CN101648377A - Automatic charging self-regulation mobile robot device and automatic charging method thereof - Google Patents
Automatic charging self-regulation mobile robot device and automatic charging method thereof Download PDFInfo
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- CN101648377A CN101648377A CN200810131384A CN200810131384A CN101648377A CN 101648377 A CN101648377 A CN 101648377A CN 200810131384 A CN200810131384 A CN 200810131384A CN 200810131384 A CN200810131384 A CN 200810131384A CN 101648377 A CN101648377 A CN 101648377A
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Abstract
The invention provides an automatic charging self-regulation mobile robot device and an automatic charging method thereof. The self-regulation mobile robot device enables a mobile robot to make full use of electrical energy of a rechargeable battery to automatically walk so as to execute specific operations; and when the battery discharges, the mobile robot is butted to a recharge stand to receivepower supply. The self-regulation mobile robot device comprises the recharge stand and the mobile robot, wherein the recharge stand is provided with a connecting terminal for supplying power to the battery and an infrared signal generating device used for providing position information and sending infrared signals; and the mobile robot comprises an infrared signal receiving device, a microcomputer and a charging terminal, wherein the infrared signal receiving device receives the infrared signals when the margin of the battery is not enough or a charging command is input, the microcomputer uses the detected information to control moving and walking when detecting the position of the recharge stand according to the signals received from the infrared signal receiving device, and the chargingterminal acquires the electrical energy through contact with the connecting terminal.
Description
Technical field
The present invention relates to self-regulation mobile robot device and charging method thereof, relate to the mobile robot in detail and utilize the automatic walking of rechargeable electrical energy in the battery to finish specific operation, after battery discharge finishes, be docked to self-regulation mobile robot device and automatic recharging method thereof that cradle is accepted power supply.
Background technology
Self-discipline running type mobile robot is walking automatically and finish the robot of operations specific, known cleaning robot arranged, monitor robot etc., the feature of this robot is to have to carry out the operation of carrying out by indication, the function of the operation of for example keeping a public place clean, supervision operation etc.
Cleaning robot has been opened up new market in described mobile apparatus people recently, and its scale increases day by day.
Described cleaning robot is can be automatically to move in the constant zone of keeping a public place clean such as dwelling house or office and suck the robot of dust or impurity, except the common vacuum cleaner that sucks dust or impurity, also appends and comprises: the running gear that makes robot ambulation; Prevent barrier inductive pick-up with the induction barrier that is present in the various disorders thing collision in the zone of keeping a public place clean; The battery of supply power supply and control the microcomputer etc. of all devices.
The cleaning robot of this structure can be judged and the interior set distance as barriers such as furniture, walls in the zone of keeping a public place clean by various disorders thing inductive pick-up, utilizes the information of judging, and prevents to bump with barrier.
But when existing mobile robot such as cleaning robot causes battery discharge utilizing battery to move, provide action required electric energy later on, need be connected to the cradle of establishing in addition to battery in person by the user and charge in order to make battery.
Thus, existing mobile robot have the user not the time shortcoming that can't charge automatically.
In order to solve such shortcoming, proposed recently the mobile robot is directed to the mode of cradle and the mode that contact is attempted butt joint, but guidance mode not only needs the highly difficult technology of robot, also needs to install in addition the equipment of high price, and the shortcoming that increases a large amount of expenses is arranged.
And the method that contact attempts docking has the shortcoming that needs accurately to control posture.
Simultaneously, in certain space, move freely, after needing accurately to discern own current position, move to the target location error freely from current location in order to make described self-discipline running type mobile robot.
In order to make the mobile robot discern own current position, provide means to use predetermined flag (Landmark) as positional information, utilize the method for this own position of landmark identification to have the mobile robot to use video camera to take the sign that is provided with in certain working space, by signal of video signal processing procedure this is discerned then external image, utilize the sign identify to obtain to confirm the information of own current location again or behind the sign irradiates light, utilize the induction reverberation and the sign discerned to confirm the method for own position.
These signs can be designed as multiple shape, use the pattern of geometric properties such as circle, chain usually.
In described method, utilize video camera to take and confirm that the method for position need extract specific pattern from the signal of video signal of working space, and at this moment when extracting the pattern of sign from the external image signal, the influence of external environmental factors such as illuminating position that is subjected to the working space taken with video camera is very big.
That is, the pattern of illumination or illumination the light and shade situation, moulder or the wallpaper that cause etc. produce tremendous influence to the pattern of the external image that the identification video camera is taken, and can occur the required calculating process of the distinguishing mark pattern challenge that becomes thus.
On the contrary, it is as follows by projecting apparatus: when the process mobile robot moves in the mapping space to the mapping method of current location that receives catoptrical form setting mobile robot behind the described sign irradiates light and mobile alignment, with a world coordinates is that set path made robot move to the destination after benchmark was registered the process of each sign.
The shortcoming of this mapping method is, in the process of each sign of registration, if because range error appears in the slip of driving wheel etc., the sign of registering in order after then will continue accumulated error.
In order to solve this shortcoming, need append more sign or other sensor, and the consistency in order to keep indicating, also should calculate covariance matrix with high degree of correlation.
Like this, according to the road surface situation in the mapping space, mobile robot's mapping is set unstable, thereby brings instability for the execution of walking or operation purpose.
Summary of the invention
Thus, the present invention proposes in order to solve above-mentioned shortcoming, its purpose is the automatic rechargeable autonomous robot device and the automatic recharging method thereof that provide following: send infrared signal from cradle, receive the infrared signal that cradle sends by the mobile robot, detect relative position information with cradle, automatically guiding and revert to cradle and finish battery charge automatically then, thereby, improve convenience by battery being finished automatic charging to reduce operator's intervention to greatest extent.
In addition, purpose of the present invention provides following automatic rechargeable self-regulation mobile robot device and automatic recharging method thereof in addition: to cradle top with the corresponding position of cradle irradiation infrared ray, by induction to this situation, making the mobile robot need not to grasp in advance moves with regard to grasping with the deflection of cradle and relative position the knowledge of environment, near contact, be docked to cradle then and finish battery and charge automatically, intervene thereby reduce the operator by the guiding bundle that takes place in the cradle.
Purpose of the present invention in addition provides following map generation system that is used for the mobile robot and ground drawing generating method thereof in addition: for a plurality of signs that possessed by ceiling portion are discerned position in the mobile space, in mobile space, be provided with projecting apparatus, the required light accepting part of light that receives by the sign reflection is equipped with, and generate the map that man-to-man relative distance coordinate figure between the sign both sides of the sign only utilize the former identification on the walking path and current identification just can be discerned all signs, the error that produces in trying to achieve the process of mark position is only with suitable one to one, so error can not accumulated.
In order to solve described technical problem, as one embodiment of the present of invention, a kind of self-regulation mobile robot device makes the mobile robot utilize the electric energy of rechargeable battery to walk automatically and carries out specific operation, when battery discharge, this mobile robot is docked to cradle and receives power supply, this self-regulation mobile robot device comprises: cradle, and it has described battery powered splicing ear and is used to provide the infrared signal generation device of the transmission infrared signal of positional information; And the mobile robot, it comprises: infrared signal receiver, and it is not enough or when having imported charge command in surplus of described battery, receives described infrared signal; Microcomputer, it when detecting the position of described cradle, utilizes detected information control to be movably walking according to the signal that receives from described infrared signal receiver; And by contacting the charging terminal that obtains electric energy with described splicing ear.
Here, described infrared signal generation device comprises the first infrared signal generating unit, this first infrared signal generating unit is by being used for accurately guiding a plurality of infrared light-emitting diodes (LED) of described mobile robot to constitute, described a plurality of infrared light-emitting diode is arranged on barrier-like structure inside or heat homing pipe inside, so that prevent to produce mutual interference signals.
And described infrared signal generation device also comprises the 2nd infrared signal generating unit, and the 2nd infrared signal generating unit is made of the infrared light-emitting diode (LED) of closely using that is used for described cradle near zone is produced infrared signal.
And described infrared signal receiver comprises: in described mobile apparatus human agent front, a plurality of heat homing pipes of being provided with of left surface and right flank; And at the inner infrared receiver that is provided with of each described heat homing pipe.
Also have, described mobile robot also comprises battery allowance test section that detects battery allowance and the operation signal input part of importing user's operation signal, and described microcomputer comprises: the memory that stores application program that is used to drive and the battery allowance a reference value that is used to drive; Detect the position detection part of the position of described cradle by signal by described infrared signal receiver induction; And the walking control part, it is according to the positional information from described position detection part input, and control is movably walking.
And, described cradle forms the pedestal that protrudes forward in the lower end, described splicing ear be installed in described pedestal above, described mobile robot's charging terminal is installed on the bottom of mobile robot and the corresponding link position of splicing ear described cradle, on described pedestal, form guiding groove to anterior end from the inner side that splicing ear is installed, arrive in the described guiding groove so that be installed in the mobile Wheel-guiding of described mobile robot's charging terminal inboard, described mobile robot's charging terminal is connected with the splicing ear of described cradle.
And for the automatic recharging method of the self-regulation mobile robot device of the present invention that solves described technical problem, as an embodiment, comprise the step of carrying out following processing: the mobile robot executes the task according to user command; The mobile robot judges whether the infrared signal that sends into battery charging mode according to user induction charging seat according to battery allowance; When sensing described infrared signal, the position of mobile apparatus people detection cradle utilizes detected positional information, and control is movably walking, thereby makes the mobile robot be positioned at the cradle front; And the mobile robot is docked to cradle and battery is charged automatically, makes described mobile robot stop to carry out action under charge mode, and in the stop position rotation, so that reception is from the infrared signal of cradle.
And in order to solve the present invention of described technical problem, self-regulation mobile robot device as other embodiment, make the automatically walking and carry out specific operation of electric energy that the mobile robot utilizes rechargeable battery, when battery discharge, this mobile robot is docked to cradle and receives power supply, this self-regulation mobile robot device comprises: cradle, and it has: to described battery powered splicing ear; Be used to provide the guiding bundle generation device of the generation heat homing bundle of positional information; And illuminating part, it provides cradle and mobile robot's relative position information to shining infrared ray with the corresponding ad-hoc location of cradle; The mobile robot, it comprises: the infrared induction device, it is not enough or when having imported charge command, induction is from the infrared ray of described illuminating part irradiation in surplus of described battery; To the guiding bundle induction installation of responding to from the signal of described guiding bundle generation device generation; Microcomputer, it detects the position of described cradle according to the signal that utilizes described infrared induction device and the induction of guiding bundle induction installation, utilizes detected information, and control is movably walking; And by contacting the charging terminal that obtains to power with described splicing ear; And location indentifier, it has illuminating part, and this illuminating part shines infrared ray to ad-hoc location, so that described mobile robot can grasp the relative position of oneself.
And in order to solve the automatic recharging method of the present invention of described technical problem, as other embodiment, comprise the step of carrying out following processing: the mobile robot executes the task according to user command; The mobile robot judges whether to be battery charging mode according to user according to battery allowance; When the mobile robot is judged as battery charging mode according to user, stops to carry out action, and described mobile robot is rotated at stop position, so that induction is from the infrared ray of cradle or location indentifier generation; The infrared detection that mobile robot's utilization is sensed and the relative position of described cradle utilize detected positional information, and control is movably walking, thereby this mobile robot is moved to the guide position of cradle; The mobile robot receives the guiding bundle that is produced by cradle at the cradle guide position, utilizes the guiding bundle that receives to be connected with cradle, thereby realizes battery charge; And with the cradle state of contact under, mobile robot's battery is charged automatically.
Also have, self-regulation mobile robot device of the present invention comprises the map generation system that is used for the mobile robot, and is that this map generation system that achieves the above object has following feature.
Map generation system of the present invention comprises: the mobile robot who is formed with the drive division that is used for walking in mobile space; Projecting apparatus, it is arranged on the fixed location in the described mobile space, to ceiling portion irradiates light; A plurality of signs, it is arranged at ceiling portion, and described a plurality of sign makes the mobile robot respond to the light that light reflected by the irradiation of described projecting apparatus, thereby identifies the position of mobile robot in mobile space; Light accepting part, it is installed on described mobile robot's the outside, receives by the light of sign reflection; And control part, it stores relative distance coordinate figure one to one, when special sign moves, drive division to the mobile robot is controlled, make it utilize the described coordinate figure of relative distance one to one to come intended path and move, wherein, the described coordinate figure of relative distance one to one is, in the process that is used for setting mobile robot's mapping in path in mobile space, in a plurality of each sign that detect by described light accepting part, mutually staggered and connect, according to the coordinate figure of relative distance one to one between continuously arranged two signs of walking path of the robot of walking.
Here, the described coordinate figure of relative distance is one to one showed by angle and displacement, described angle and displacement be with in two signs measuring relative distance, walking pass through be masked as reference mark, with the sign of current identification and the angle and the displacement of the reference axis formation of setting.
Thus, the ground drawing generating method of mobile robot's of the present invention map generation system, wherein, described map generation system comprises: the mobile robot of self-discipline walking in mobile space; Projecting apparatus, it is arranged on the fixed location in the described mobile space, to ceiling portion irradiates light; Sign, it is arranged at ceiling portion, so that the light that light reflected that mobile robot's induction is shone by described projecting apparatus, thereby identify the position of mobile robot in mobile space; Light accepting part, it is installed on described mobile robot's the outside, receives by the light of sign reflection; And control part, it only stores relative distance coordinate figure one to one, when special sign moves, drive division to the mobile robot is controlled, make it utilize the described coordinate figure of relative distance one to one to come intended path and move, wherein, the described coordinate figure of relative distance one to one is, mutually staggered and connect in a plurality of each sign, according to the coordinate figure of relative distance one to one between continuously arranged two signs of walking path of the robot of walking, described ground drawing generating method comprises the step of carrying out following processing: set mobile robot's walking path and generate in the method for map in the mobile space, described mobile robot is positioned at mobile space, be the setting path random walk, from being fixed in the projecting apparatus irradiates light of certain location in the mobile space; And described mobile robot's light accepting part is incided in a plurality of sign utilizations from the light of projecting apparatus irradiation, and obtain successively discerning, and store according to the coordinate figure of relative distance one to one that forms between continuously arranged two signs of the walking path of walking robot by mobile robot's control part, generate map.
Here, the described coordinate figure of relative distance is one to one showed by angle and displacement, described angle and displacement are to be masked as reference mark according to what the relative distance between two signs that identify successively, walking were passed through in two signs, with the sign of current identification and the angle and the displacement of the reference axis formation of setting.
Thus, reason cradle of the present invention sends infrared signal, by the mobile robot receive the infrared signal that cradle sends and detect and cradle between relative position information, and lead back to automatically and be grouped into cradle and battery is charged automatically, thereby reduce operator's intervention to greatest extent by the automatic charging of battery, improve ease of use.
And, reason cradle of the present invention and position detector shine infrared ray to ceiling, the mobile robot is by inducing the infrared ray that projects ceiling, and the relative position of detection and cradle need not to grasp the knowledge to environment in advance, then near contact, described mobile robot utilizes the guiding bundle that produces from cradle to be docked to cradle, finishes battery and charges automatically, intervenes thereby can reduce the operator to greatest extent, and, has the advantage of reduction expense owing to need a spot of computational load.
And the present invention need not to use the covariance matrix of the large-scale and high degree of correlation, and the error that takes place in trying to achieve the process of mark position also only is suitable for man-to-man ratio, has the not effect of accumulated error.
And, because the present invention need not to increase high accuracy algorithm or device, can cost saving, and simplify the robot architecture.
Description of drawings
Fig. 1 a～Fig. 1 c is the figure that the embodiment of the invention is shown.
Fig. 1 a is the cradle isometric front view.
Fig. 1 b is mobile robot's rear isometric view.
Fig. 1 c is mobile robot's isometric front view.
Fig. 2 is the stereogram of an example of infrared signal receiver that the mobile robot of Fig. 1 b and Fig. 1 c is shown.
Fig. 3 is the block diagram that mobile robot's structure of Fig. 1 b and Fig. 1 c is shown.
Fig. 4 is the structure chart that an example of the 1st infrared signal generating unit in the cradle of Fig. 1 a is shown.
Fig. 5 is the concrete structure figure of the 2nd infrared signal generating unit in the cradle of Fig. 1 a.
Fig. 6 is the figure that the infrared signal range of receiving of one embodiment of the present of invention is shown.
Fig. 7 is the flow chart that an example of self-regulation mobile robot automatic recharging method of the present invention is shown.
Fig. 8 is the figure that the infrared signal range of receiving of another embodiment of the present invention is shown.
Fig. 9 is the structure chart of automatic charge device that the mobile robot of another embodiment of the present invention is shown.
Figure 10 is the isometric front view of the cradle of Fig. 9.
Figure 11 is the mobile robot's of Fig. 9 a rear isometric view.
Figure 12 is the mobile robot's of Fig. 9 a isometric front view.
Figure 13 is the sectional view of an example that the infrared induction device of Figure 12 is shown.
Figure 14 is the stereogram of an example that the guiding bundle induction installation of Figure 12 is shown.
Figure 15 is the mobile robot's of Fig. 9 a structured flowchart.
Figure 16 is the figure that the 2nd guiding bundle generating unit of Fig. 9 is shown.
Figure 17 is the figure that the infrared signal range of receiving of another embodiment of the present invention is shown.
Figure 18 is the flow chart of an example of automatic recharging method that the mobile robot of another embodiment of the present invention is shown.
Figure 19 is the skeleton diagram that the map generation system of the mobile apparatus human in the self-regulation mobile robot device of the present invention is shown.
Figure 20 is the structure chart that map generative process of the present invention is shown.
Figure 21 is the illustration figure of the positional information that stores control part among the present invention.
Figure 22 is the flow chart that map generative process of the present invention is shown.
The specific embodiment
The preferred embodiment described later by the reference accompanying drawing can be understood the present invention more.For those skilled in the art understand more easily and reproduce the present invention, below will describe the content of invention in detail by the embodiment of the invention.
Fig. 1 a～Fig. 1 c is the figure that the embodiment of the invention is shown, be the figure that each part of the automatic rechargeable self-regulation mobile robot device that comprises cradle and mobile robot is shown, wherein, Fig. 1 a is that the isometric front view of cradle, rear isometric view, Fig. 1 c that Fig. 1 b is the mobile robot are mobile robot's isometric front view.
With reference to accompanying drawing as can be known, the present invention relates to walk automatically and carry out specific operation by the rechargeable electrical energy in the battery, when battery discharge, be docked to cradle and obtain the self-regulation mobile robot automatic charge device of rechargeable electrical energy, form by cradle 1 and mobile robot 2 substantially.
Described cradle 1 possesses splicing ear 11 and the infrared signal generation device 12 that main body 10 is had, thereby can guide mobile robot 2 by the output infrared signal, and the mobile robot 2 who is directed is docked, make splicing ear 11 with after the mobile robot's 2 that chats charging terminal 22 contact, battery (not shown) supply rechargeable electrical energy to being built in mobile robot 2 is finished battery charge thus.
As shown in the figure, described here cradle 1 forms the pedestal 30 that protrudes forward in the lower end, and described splicing ear 11 be installed in pedestal 30 above.At this moment described mobile robot's 2 charging terminal 22 be installed in mobile robot 2 below, especially described charging terminal 22 be installed in below the mobile robot 2 with splicing ear 11 corresponding positions.And described pedestal 30 begins to form guiding groove 31 to anterior end at the inner side that splicing ear 11 is installed.
Like this, pedestal 30 can make mobile robot 2 a side direction pedestal 30 top moving, and splicing ear 11 is connected up and down with charging terminal 22, thereby it is firm under mobile robot 2 heavy burden connection status to be kept.Especially, in the time of near the pedestal 30 of mobile robot's 2 arrival cradles 1, described guiding groove 31 can guide the mobile wheel 40 that is installed in charging terminal 22 inboards below the mobile robot 2 to arrive in the guiding grooves 31, thereby helps mobile robot 2 to arrive charge position rapidly and safely.
Here, infrared signal generation device 12 comprises the 1st infrared signal generating unit 121, its a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, 121e by accurate guiding mobile robot 2 forms, and mutual signal interference should not take place on distributing a plurality of infrared light-emitting diode.
Promptly, on infrared signal generation device 12, the phase mutual interference of infrared signal appears easily according to the bundle width of cloth of a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, 121e, cause receiving signal in desired region not, therefore in order to prevent above phenomenon, each infrared light-emitting diode should be installed in barrier-like structure inside or heat homing pipe inside.
Simultaneously, mobile robot 2 comprises: infrared signal receiver 21, and it is not enough or when having imported charge command in surplus of the battery (not shown) that is positioned at described main body 20 inside, receives described infrared signal; Microcomputer (not shown), its signal by receiving from infrared signal receiver 21, detect the position of described cradle after, utilize detected information, control is movably walking; And charging terminal 22, it is installed in the back side of main body 20 by obtaining electric energy with being connected of described splicing ear 11 corresponding to splicing ear 11.
And, as shown in Figure 3, mobile robot 2 comprises the operation signal input part 24 of the battery allowance test section 23 that detects battery allowance and input user's operation signal, and microcomputer 25 comprises the memory 251 that stores the battery allowance a reference value that is used for driver application and is used to drive and detects the position detection part 252 of described cradle position and the walking control part 253 that is movably walking according to the positional information control from position detection part 252 inputs by the signal by infrared signal receiver 21 inductions.
Here battery allowance test section 23 uses the voltage detection unit that relatively drives with reference voltage value, the effect that walking control part 253 has control moving direction and translational speed.
Simultaneously, Fig. 4 is the structure chart that an example of the 1st infrared signal generating unit in the cradle of Fig. 1 a is shown, the a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, the 121e that constitute the 1st infrared signal generating unit 121 can distribute as illustrated in fig. 4, and each infrared light-emitting diode uses methods such as open/close time difference to discern.
Here, the 1st, the 2nd and the 3rd infrared light-emitting diode 121a, 121b, 121c are used for being used for induction when mobile robot 2 is positioned near the cradle 1, because need accurate induction near being positioned at the time, so infrared light-emitting diode closely distributes mutually.
The 1st infrared light-emitting diode 121a is distributed in cradle 1 front middle section, and the 2nd and the 3rd infrared light-emitting diode 121b, 121c are distributed in left side and the right side of the 1st infrared light-emitting diode 121a respectively.
And the 4th infrared light-emitting diode 121d be distributed in cradle 1 front, left side zone, the 5th infrared light-emitting diode 121e is distributed in the preceding right side of face of cradle 1.
And, the induced signal of each infrared light-emitting diode 121a, 121b, 121c, 121d, 121e send intensity can according to closely or induction range such as distance sensing carry out suitable adjustment.
Simultaneously, as shown in Figure 5, described infrared signal generation device 12 also should comprise by producing the 2nd infrared signal generating unit 122 that closely constitutes with infrared LEDs that infrared signal is used at described cradle close region.
Promptly, as shown in Figure 6, when mobile robot 2 as B position or E position, be positioned at when keeping the position of sufficient distance of reaction with the cradle front, sensed easily, if but when as C position or D position, being positioned at induced signal and receiving difficult position, even if keep very near distance also to be difficult to induction with cradle and dock.
If as the A position, be positioned near position and also be difficult to butt joint, so reattempted butt joint after moving to the E position.
In this case, as shown in Figure 5, by the induced signal diffusion that the 2nd infrared signal generating unit 122 that closely forms with infrared light-emitting diode 122a of being inverted installation is sent, this signal can be at the near zone receiving infrared-ray signal around cradle 1.
That is, near the position that is positioned at cradle 1 just is described if sense the induced signal that sends by the 2nd infrared signal generating unit 122.
Now by this automatic recharging method that utilizes the automatic charge device of self-regulation mobile robot of the present invention of following explanation.
Fig. 7 is the flow chart of an example of automatic recharging method that the self-regulation mobile robot of the embodiment of the invention is shown, and comprising: receive the step S10 that user command is carried out operation; Judge whether step S20 for battery charging mode according to user; Result through judging described charge mode stops to carry out action when the charge mode, is the infrared signal that the receives cradle step S30 in the stop position rotation; When sensing described infrared signal, detect the position of cradle, utilize detected positional information, the control mobile robot is movably walking, and makes the mobile robot be positioned at the step S40 of cradle front; And make described mobile robot be docked to cradle and the step S50 of automatic charging.
, judge whether among the step S20 into charge mode that the result that charge mode is equivalent to measure the surplus of battery or judged whether to import user command detects the situation that electric weight shortage signal or input have charge command here.
With reference to figure 6 and Fig. 8, followingly further specify the automatic recharging method that utilizes the automatic charge device of self-regulation mobile robot of the present invention.
At first, after detecting battery allowance or judging whether charge command that the user operates, whether decision is charge mode.It is to finish by detecting cell voltage that battery allowance detects.That is, just be the equal of charge mode, if the voltage that detects is below a reference value of being stored in the memory 251.
Then, if charge mode just finishes operation, in the rotation of corresponding position, and receive the infrared signal that sends from the infrared ray generation device of cradle by infrared signal receiver 21, detect relative position with cradle by position detection part 252.
At this moment the induced signal that is sent by receiving infrared-ray light emitting diode 121,122 and can judge the Position Approximate of cradle, if but do not sense induced signal, then by till would moving or move to the induced signal that induces the self-charging seat at random always along methods such as wall move.
Also have, grasped the relative position with cradle 1 after, suitably adjust direction according to the infrared light-emitting diode signal that receives, close to cradle 1, and more near cradle 1, speed is slowed down more, to reach accurate walking.
Such as, if only sense signal in the B position from the 4th infrared light-emitting diode 121d, then increase the rotary speed of left side wheel, reduce the rotary speed of right-hand wheel simultaneously, direction of advance is turned to the right side, opposite, if only sense signal from the 5th infrared light-emitting diode 121e, then travel direction is changed to the left side,, then keep straight near cradle 1 if sense induced signal from the 4th and the 5th infrared light-emitting diode 121d, 121e.
Along with the induced signal that can receive near cradle 1,, then make translational speed be reduced to translational speed, to reach accurate walking less than the second zone if judge in the first zone from other infrared light-emitting diodes.If at this moment receive the induced signal of the 1st infrared light-emitting diode 121a, then keep straight on, if receive the induced signal of the 2nd infrared light-emitting diode 121b, then turn right, if receive the induced signal of the 3rd infrared light-emitting diode 121c, then turn left, close to cradle 1 thus.
Like this, when mobile robot 2 keeps sufficient distance with cradle 1 front region, make mobile robot 2 with the close cradle of vertical direction.
But,,, also be difficult to be docked to cradle 1 if when being in the position that can't receive induced signal even if as C or D position, be positioned at position near cradle 1.
And when being positioned at the A position,,, attempt butt joint so must move to the E position owing to be the position of too close cradle though itself and B position are positioned at the border of the same area.
In order to solve above shortcoming, what adopt is exactly the 2nd infrared signal generating unit 122, can receive the induced signal that induced signal that the 2nd infrared signal generating unit 122 sends and the 4th infrared light-emitting diode 121d send in the A position, at this moment rotate the position of sensing the infrared induction signal until the left side infrared receiver in the direction of the clock, and the suitable distance of keeping straight on, move to the E position.
Such as, if be positioned at the F position, can receive the induced signal that signal that the 2nd infrared signal generating unit 122 sends and the 5th infrared light-emitting diode 121e send, and at this moment can't receive the infrared induction signal until the right side infrared receiver to rotation counterclockwise, and the suitable distance of keeping straight on, move to the E position.
Such as, if be positioned at C and D position, because of responding to the induced signal that the 2nd infrared signal generating unit 122 takes place, so under the state of mobile robot's 2 induced signals, turn 90 degrees the distance that it is suitable to keep straight in the back by counterclockwise revolving.
And, if the C position, because the distance of the appointment of can't walking is just run into metope, therefore can learn the information of robot at the C state, institute is so that mobile robot's Rotate 180 degree, the suitable distance of keeping straight on, after moving to the E position, be docked to cradle, finish automatic charging by vertically entering.
Below, Fig. 9 is the structure chart of automatic charge device that the mobile robot of another embodiment of the present invention is shown.
Self-regulation mobile robot device and the automatic recharging method thereof of the embodiment of Fig. 9 are as follows: shine ultrared location indentifier installing with the corresponding position of cradle of cradle top, the mobile robot need not to grasp by the infrared ray of responding to described location indentifier in advance and just can confirm and the relative position of cradle the knowledge of environment, near contact, be docked to cradle then, finish the automatic charging of battery by the guiding bundle that takes place in the cradle.
With reference to the accompanying drawings, the present invention relates to carry out specific operation by the automatic walking of the rechargeable electrical energy in the battery, when battery discharge, be docked to cradle and finish the mobile robot's of charging automatic charge device automatically, form by cradle 1 and location indentifier 4 and mobile robot 3 substantially.
Also have as other embodiment, in order to discern described mobile robot's 3 position, the metope setting forms and has the label of intrinsic ID with the material making of reflected infrared ray near ceiling or ceiling, this label irradiation infrared beams is discerned mobile robot 3 position by mobile robot 3.
At this moment, described each label with intrinsic ID is arranged in the ad-hoc location of each space or broad space so that know the ad-hoc location in each space or single space, guides the intrinsic ID of each label and completing place identification to the mobile robot 3 of this label irradiation infrared beams by the infrared beams of being returned by each tag reflection.
As shown in figure 10, cradle 1 possesses splicing ear 11 and the guiding bundle generation device 12a that main body 10 possesses and the illuminating part of cradle and mobile robot's relative position information is provided to shining infrared ray with cradle 1 corresponding ad-hoc location, guide mobile robot 3 by the output infrared signal, the mobile robot 3 of butt joint guiding, the mobile robot's 3 who chats after making charging terminal 33 contacts with splicing ear 11, thereby, finish battery charge to battery (not shown) the supply rechargeable electrical energy that is built in mobile robot 3.
Here, guiding bundle generation device 12a comprises the 1st guiding bundle generating unit 121 ', the 1st guiding bundle generating unit 121 ' is made of a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, the 121e that can accurately guide mobile robot 3, and mutual signal should not take place on distributing a plurality of infrared light-emitting diodes disturbs.
Promptly, on guiding bundle generation device 12a, the mutual interference of infrared signal phase appears in the bundle width of cloth according to a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, 121e easily, cause in desired region not and receive signal, therefore in order to prevent above phenomenon, each infrared light-emitting diode should be installed in barrier-like structure inside or light beam guiding tube inside.
In addition, as Figure 11 and shown in Figure 12, mobile robot 3 comprises: described main body 30 the surplus of built-in battery (not shown) not enough or when having imported charge command, induction is from the ultrared infrared induction device 31 of cradle 1 or location indentifier 4 irradiations; The guiding bundle induction installation 32 of the signal that induction guiding bundle generation device sends; Microcomputer (not shown), it utilizes from the signal of infrared induction device 31 and 32 receptions of guiding bundle induction installation, detects the position of described cradle 1, utilizes the information that detects, and the control robot is movably walking; And be positioned at the charging terminal 33 at main body 30 back sides accordingly with described splicing ear 11 by what obtain to power with contacting of described splicing ear 11.
Figure 13 is the sectional view of an example that the infrared induction device of Figure 12 is shown, but infrared induction device of the present invention is not limited thereto.
As shown in figure 13, infrared induction device 31 is infrared rays that induction charging seat 1 or location indentifier 4 are sent and change to the optical system of the signal of telecommunication with the detection position, comprising: drum, adjust the ceiling reflection and the outside lens barrel 311 of the ultrared focus of input and the inside lens barrel 312 that moves about in front and back; Be installed in inner lens barrel 312 front ends and cut off visible light, only allow infrared ray pass through and reduce the infrared filter 313 that visible light is disturbed to greatest extent; Be installed on the lower end of inner lens barrel 312 and converge the ultrared convex lens 314 that passed through described infrared filter 313; Position detecting element 315, it is installed on described outside lens barrel 311 rear sides and responds to and passed through the infrared ray that infrared filter 313 and convex lens 314 converge, and is converted to electric analoging signal; And convert electric analoging signal to data signal and the signal controlling module (not shown) controlled.
At this moment, if the infrared induction device shown in use Figure 13, mobile robot 3 deflection can directly be converted to degree or radian, but there is not directly to obtain the unit of range information, can only obtain the distance value of pixel unit, so after obtaining the value of pixel unit, the mobile robot be moved, the pixel value of calculating at displacement changes, and utilizes ratio (ratio) to obtain range information.
Guiding bundle induction installation 32 is fixed on front, left surface and the right flank inside of mobile robot 3 main body 30, and expose by the through hole 34 of the suitable size that forms in main body 30, receive outside infrared signal, as shown in figure 14, the guiding bundle receiver 322 that a plurality of light beam guiding tubes 321 that can be possessed by through hole 34 inside and described each light beam guiding tube inside are possessed is formed, and range of receiving can be by the length adjustment of light beam guiding tube 321.
And as shown in figure 15, mobile robot 3 comprises: the battery allowance test section 34 that detects battery allowance; The operation signal input part 35 of input user operation signal, and microcomputer 37 comprises: store the reference program that is used to drive and the memory 361 of the battery allowance a reference value that is used to drive; Position detection part 362, it detects described cradle position by the signal of infrared signal receiver 31 and 32 inductions of guiding bundle induction installation; And walking control part 363, it is according to the positional information from position detection part 362 inputs, and control is movably walking.
Utilize the voltage detection unit that the reference voltage value that is used to drive battery allowance test section 33 is compared, the effect that walking control part 363 has control moving direction and translational speed here.
And as shown in figure 16, described guiding bundle generation device 12a also comprises by the 2nd guiding bundle generating unit 122 ' that closely constitutes with infrared LEDs at described cradle close region generation infrared signal.
Promptly, as shown in figure 17, when mobile robot 3 as B position or E position, be positioned at when keeping the position of sufficient distance of reaction with the cradle front, sensed easily, if but when as C position or D position, being positioned at induced signal and receiving difficult position, even if keep very near distance also to be difficult to induction with cradle and dock.
If as the A position, be positioned near position and also be difficult to butt joint, so reattempted butt joint after should being directed to the E position.
In this case, as shown in figure 16, by being inverted the 2nd guiding bundle induced signal that signal generator 122 ' the sent diffusion that closely forms with infrared light-emitting diode 122a of installing, this signal can be at the near zone receiving infrared-ray signal around cradle 1.
That is, near the position that is positioned at cradle 1 just is described if sense the induced signal that sends by the 2nd guiding bundle signal generator 122 '.
Now by this automatic recharging method that utilizes the automatic charge device of self-regulation mobile robot of the present invention of following explanation.
Figure 18 is the flow chart that the automatic charging process that the mobile robot device of Fig. 9 carries out is shown, and comprising: the step S10 ' that receives user's command execution operation; Judge whether step S20 ' for battery charging mode according to user; Result through judging described charge mode stops to carry out action when the charge mode, is the infrared signal of the receiving position identifier step S30 ' in the stop position rotation; By the infrared ray of described induction, detect the relative position of cradle, utilize detected positional information, the control mobile robot is movably walking, the step S40 ' that the mobile robot is moved to the sensed position of cradle; At the guiding bundle that the sensed position of described cradle utilizes cradle to send, be placed in the step S50 ' of cradle; And the step S60 ' of the automatic charging of described battery.
, judge whether among the step S30 ' into charge mode that the result that charge mode is equivalent to measure the surplus of battery or judged whether to import user command detects the situation that electric weight shortage signal or input have charge command here.
With reference to Figure 16, followingly further specify the automatic recharging method that utilizes the automatic charge device of self-regulation mobile robot of the present invention.
At first, after detecting battery allowance or judging whether charge command that the user operates, whether decision is charge mode.It is to finish by detecting cell voltage that battery allowance detects.That is, just be the equal of charge mode, if detected voltage is below a reference value of being stored in the memory 351.
Then, if charge mode, just finish operation, in the rotation of corresponding position, and the infrared ray that ultrared location indentifier 4 is sent is shone on the top of cradle by infrared induction device 31 induction, then by the relative position of position detection part 352 detections, according to moving of the positional information control mobile robot 3 who detects with cradle.
Then, from the induced signal that guiding bundle generation device 12a sends,, utilize position detection part 352 to detect the position of cradle by 32 inductions of guiding bundle induction installation according to the induction result.
At this moment by receiving a plurality of infrared light-emitting diode 121a, 121b, 121c, 121d, the induced signal that 121e sends and judge with the cradle be benchmark be positioned at the left side or the right side, if but do not sense signal, then by till moving or move to the induced signal that induces the self-charging seat at random always, thereby be positioned at contact along methods such as wall move.
Like this, the present invention need not to know the guiding bundle that also can send by location indentifier and cradle the knowledge of environment in advance, and identification and control relative position so that robot is installed on cradle, therefore have low computational load.
And self-regulation mobile robot device of the present invention comprises the map generation system that is used for the mobile robot.
The map generation system of self-regulation mobile robot device of the present invention is used for the position of identification mobile robot in mobile space, in mobile space, be provided with projecting apparatus, so that discern position in the mobile space by a plurality of signs set on the ceiling, the light accepting part of the light that is used for receiving flag reflection is equipped with and, only be used on the walking path, the bipartite relative distance one to one of the sign of Shi Bie sign and current identification coordinate figure just can generate the map of all signs of identification in the past, thereby the error that produces in trying to achieve the process of mark position is only to be suitable for one to one, not accumulated error.
Figure 19 is the skeleton diagram that the map generation system of self-regulation mobile robot device of the present invention is shown, and Figure 20 is the structure chart that the map generative process is shown, and Figure 21 is the illustration figure that stores the positional information of control part into.
With reference to the accompanying drawings, map generation system of the present invention comprises: the mobile robot 100, and it is formed with drive division, to walk in mobile space; Projecting apparatus 40, it is fixed on the fixed location in the described mobile space, to the ceiling irradiates light; A plurality of signs 200, it is arranged at ceiling portion, and makes the mobile robot respond to the reflection of light light of described projecting apparatus 40 irradiations, thereby discerns the position of mobile robot in mobile space; Light accepting part 50, it is installed on described mobile robot 100 outsides, receives by the light of sign 200 reflections; And control part 60, it stores relative distance coordinate figure one to one, when special sign 200 moves, drive division to mobile robot 100 is controlled, make it utilize the described coordinate figure of relative distance one to one to come intended path and move, wherein, the described coordinate figure of relative distance one to one is, in the process that is used for setting mobile robot's mapping in path in mobile space, respectively indicate in 200 by described light accepting part 50 a plurality of of detection, mutually staggered and connect, according to the coordinate figure of relative distance one to one between continuously arranged two signs of walking path of the robot of walking.
Here, described mobile robot 100 is the robots that can restrain oneself and walk, and not only can have drive division, and control part 60 also is installed and can controls the mobile robot and move to ad-hoc location, this mobile robot 100 can be home services robot or cleaning robot etc.
And described projecting apparatus 40 is installed on the fixed position in the mobile space, for being provided with to the ceiling irradiates light, is used for irradiates light, with the mobile robot's 100 that chats after an action of the bowels light accepting part 50 distinguishing marks 200.
Here, the light emitting source of described projecting apparatus 40 preferably uses a pair of light source, and like this, sign 200 pairing positions of light accepting part 50 identifications are two, and correct here sign 200 positions are centre positions of described two positions.
Like this, by projecting apparatus 40 with a pair of light emitting source, structure by light accepting part 50 distinguishing marks 200 is to use for reaching with respect to the purpose of the projecting apparatus 40 minimizing identification errors with a light emitting source, thereby can obtain to indicate more accurately 200 positional value.
And described sign 200 is used to provide the benchmark that makes mobile robot 100 generate the positional information in the path of walking in the mobile space, forms a plurality of signs 200 in the ceiling, the position data separately and the intrinsic numbering of control part 60 each signs 200 of storage of then chatting.
Certainly, described position data is with the form storage of the coordinate figure of relative distance one to one between each a pair of sign 200 that connects on the walking path.
Also have, described sign 200 is preferably by being necessary that each position of moving is provided with in mobile space, and indicates the 200 preferred infrared ray marks that use.
In addition, sign 200 positional informations of identification in the described control part 60 storage light accepting parts 50, form map by these, when mobile, set shortest path, the control drive division, here, the positional information of described sign 200 shows with the coordinate figure of relative distance one to one between two signs 200 that connect on the walking path.
The described coordinate figure of relative distance one to one is to indicate that with two the sign 200 that moves in 200, earlier is a benchmark, the displacement and the move angle value that take place in the process of sign 200 walkings of identification backward.
A position shown in Figure 20 and the coordinate figure of relative distance one to one (α, d between the B position
1) be to be reference axis with north side (N) direction in the A position, with α ° of mobile d
1Just become the meaning of B position.
As shown in figure 21, the described coordinate figure of relative distance one to one is stored in control part 60 according to each intrinsic numbering of all signs 200, the mobile route that moves to the C position from the A position is A → B → C (direction:105, distance:128), (direction:120 distance:112) gets final product.
On the contrary, when the C position moved to the A position, (direction:60, distance:112), (direction:75 distance:128) got final product to adopt the path movement of C → B → A.
Map generation system of the present invention can allow described mobile robot 100 by the multiple zone of a plurality of sign 200 identifications in the mobile space, when moving to specific region or position as required, can reduce displacement error with the shortest path movement.
The present invention does not adopt existing by generating map based on sign 200 global coordinate system and by this absolute coordinate system mode that moves for this reason, but adopted following mode: only indicate that according to each that connects on the walking path the 200 bipartite angles that form with respect to displacement and reference axis discern, store all signs 200, the shortest path utilization when ad-hoc location moves comes computing by certain sign 200 to the relative coordinate system that ad-hoc location moves.
As other embodiments of this location recognition technology, the sign 200 that is distributed in described ceiling etc. can constitute with aforesaid label form.That is, described sign 200 adopts the material of reflected infrared ray to make, and gives intrinsic ID, so that identification mobile robot's 100 position.
Thus, described each sign 200 with intrinsic ID is distributed on the ad-hoc location of each space or broad space, so that discern the ad-hoc location in each space or single space.The infrared beams that is transmitted into each label back reflection according to infrared beams to the mobile robot 100 of this label irradiation infrared beams guides the situation of the intrinsic ID of each label, knows the position.
That is, the location recognition technology of aforesaid use infrared beams and sign 200 intrinsic ID than convenient designs of technology such as moving of use coordinate figure control mobile robot 100, and is controlled mobile robot 100 and is moved also very convenient.
Figure 22 is the flow chart of map generative process of the present invention.
With reference to the accompanying drawings, ground of the present invention drawing generating method comprises: mobile robot 100 projecting apparatus 40 is to the step S10 of ceiling irradiates light "; The step S20 that mobile robot 100 walks for setting map "; Step S30 by the sign 200 of identification in the light accepting part identification walking "; And the step S40 that stores the coordinate figure of relative distance one to one between the sign 200 that connects on the walking path by control part ".
At first, start the projecting apparatus 40 have a pair of light emitting source and irradiates light S 10 "; mobile robot 100 in mobile space by certain mode S20 that walks ", in the process of walking, adopt barrier in the multiple sensors identification mobile space of preparing separately and metope etc. and avoided.
Thus, in the process of walking, light accepting part 50 identification is indicated the light S30 of reflection by the light of projecting apparatus 40 irradiations ", this moment, control part 60 was stored in the move angle and the displacement value S40 that form at north orientation (N) reference axis between the sign 200 of the sign 200 just discerned and current identification ".
Through such process, discern all signs 200, store its relative distance coordinate figure, can finish the map generative process.
In the time will moving towards ad-hoc location and move, control part 60 is selected shortest path according to the relative distance coordinate figure between the sign 200 that forms like this, reduces error to greatest extent.
With reference to the accompanying drawings, be that the present invention has been narrated at the center with the preferred embodiment, but for those skilled in the art all can be according to above-mentioned other embodiment that realize various distortion and equivalence in the category that does not break away from aim of the present invention that are documented in.Therefore, should make an explanation according to the claim that comprises these various deformation examples to scope of the present invention.
Claims (15)
1. automatic rechargeable self-regulation mobile robot device, this automatic rechargeable self-regulation mobile robot device makes the mobile robot utilize the electric energy of rechargeable battery to walk automatically and carries out specific operation, when battery discharge, this mobile robot is docked to cradle and receives power supply
This automatic rechargeable self-regulation mobile robot device is characterised in that,
This automatic rechargeable self-regulation mobile robot device comprises:
Cradle, it has described battery powered splicing ear and is used to provide the infrared signal generation device of the transmission infrared signal of positional information; And
The mobile robot, it comprises: infrared signal receiver, it is not enough or when having imported charge command in surplus of described battery, receives described infrared signal; Microcomputer, it when detecting the position of described cradle, utilizes detected information control to be movably walking according to the signal that receives from described infrared signal receiver; And by contacting the charging terminal that obtains electric energy with described splicing ear.
2. automatic rechargeable self-regulation mobile robot device according to claim 1 is characterized in that,
Described infrared signal generation device comprises the first infrared signal generating unit, and this first infrared signal generating unit is by being used for accurately guiding a plurality of infrared light-emitting diodes of described mobile robot to constitute,
Described a plurality of infrared light-emitting diode is arranged on barrier-like structure inside, so that prevent to produce mutual interference signals.
3. automatic rechargeable self-regulation mobile robot device according to claim 1 is characterized in that,
Described infrared signal generation device comprises the first infrared signal generating unit, and this first infrared signal generating unit is by being used for accurately guiding a plurality of infrared light-emitting diodes of described mobile robot to constitute,
Described a plurality of infrared light-emitting diode is arranged on heat homing pipe inside, so that prevent to produce mutual interference signals.
4. automatic rechargeable self-regulation mobile robot device according to claim 3 is characterized in that,
Described infrared signal generation device also comprises the 2nd infrared signal generating unit, and the 2nd infrared signal generating unit is by being used for that described cradle near zone is produced closely constituting with infrared light-emitting diode of infrared signal.
5. automatic rechargeable self-regulation mobile robot device according to claim 1 is characterized in that,
Described infrared signal receiver comprises:
In described mobile apparatus human agent front, a plurality of heat homing pipes of being provided with of left surface and right flank; And
At the inner infrared receiver that is provided with of each described heat homing pipe.
6. automatic rechargeable self-regulation mobile robot device according to claim 1 is characterized in that,
Described mobile robot also comprises battery allowance test section that detects battery allowance and the operation signal input part of importing user's operation signal,
Described microcomputer comprises: the memory that stores application program that is used to drive and the battery allowance a reference value that is used to drive; Detect the position detection part of the position of described cradle by signal by described infrared signal receiver induction; And the walking control part, it is according to the positional information from described position detection part input, and control is movably walking.
7. automatic rechargeable self-regulation mobile robot device according to claim 1 is characterized in that,
Described cradle forms the pedestal that protrudes forward in the lower end, described splicing ear be installed in described pedestal above, described mobile robot's charging terminal is installed on the bottom of mobile robot and the corresponding link position of splicing ear described cradle,
On described pedestal, form guiding groove to anterior end from the inner side that splicing ear is installed, arrive in the described guiding groove so that be installed in the mobile Wheel-guiding of described mobile robot's charging terminal inboard, described mobile robot's charging terminal is connected with the splicing ear of described cradle.
8. the automatic recharging method of a self-regulation mobile robot device is characterized in that, the automatic recharging method of this self-regulation mobile robot device comprises the step of carrying out following processing:
The mobile robot executes the task according to user command;
The mobile robot judges whether the infrared signal that sends into battery charging mode according to user induction charging seat according to battery allowance;
When sensing described infrared signal, the position of mobile apparatus people detection cradle utilizes detected positional information, and control is movably walking, thereby makes the mobile robot be positioned at the cradle front; And
The mobile robot is docked to cradle and battery is charged automatically, wherein,
Make described mobile robot under charge mode, stop to carry out action, and in the stop position rotation, so that reception is from the infrared signal of cradle.
9. automatic rechargeable self-regulation mobile robot device, this automatic rechargeable self-regulation mobile robot device makes the mobile robot utilize the electric energy of rechargeable battery to walk automatically and carries out specific operation, when battery discharge, this mobile robot is docked to cradle and receives power supply
This automatic rechargeable self-regulation mobile robot device is characterised in that,
This self-regulation mobile robot device comprises:
Cradle, it has: to described battery powered splicing ear; Be used to provide the guiding bundle generation device of the generation heat homing bundle of positional information; And illuminating part, it provides cradle and mobile robot's relative position information to shining infrared ray with the corresponding ad-hoc location of cradle;
The mobile robot, it comprises: the infrared induction device, it is not enough or when having imported charge command, induction is from the infrared ray of described illuminating part irradiation in surplus of described battery; To the guiding bundle induction installation of responding to from the signal of described guiding bundle generation device generation; Microcomputer, it detects the position of described cradle according to the signal that utilizes described infrared induction device and the induction of guiding bundle induction installation, utilizes detected information, and control is movably walking; And by contacting the charging terminal that obtains to power with described splicing ear; And
Location indentifier, it has illuminating part, and this illuminating part shines infrared ray to ad-hoc location, so that described mobile robot can grasp the relative position of oneself.
10. the automatic recharging method of a self-regulation mobile robot device is characterized in that, the automatic recharging method of this self-regulation mobile robot device comprises the step of carrying out following processing:
The mobile robot executes the task according to user command;
The mobile robot judges whether to be battery charging mode according to user according to battery allowance;
When the mobile robot is judged as battery charging mode according to user, stops to carry out action, and described mobile robot is rotated at stop position, so that induction is from the infrared ray of cradle or location indentifier generation;
The infrared detection that mobile robot's utilization is sensed and the relative position of described cradle utilize detected positional information, and control is movably walking, thereby this mobile robot is moved to the guide position of cradle;
The mobile robot receives the guiding bundle that is produced by cradle at described cradle guide position, utilizes the guiding bundle that receives to be connected with cradle, thereby realizes battery charge; And
With the cradle state of contact under, mobile robot's battery is charged automatically.
11. a mobile robot map generation system is characterized in that,
This mobile robot's map generation system comprises:
Be formed with the mobile robot of the drive division that is used in mobile space, walking;
Projecting apparatus, it is arranged on the fixed location in the described mobile space, to ceiling portion irradiates light;
A plurality of signs, it is arranged at ceiling portion, and described a plurality of sign makes the mobile robot respond to the light that light reflected by the irradiation of described projecting apparatus, thereby identifies the position of mobile robot in mobile space;
Light accepting part, it is installed on described mobile robot's the outside, receives the light that is reflected by described sign; And
Control part, it stores relative distance coordinate figure one to one, when special sign moves, drive division to the mobile robot is controlled, make it utilize the described coordinate figure of relative distance one to one to come intended path and move, wherein, the described coordinate figure of relative distance one to one is, in the process that is used for setting mobile robot's mapping in path in mobile space, in a plurality of each sign that detect by described light accepting part, mutually staggered and connect, according to the coordinate figure of relative distance one to one between continuously arranged two signs of walking path of the robot of walking.
12. mobile robot's according to claim 11 map generation system is characterized in that,
The described coordinate figure of relative distance is one to one showed by angle and displacement, described angle and displacement are to be masked as reference mark with what the walking in two signs measuring relative distance was passed through, with the sign of current identification and the angle and the displacement of the reference axis formation of setting.
13. the map generation system according to claim 11 or 12 described mobile robots is characterized in that,
Described sign forms label, is arranged near metope ceiling or the ceiling, and is made with the material of reflected infrared ray, and has intrinsic ID, discerning described mobile robot's position,
The mobile robot according to the sign that receives the light time input that this label irradiation infrared beams is reflected intrinsic id information, identification mobile robot's position.
14. a mobile robot ground drawing generating method, this mobile robot's ground drawing generating method are used for generating map in the mobile space by map generation system, to set the road warp of mobile robot's walking, wherein,
Described map generation system comprises:
Be formed with the mobile robot who is used for the drive division of self-discipline walking in mobile space;
Projecting apparatus, it is arranged on the fixed location in the described mobile space, to ceiling portion irradiates light;
A plurality of signs, it is arranged at ceiling portion, so that the light that light reflected that mobile robot's induction is shone by described projecting apparatus, thereby identify the position of mobile robot in mobile space;
Light accepting part, it is installed on described mobile robot's the outside, receives the light that is reflected by described sign; And
Control part, it stores relative distance coordinate figure one to one, when special sign moves, drive division to the mobile robot is controlled, make it utilize the described coordinate figure of relative distance one to one to come intended path and move, wherein, the described coordinate figure of relative distance one to one is, described mobile robot is mutually staggered and connect in detected a plurality of each sign by described light accepting part in the mapping process that is used for setting the path in the mobile space, according to the coordinate figure of relative distance one to one between continuously arranged two signs of walking path of the robot of walking
This mobile robot's ground drawing generating method is characterised in that,
Described mobile robot's ground drawing generating method comprises the step of carrying out following processing:
Set mobile robot's walking path and generate in the method for map in the mobile space, described mobile robot is positioned at mobile space, is the setting path random walk, from being fixed in the projecting apparatus irradiates light of certain location in the mobile space; And
Described mobile robot's light accepting part is incided in a plurality of sign utilizations from the light of projecting apparatus irradiation, and obtain successively discerning, and the coordinate figure of relative distance one to one that forms between continuously arranged two signs of walking path of control part storage according to the robot of walking by the mobile robot generates map.
15. mobile robot's according to claim 14 ground drawing generating method is characterized in that,
The described coordinate figure of relative distance is one to one showed by angle and displacement as the relative distance between two signs that identify successively, described angle and displacement are to be masked as reference mark with what the walking in two signs was passed through, the angle and the displacement that form with the reference axis of the sign of current identification and setting.
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2008
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