CN101863029A - Edge-along moving device - Google Patents
Edge-along moving device Download PDFInfo
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- CN101863029A CN101863029A CN200910082457A CN200910082457A CN101863029A CN 101863029 A CN101863029 A CN 101863029A CN 200910082457 A CN200910082457 A CN 200910082457A CN 200910082457 A CN200910082457 A CN 200910082457A CN 101863029 A CN101863029 A CN 101863029A
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Abstract
The invention discloses an edge-along moving device, which comprises a base, a judging driving unit, two or more than two collision sensing units, two or more than two signal sending and receiving units and a moving element, wherein the collision sensing units are arranged on the base, the signal sending and receiving units can synchronously send and receive specific signals, are arranged at one side of the base at intervals, and are electrically connected on the judging driving unit, and the moving element is arranged on the base, is electrically connected with the judging driving unit, and is driven by the judging driving unit to execute the action. The invention can output action instructions after signal receiving, judgment and calculation for actually controlling a robot to do parallel edge-along movement. In addition, because the invention uses a comparison difference value of signals received by the two signal sending and receiving units as the judgment reference, and the defect of distance judgment precision influence easily caused by surface features of the wall in the prior art can be avoided.
Description
Technical field
The present invention is relevant for a kind of edge-along moving device, and it is to be located in the robot to control the device that this robot moves.
Background technology
Progress along with science and technology; utilizing mobile robot to wait to have the product of automatic function to replace the mankind carries out work work and has become a kind of gradually mature technique; and mobile robot such as sweeping robot or when saving robot or the like from damage and using in indoor environment; usually can need following barrier such as wall and be maintained fixed distance and move, with the cleaning corner, seek the gateway or seek charging pedestal or the like.
And the mode that prior art control robot moves through the side is mostly for after utilizing the collision wall, carrying out computing and driven machine people by control integrated circuit (IC) again carries out and retreats, adjusts direct of travel and then advance, yet utilize this mode to allow robot move through the side many collision sensing unit must be set in robot, to increase the induction of all angles collision, just may positively grasp the trend of robot.
Please cooperate referring to shown in Figure 10, robot 90 mode that moves through the side also can further cooperate the collision mechanism design, and the crash bar 91 as around the robot 90 triggers the collision sensing unit when crash bar 91 collides barrier, thereby the change drive unit turns to.But therefore the distance of these modes because of can't measure away from barrier the time and between barrier often need to adopt jagged collision mode repeatedly that robot 90 can be advanced along barrier, causes the dead angle of corner cleaning.
In addition, the mode of using infrared rays survey and wall distance is arranged in the prior art in addition, though utilize infrared light beam reflected signal power measure with obstacle spacing from very easy, but because metope color or surface are the difference of light face or cloudy surface and metope reflection angle or the like problem, influence the degree of accuracy of measuring distance, even if will launch with receiving terminal with the special angle arrangement, area/the intensity of being seen with receiving terminal that transmits decide with obstacle spacing from, its reflected signal still can be subjected to the influence of barrier surface characteristic, thereby have influence on the accuracy of measuring distance, move though can reach parallel metope, in the time of can't guaranteeing to move through the side and metope keep specific distance.
Summary of the invention
For solving above-mentioned weak point of the prior art, the object of the present invention is to provide a kind of edge-along moving device of improvement, carry out the action that moves through the side of parallel barrier with certain control robot.
The invention provides a kind of edge-along moving device, comprising:
Pedestal;
Judge driver element, it is located on the pedestal;
Two or more signal transmitting and receiving unit, but it is synchronized transmissions and the element that receives signal specific, and this signal specific is the signal with feature of meeting resilience after touching barrier, described signal transmitting and receiving unit is located at a side of pedestal spaced reciprocally, and the signal transmitting and receiving unit is electrically connected to be judged on the driver element, and the strong and weak degree information of the signal that receives is transferred to the judgement driver element;
Moving meter, it is located on the pedestal, is electrically connected to judge driver element and be driven by it carrying out action, as advances, retreats and action such as direction of rotation.
Wherein, the employed signal specific in described signal transmitting and receiving unit can be infrared signal, and the direction of advance of the parallel pedestal in signal transmitting and receiving unit becomes the file setting, and the emission receive direction of signal transmitting and receiving unit is perpendicular to direction of advance.
Wherein, the employed signal specific in described signal transmitting and receiving unit can be ultrasonic signal, and the direction of advance of the parallel pedestal in signal transmitting and receiving unit becomes the file setting, and the emission receive direction of signal transmitting and receiving unit is perpendicular to direction of advance.
Wherein, described device also further comprises two or more collision sensing unit, it is distributed in the wall edge place of the front part of pedestal at interval, cooperate crashproof linkage to trigger, and be connected in the electric connection mode and judge that driver element is to conduct to collision information the judgement driver element when being subjected to triggering.
The present invention advances when being parallel to wall when pedestal, and then the bounce-back signal that received of two signal transmitting and receiving unit is identical, and then pedestal continues parallel walls and moves ahead; If the direct of travel of pedestal has departed from parallel with wall, then the bounce-back signal that received of two signal transmitting and receiving unit will produce difference, and then by the strong and weak ratio of judging the driver element interpretation number of collection of letters, drive moving meter and adjust direct of travel, till the bounce-back signal that is received until two signal transmitting and receiving unit is identical, thus, the reception by signal, judgement, output action instruction then can positively reach function parallel with wall when keeping robot to move through the side.And can cooperate collision sensing unit, judgement driver element to control the distance of robot and metope, and because of the present invention utilize two signal transmitting and receiving unit the comparing difference value of the return path signal that receives respectively as adjusting the action basis for estimation, can avoid influencing because of the surface traits of wall easily the shortcoming of the accurate degree of judgement of distance as the infrared induction range range mode of prior art.
Description of drawings
Fig. 1 is the structural representation of edge-along moving device of the present invention;
Fig. 2 is the enforcement action schematic diagram of edge-along moving device of the present invention;
Enforcement action schematic diagram when Fig. 3 is parallel to barrier for edge-along moving device of the present invention;
Enforcement action schematic diagram one when Fig. 4 is not parallel to barrier for edge-along moving device of the present invention;
Enforcement action schematic diagram two when Fig. 5 is not parallel to barrier for edge-along moving device of the present invention;
Enforcement action schematic diagram three when Fig. 6 is not parallel to barrier for edge-along moving device of the present invention;
Fig. 7 implements schematic diagram for the action of edge-along moving device of the present invention;
Fig. 8 calculates the embodiment schematic diagram for a kind of distance of edge-along moving device of the present invention;
Fig. 9 implements schematic diagram for the action of edge-along moving device of the present invention;
Figure 10 implements schematic diagram for the action that the prior art robot moves through the side.
Description of reference numerals
Signal transmitting and receiving unit 30
Moving meter 40
Crashproof connecting rod 51
Apart from d1, d2
The specific embodiment
For helping the effect that those skilled in the art understand technical characterictic of the present invention, content and advantage and can reach,, and be described in detail as follows respectively with the expression-form of embodiment with conjunction with figs. of the present invention:
Please cooperate shown in Figure 1, edge-along moving device of the present invention can be installed in the bottom of robot to provide it when indoor, (for example: wall) mobile can maintain a certain distance and follow barrier, so that sweeping robot carries out as the action of cleaning corner or the like, and the present invention includes pedestal 10, judges driver element 20 in preferred embodiment, two signal transmitting and receiving unit 30, moving meter 40 and two or more collision sensing unit 50.
Aforesaid judgement driver element 20 is located on the pedestal 10, for comprising the electrical unit of encoder, judgement driver element 20 is controlled maincenter to pass through calculating after received signal as electronic loop, judge that the move of make a choice distance to a declared goal or angle (advances, retreat, turn to), judge driver element 20 widespread in mobile robot's action is controlled, the technological means of knowing for technical staff in this technical field, and be not inventive features of the present invention place yet, so no longer its details is given unnecessary details one by one at this, only explains with regard to its corresponding effect provided by the present invention.
Please further cooperate shown in Figure 2, but aforesaid signal transmitting and receiving unit 30 is the element such as the infrared ray sensor of synchronized transmissions and receiving infrared-ray signal, two signal transmitting and receiving unit 30 are located at a side of pedestal 10 spaced reciprocally, and the direction of advance of its parallel pedestal 10 becomes the file setting, and the transmitter and receiver of signal transmitting and receiving unit 30 perpendicular to the direction of advance of pedestal 10 and towards pedestal 10 outsides so that signal is laterally penetrated, then receive the signal that is rebounded behind this signal touching barrier, moreover, signal transmitting and receiving unit 30 also is electrically connected at the strong and weak degree information of judging on the driver element 20 with the bounce-back that will receive of signal and transfers to judgement driver element 20, and signal transmitting and receiving unit 30 is launched the signal that receives and also be can be ultrasonic signal or any signal that has after touching barrier feature that can bounce-back, in addition, for improving accuracy, also can increase the quantity that is provided with of signal transmitting and receiving unit 30.
Aforesaid moving meter 40 is arranged on the pedestal 10, is two runners that drive by motor respectively in the present embodiment, and place, pedestal 10 both sides is located in its correspondence and compartment of terrain, with one or two or two above universal wheels as supplemental support.This motor borrow be electrically connected at judge driver element 20 and can be driven by it with execution advance, retreat, circular arc is turned and action such as direction of rotation, and can control moving meter 40 by these actions and drive pedestals 10 and directly walk (changeing before the two-wheeled), fall back (changeing behind the two-wheeled) or being that the center turns to (two runners cooperate corresponding radius of turn to change speed discrepancy) along the arbitrfary point on two runner axis.
Aforesaid collision sensing unit 50 is arranged at the wall edge place of the front part of pedestal 10; can further be provided with crashproof connecting rod 51 on the collision sensing unit 50 with element as protection and transmission collision alarm; and collision sensing unit 50 is connected in judgement driver element 20 in the electric connection mode; and can be when being collided stressed information be conducted to and judge driver element 20; for the judgement of judging that driver element 20 carries out such as movable signals such as falling back or turn to; and further transmit to drive moving meter 40 actions; and borrow the setting of collision sensing unit 50 can provide the present invention between advancing, to touch when the barrier of the place ahead; signal can be passed to and judge that driver element 20 judges and select corresponding action command; to fall back; turn to; continuous action such as advance once more; the form that is provided with of collision sensing unit 50 and enforcement pattern be the technological means for popularizing in fact; ought to be known by technical staff in the art, and therefore in specification, its details not added to give unnecessary details.
And the present invention can penetrate infrared signal (or ultrasonic wave) with bars such as detection walls towards cross side by the signal transmitting and receiving unit 30 of one side when implementing, and receive simultaneously because of by the signal of wall reflection resilience, and then the electronic information of gained after the signal detection is passed to judges driver element 20, with the strong and weak degree relative scale of two signal transmitting and receiving unit 30 resulting signals of further judgement.
Please further cooperate referring to shown in Figure 3, when if pedestal 10 direct of travels are parallel to wall, then two signal transmitting and receiving unit 30 and wall equate that apart from d1, d2 therefore the bounce-back signal that is received should be identical, then can judge that make pedestal 10 continue parallel walls after driver element 20 is judged moves ahead; Please further cooperate again referring to Fig. 4 to shown in Figure 6, if the direct of travel of pedestal 10 has departed from parallel with wall, then the bounce-back signal that received of two signal transmitting and receiving unit 30 will because of with wall apart from d1, d2 is inequality and difference on the degree is arranged, and then by judging the strong and weak ratio of judging the number of collection of letters after driver element 20 interpretations, and further calculate the steering angle of pedestal 10 required adjustment in view of the above, then the action command of further collocation correspondence drives moving meter 40 and adjusts direct of travel again, the strong and weak degree information of signal that receives bounce-back until two signal transmitting and receiving unit 30 is identical, the direct of travel that also promptly reaches pedestal 10 is parallel with wall, just can make runner forward afterwards, and continue to revise two wheel speeds by the perception of two infrared ray sensor institutes of left apart from difference, utilize this simple design can make robot keep the parallel mobile function of metope, as shown in Figure 7.
Please further cooperate referring to shown in Figure 8, if wish to control the parallel distance when mobile with metope of robot, then can cooperate judgement driver element 20, come calculating robot's displacement and rotational angle, this is known control mode.Wheel type machine with disc-shape is artificially routine, suppose when robot collides wall at an angle, collision sensing unit 50 triggers, robot promptly halts, and can two infrared ray sensors in side be 30 perception in signal transmitting and receiving unit revise two wheel speeds apart from difference, one is just changeed, a counter-rotating, to make robot is that the center turns to runner axis mid point, signal strength signal intensity up to 30 perception in two signal transmitting and receiving unit is identical, this moment, robot promptly was parallel to metope, and the angle θ that this moment, robot rotated can get by judging driver element 20 to calculate.Robot can be rotated further fixed angle θ afterwards
0, suppose θ
0Be 45 degree with away from metope, keep straight on afterwards apart from f, this displacement is the same can be by judging that driver element 20 cooperates control loops and obtain.Again with robot with backward rotation θ
0, robot will be parallel to metope this moment, these parallel two signal transmitting and receiving unit, 30 controls that detect by the side.Geometry because of robot is known again, can obtain at this moment and the distance between wall by the triangle geometrical relationship; Be designed to example with circular robot, the distance between robot and wall is at this moment
ds＝s(sinθ)+f(sinθ
0)
Because of s in the following formula is the distance of the robot shape center of circle and runner pivot, θ
0Be customizable control parameter, with metope collision angle θ can be by judging that driver element 20 calculates and get, so can control by the displacement f after turning to robot and metope apart from ds.
Afterwards can be by left 30 perception in two signal transmitting and receiving unit revise two wheel speeds apart from difference, make robot keep distance to a declared goal and metope keeping parallelism to move, when meeting with corner or metope change of shape, collision before then can be repeatedly, turn to, move ahead, the go to action flow process, re-move robot, make and keep with the metope that changes that fixed range is parallel to be moved.
Do not estimate distance between robot and metope owing to directly do not adopt the signal value of signal transmitting and receiving unit, and just utilize two signal transmitting and receiving unit senses signal differences to come parallel between robot measurement and metope, relend by judgement driver element 20 and control moving of robot, can avoid error because of the measuring distance that difference produced of barrier surface characteristic, know distance and can keep by above-mentioned machine-processed robot and metope, significantly the hoisting machine people follows the accuracy and the usefulness on limit, this moment robot follow the track on limit will be as shown in Figure 9.
Edge-along moving device of the present invention is by collision sensing unit 50, judge driver element 20, the mutual collocation of signal transmitting and receiving unit 30 and moving meter 40, reception by signal, judge, calculate output action instruction then and can positively reach function parallel when keeping robot to move through the side with wall, and because of the present invention utilize two signal transmitting and receiving unit 30 the relatively difference value of the return path signal that receives respectively as adjusting the action basis for estimation, can avoid influencing because of the surface traits of wall easily the shortcoming of the accurate degree of judgement of distance as the infrared induction range range mode of prior art.
Above-described embodiment only is explanation technological thought of the present invention and characteristics, its purpose is familiar with these those skilled in the art and can be understood content of the present invention and implement according to this making, can not with qualification claim of the present invention, every equalization of doing according to disclosed spirit changes or modifies, and must be encompassed in the claim of the present invention.
Claims (6)
1. an edge-along moving device is characterized in that, this device comprises:
Pedestal;
Judge driver element, it is located on the pedestal;
Two or more signal transmitting and receiving unit, but it is synchronized transmissions and the element that receives signal specific, and this signal specific is the signal with feature of meeting resilience after touching barrier, described signal transmitting and receiving unit is located at a side of pedestal spaced reciprocally, and the signal transmitting and receiving unit is electrically connected at and judges on the driver element the strong and weak degree information of the signal that receives is transferred to the judgement driver element;
Moving meter, it is located on the pedestal, is electrically connected to judge driver element and be driven by it to carry out action.
2. edge-along moving device as claimed in claim 1 is characterized in that, described signal specific is an infrared signal, and the direction of advance of the parallel pedestal in signal transmitting and receiving unit becomes the file setting, and the emission receive direction of signal transmitting and receiving unit is perpendicular to direction of advance.
3. edge-along moving device as claimed in claim 1 is characterized in that, described signal specific is a ultrasonic signal, and the direction of advance of the parallel pedestal in signal transmitting and receiving unit becomes the file setting, and the emission receive direction of signal transmitting and receiving unit is perpendicular to direction of advance.
4. edge-along moving device as claimed in claim 1, it is characterized in that, described device further comprises two or more collision sensing unit, it is distributed in the wall edge place of the front part of pedestal at interval, the collision sensing unit is provided with crashproof connecting rod, and the collision sensing unit is connected in the judgement driver element when being collided stressed information is conducted to the judgement driver element in the electric connection mode.
5. edge-along moving device as claimed in claim 1, it is characterized in that, described moving meter is two runners that drive by motor respectively, and place, pedestal both sides is located in its correspondence and compartment of terrain, and this motor is judged rotating speed and the direction of drive unit drives to control two runners.
6. edge-along moving device as claimed in claim 1 is characterized in that, described pedestal is a discoid body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910082457A CN101863029A (en) | 2009-04-16 | 2009-04-16 | Edge-along moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910082457A CN101863029A (en) | 2009-04-16 | 2009-04-16 | Edge-along moving device |
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| Publication Number | Publication Date |
|---|---|
| CN101863029A true CN101863029A (en) | 2010-10-20 |
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|---|---|---|---|
| CN200910082457A Pending CN101863029A (en) | 2009-04-16 | 2009-04-16 | Edge-along moving device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103921273A (en) * | 2014-04-11 | 2014-07-16 | 北京路德瑞科电子技术有限公司 | Intelligent household robot |
| CN104765363A (en) * | 2014-12-10 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Intelligent floor sweeping robot and control method thereof |
| CN104890014A (en) * | 2015-06-26 | 2015-09-09 | 常州展华机器人有限公司 | Robot anti-collision protection base |
| CN106393140A (en) * | 2015-07-30 | 2017-02-15 | 燕成祥 | Robot capable of automatically adjusting acting path and method thereof |
| CN106537272A (en) * | 2014-07-31 | 2017-03-22 | 夏普株式会社 | Self-propelled electronic device |
| CN106950966A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Translation control device |
| CN107885210A (en) * | 2014-04-09 | 2018-04-06 | 燕成祥 | Guiding type cleaning device and guiding type cleaning set |
| CN108344419A (en) * | 2018-02-09 | 2018-07-31 | 弗徕威智能机器人科技（上海）有限公司 | A kind of method for searching of cradle |
| CN108604097A (en) * | 2015-11-16 | 2018-09-28 | 夏普株式会社 | The traveling method of self-propelled electronic equipment and self-propelled electronic equipment |
| CN109683622A (en) * | 2019-02-22 | 2019-04-26 | 深圳市杉川机器人有限公司 | Robot cleaning method, device, robot and computer readable storage medium |
| CN111568297A (en) * | 2014-07-01 | 2020-08-25 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN114279319A (en) * | 2020-09-28 | 2022-04-05 | 深圳富桂精密工业有限公司 | Apparatus for detecting mounting defect of component and method thereof |
| CN114279319B (en) * | 2020-09-28 | 2024-04-12 | 深圳富联富桂精密工业有限公司 | Device for detecting mounting defect of element and method thereof |
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2009
- 2009-04-16 CN CN200910082457A patent/CN101863029A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107885210A (en) * | 2014-04-09 | 2018-04-06 | 燕成祥 | Guiding type cleaning device and guiding type cleaning set |
| CN103921273B (en) * | 2014-04-11 | 2015-12-09 | 北京东智鑫科技有限公司 | A kind of intelligent domestic robot |
| CN103921273A (en) * | 2014-04-11 | 2014-07-16 | 北京路德瑞科电子技术有限公司 | Intelligent household robot |
| US11871891B2 (en) | 2014-07-01 | 2024-01-16 | Samsung Electronics Co., Ltd. | Cleaning robot and controlling method thereof |
| CN111568297A (en) * | 2014-07-01 | 2020-08-25 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN106537272B (en) * | 2014-07-31 | 2019-04-16 | 夏普株式会社 | Self-propelled electronic equipment |
| CN106537272A (en) * | 2014-07-31 | 2017-03-22 | 夏普株式会社 | Self-propelled electronic device |
| CN104765363A (en) * | 2014-12-10 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Intelligent floor sweeping robot and control method thereof |
| CN104765363B (en) * | 2014-12-10 | 2018-04-24 | 深圳市银星智能科技股份有限公司 | Intelligent robot for sweeping floor and its control method |
| CN104890014A (en) * | 2015-06-26 | 2015-09-09 | 常州展华机器人有限公司 | Robot anti-collision protection base |
| CN106393140A (en) * | 2015-07-30 | 2017-02-15 | 燕成祥 | Robot capable of automatically adjusting acting path and method thereof |
| CN108604097A (en) * | 2015-11-16 | 2018-09-28 | 夏普株式会社 | The traveling method of self-propelled electronic equipment and self-propelled electronic equipment |
| CN106950966A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Translation control device |
| CN108344419A (en) * | 2018-02-09 | 2018-07-31 | 弗徕威智能机器人科技（上海）有限公司 | A kind of method for searching of cradle |
| CN109683622A (en) * | 2019-02-22 | 2019-04-26 | 深圳市杉川机器人有限公司 | Robot cleaning method, device, robot and computer readable storage medium |
| CN114279319A (en) * | 2020-09-28 | 2022-04-05 | 深圳富桂精密工业有限公司 | Apparatus for detecting mounting defect of component and method thereof |
| CN114279319B (en) * | 2020-09-28 | 2024-04-12 | 深圳富联富桂精密工业有限公司 | Device for detecting mounting defect of element and method thereof |
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Open date: 20101020 |