot, a mopping robot, or the like. For convenience of description, the present embodiment describes the technical solution of the present disclosure taking the sweeping robot 10 as an example.
Further, as shown in fig. 1 and 2, the robot cleaner 10 may include a machine body 110, a sensing module 120, a processing module, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in fig. 1, the machine body 110 includes a forward portion 111 and a backward portion 112, and has an approximately circular shape (both front and rear are circular), and may have other shapes, including, but not limited to, an approximately D-shape of a front and rear circle and a rectangular or square shape of a front and rear.
As shown in fig. 1, the sensing module 120 includes a position determining device 121 on the machine body 110, a collision sensor provided on a front collision structure 122 of a forward portion 111 of the machine body 110, a proximity sensor (wall sensor) on a side of the machine, a cliff sensor 123 provided at a lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. provided inside the machine body 110 for providing various position information and movement state information of the machine to the processing module. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor). In some preferred implementations, the position determining device 121 (e.g., camera, laser sensor) is located at the front side of the main body 110, i.e., the forefront end of the forward portion 111, to enable more accurate sensing of the environment in front of the cleaning robot for accurate positioning.
As shown in fig. 1, the forward portion 111 of the machine body 110 may carry a front impact structure 122, and the front impact structure 122 detects one or more events in the travel path of the cleaning robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon as the driving wheel module 141 advances the cleaning robot 10 to travel on the floor during cleaning, and the cleaning robot 10 may control the driving module to cause the cleaning robot 10 to respond to the events, such as performing obstacle avoidance operations away from the obstacles, etc., by the events detected by the front impact structure 122, such as an obstacle, a wall, etc.
The processing module is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And comprehensively judging what working state and position the cleaning robot 10 is currently in and the current pose of the cleaning robot 10 by combining the distance information and the speed information fed back by the sensor devices such as the sensor 123, the magnetometer, the accelerometer, the gyroscope, the odometer and the like arranged on the front collision structure 122, such as a threshold, a carpet, a cliff, a clamped upper part or a clamped lower part, a full dust box, a lifted dust box and the like, and further giving a specific next action strategy according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.
As shown in fig. 2, the drive module may maneuver the machine body 110 to travel across the ground based on the drive commands with distance and angle information. The drive modules comprise a main drive wheel module which can control the left wheel 140 and the right wheel 141, preferably comprising a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. In order for the cleaning robot 10 to be able to move more stably or with greater motion capabilities on the floor, the cleaning robot 10 may include one or more driven wheels 142, the driven wheels 142 including, but not limited to, universal wheels. The main driving wheel module comprises a driving motor and a control circuit for controlling the driving motor, and the main driving wheel module can be connected with a circuit for measuring driving current and an odometer. And the left wheel 140 and right wheel 141 may have biased drop down suspension systems movably secured, e.g., rotatably attached, to the machine body 110 and receiving spring biases biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.
The energy system includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The main unit is connected with the charging pile through a charging electrode 160 arranged at the side or the lower part of the main body for charging.
The man-machine interaction module 130 comprises keys on the panel of the host machine, wherein the keys are used for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the mode or the function selection item of the current machine to a user; a cell phone client program may also be included. For the path navigation type automatic cleaning robot 10, a map of the environment where the equipment is located and the position where the robot is located can be displayed to the user at the mobile phone client, and more abundant and humanized functional items can be provided for the user. Specifically, the cleaning robot has various modes such as a work mode, a self-cleaning mode, and the like. The operation mode refers to a mode in which the cleaning robot performs an automatic cleaning operation, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the roller brush and the side brush 152 on the base 30 and automatically collects the dirt, and/or automatically washes and dries a mop.
Cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.
As shown in fig. 2, the dry cleaning system 151 provided by the embodiments of the present disclosure may include a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.
As shown in fig. 2 and 3, a wet cleaning system 153 provided by an embodiment of the present disclosure may include: a cleaning head 1531, a drive unit 1532, a water delivery mechanism, a reservoir, and the like. The cleaning head 1531 may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank is transferred to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 may uniformly clean the surface by applying the cleaning liquid.
Wherein the cleaning head 1531 is for cleaning a surface to be cleaned, and the driving unit 1532 is for driving the cleaning head 1531 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, a mop is arranged on the contact surface of the cleaning head 1531 and the surface to be cleaned, and the mop of the cleaning head 1531 is driven by the driving unit 1532 to reciprocate to generate high-frequency friction with the surface to be cleaned, so that stains on the surface to be cleaned are removed; or the mop may be floatably arranged to remain in contact with the cleaning surface throughout the cleaning process without the drive unit 1532 driving its reciprocating movement.
As shown in fig. 3, the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing driving force, the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and may be lifted under the driving of the driving platform 1533.
The wet cleaning system 153 may be connected to the machine body 110 through an active lifting module. When the wet cleaning system 153 is temporarily not engaged, for example, the cleaning robot 10 stops at a base station to clean the cleaning head 1531 of the wet cleaning system 153 and fills the liquid tank with water; or when the surface to be cleaned, which cannot be cleaned by the wet cleaning system 153, is encountered, the wet cleaning system 153 is lifted up by the active lifting module.
As shown in fig. 4 to 7, the sweeping robot of the present embodiment further includes two alignment signal receivers 160 (i.e., a first alignment signal receiver 161 and a second alignment signal receiver 162) and three large-angle signal receivers 170.
The alignment signal receiver 160 is a high alignment precision small angle receiver that can receive optical signals over a small angle range. The first alignment signal receiver 161 and the second alignment signal receiver 162 are disposed right in front of the machine body, and the first alignment signal receiver 161 and the second alignment signal receiver 162 are disposed symmetrically with respect to the central axis M2 of the machine body.
Three high angle signal receivers 170 may accept a range of angular positioning signals. Three large-angle signal receivers 170 are provided at left, right and rear sides of the machine body, respectively, and the three large-angle signal receivers 170 are provided such that the reception range substantially covers the circumferential range of the sweeping robot. That is, no matter which direction the positioning signal is irradiated from the circumferential direction, there is at least one large angle signal receiver 170 capable of receiving the positioning signal.
The three large-angle signal receivers 170 of the sweeping robot receive the positioning signals in real time, and the processing module analyzes the codes of the received positioning signals, for example, as shown in fig. 6, the processing module analyzes that the codes of the positioning signals received by the large-angle signal receivers 170 on the left side are D, so that the sweeping robot can be determined to be positioned in the signal transmitting area F4, and accordingly the sweeping robot is determined to be positioned on the right side of the base station. When the sweeping robot moves to the front of the base station, the relative position between the sweeping robot and the base station is adjusted by receiving the positioning signals received by the first alignment signal receiver 161 and the second alignment signal receiver 162 in real time until the code of the positioning signal received by the first alignment signal receiver 161 is C and the code of the positioning signal received by the second alignment signal receiver 162 is B, that is, as shown in fig. 7, the first alignment signal receiver 161 is located in the signal transmitting part area F3 and the second alignment signal receiver 162 is located in the signal transmitting part area F2, so that the center line M2 of the sweeping robot and the center line M1 of the base station can be determined to be aligned, and accurate docking between the sweeping robot and the base station can be achieved.
It should be understood that the installation manner of the positioning signal radiation device 20 at the base station and the positioning manner of the sweeping robot are only exemplary, and in other implementations, other installation manners of the positioning signal radiation device 20 may be adopted, and other positioning manners of the sweeping robot may also be adopted.
Further, the driving part is a motor, and the signal emitting part 210 is an infrared light emitting part.
The motor has the advantages of long service life, low noise, simple structure and easy installation and maintenance.
The infrared light emitted by the infrared light emitting part has good stability, low price and low realization cost; and compared with visible light which is visible to human eyes and is easily affected by environment, infrared light is not easily interfered by other light sources, the infrared light is invisible, the user experience is better, and the infrared light receiving device is adaptive to the infrared light.
In a second aspect, as shown in fig. 5 and fig. 7, an embodiment of the present invention provides a base station, including a base 30 and a controller, where the base 30 is provided with the positioning signal radiation device 20 described above; the controller is used for controlling the rotating component of the positioning signal radiation device 20 to drive the signal emitting part 210 of the positioning signal radiation device 20 to rotate, so that the signal emitting part 210 turns to different signal emitting areas, and controlling the signal emitting part 210 to emit different positioning signals in the different signal emitting areas.
Further, as shown in fig. 5 and 7, the first side 220 of the positioning signal radiating device is the same side as the front side of the base station, and the second side 230 of the positioning signal radiating device is the same side as the rear side of the base station.
Further, as shown in fig. 5 to 7, the controller is configured to obtain the current signal emission angle of the signal emission part 210 according to the rotation angle of the rotation driving part of the rotation assembly obtained by the encoder of the rotation assembly; determining a signal transmitting area currently oriented by the signal transmitting part 210 according to the current signal transmitting angle; the control signal transmitting part 210 transmits a corresponding positioning signal in a currently oriented signal transmitting area.
For specific limitations of the base station, reference is made to the above limitation of the positioning signal radiating device 20, and no further description is given here.
In a third aspect, as shown in fig. 5 and 8, an embodiment of the present invention provides a method for radiating positioning signals by a base station, including:
step S101: the rotating component of the positioning signal radiation device 20 is controlled to drive the signal emitting part 210 of the positioning signal radiation device 20 to rotate, so that the signal emitting part 210 turns to different signal emitting areas.
Step S102: the control signal transmitting part 210 transmits different positioning signals in different signal transmitting areas.
Further, as shown in fig. 5 and 9, step S102 specifically includes:
step S201: the current signal transmission angle of the signal transmission part 210 is obtained according to the rotation angle of the rotation driving part of the rotation assembly obtained by the encoder of the rotation assembly.
Step S202: the signal transmitting area to which the signal transmitting part 210 is currently directed is determined according to the current signal transmitting angle.
Step S203: the control signal transmitting part 210 transmits a corresponding positioning signal in a currently oriented signal transmitting area.
For specific limitations of the method for the base station to radiate the positioning signal, reference may be made to the above limitations of the positioning signal radiating device 20 and the base station, and the details are not repeated here.
The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (11)
1. The positioning signal radiation device is characterized by comprising a rotating assembly and a signal transmitting part; the signal transmitting part is arranged on the rotating component;
the rotating assembly is used for driving the signal transmitting part to rotate so that the signal transmitting part turns to different signal transmitting areas and transmits different positioning signals in the different signal transmitting areas.
2. The positioning signal radiation device of claim 1 wherein said number of signal emitting areas is plural, wherein one of said signal emitting areas covers a first side of said positioning signal radiation device and the other of said signal emitting areas covers a second side of said positioning signal radiation device, said second side of said positioning signal radiation device being opposite said first side.
3. The positioning signal radiating device of claim 2 wherein a plurality of signal emitting areas located on said second side are symmetrically disposed.
4. The positioning signal radiation apparatus according to claim 1, wherein the signal transmitting section transmits positioning signals differently encoded in different signal transmitting areas.
5. The positioning signal radiation apparatus of claim 1 wherein said rotating assembly comprises a rotating drive member and an encoder disposed on said drive member for obtaining a rotation angle of said rotating drive member to determine a signal emitting area toward which said signal emitting portion is currently oriented.
6. The positioning signal radiation apparatus of claim 5 wherein said driving member is a motor and said signal emitting portion is an infrared light emitting portion.
7. A base station, comprising a base and a controller, wherein the base is provided with the positioning signal radiation device as claimed in claims 1-6;
the controller is used for controlling the rotating assembly of the positioning signal radiation device to drive the signal transmitting part of the positioning signal radiation device to rotate so as to enable the signal transmitting part to turn to different signal transmitting areas and controlling the signal transmitting part to transmit different positioning signals in the different signal transmitting areas.
8. The base station of claim 7, wherein the second side of the positioning signal radiating device is the same side as the front side of the base station and the first side of the positioning signal radiating device is the same side as the rear side of the base station.
9. The base station according to claim 7, wherein the controller is configured to obtain a current signal transmission angle of the signal transmission section based on a rotation angle of a rotation driving part of the rotation assembly obtained by an encoder of the rotation assembly; determining a current signal transmitting area of the signal transmitting part according to the current signal transmitting angle; and controlling the signal transmitting part to transmit a corresponding positioning signal in the currently-oriented signal transmitting area.
10. A method for a base station to radiate a positioning signal, comprising:
the rotation component of the positioning signal radiation device is controlled to drive the signal emission part of the positioning signal radiation device to rotate so as to lead the signal emission part to turn to different signal emission areas;
the signal transmitting part is controlled to transmit different positioning signals in different signal transmitting areas.
11. The method of claim 10, wherein the controlling the signal emitting portion to emit different positioning signals in different signal emitting areas comprises:
obtaining the current signal emission angle of the signal emission part according to the rotation angle of the rotation driving part of the rotation assembly obtained by the encoder of the rotation assembly;
determining a current signal transmitting area of the signal transmitting part according to the current signal transmitting angle;
and controlling the signal transmitting part to transmit a corresponding positioning signal in the currently-oriented signal transmitting area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311132262.9A CN117368845A (en) | 2023-09-04 | 2023-09-04 | Positioning signal radiation device, base station and method for radiating positioning signal by base station |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311132262.9A CN117368845A (en) | 2023-09-04 | 2023-09-04 | Positioning signal radiation device, base station and method for radiating positioning signal by base station |
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| CN117368845A true CN117368845A (en) | 2024-01-09 |
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| CN202311132262.9A Pending CN117368845A (en) | 2023-09-04 | 2023-09-04 | Positioning signal radiation device, base station and method for radiating positioning signal by base station |
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| CN (1) | CN117368845A (en) |
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