CN102048499A - Mobile robot system and control method thereof - Google Patents
Mobile robot system and control method thereof Download PDFInfo
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- CN102048499A CN102048499A CN2010105025276A CN201010502527A CN102048499A CN 102048499 A CN102048499 A CN 102048499A CN 2010105025276 A CN2010105025276 A CN 2010105025276A CN 201010502527 A CN201010502527 A CN 201010502527A CN 102048499 A CN102048499 A CN 102048499A
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Abstract
The invention provides a mobile robot system and a control method thereof.Only when a remote controller reception module of a beacon senses a signal transmitted from a mobile robot, the sensed result is reported to the mobile robot in the form of a response signal.In addition, the Field-of-View (FOV) of the remote control reception module is restricted by a directivity receiver.Only when the signal transmitted from the mobile robot is sensed within the restricted FOV, the sensed result is reported to the mobile robot.
Description
Technical field
The method that embodiment relates to a kind of mobile-robot system and controls this mobile-robot system, wherein, described mobile-robot system is used for the travel zone of limiting robot and is used for guided robot going to another zone.
Background technology
Usually, the mobile robot is used for need not the device that the user controls executable operations when travel zone is independently advanced.Robot cleaning machine is drawn such as exogenous impurities such as dusts from the floor when independently advancing in such as predetermined cleaning areas such as family or offices as the mobile robot, thereby carries out clean operation.
In order to allow the mobile robot to carry out described operation, need prevent the mobile robot from travel zone break away from provide the virtual wall unit (below, be called " Radio Beacon " (beacon)) so that limit mobile robot's capable edge regions, wherein, described virtual wall unit is used to prevent that the mobile robot from entering the border of travel zone (as the line of demarcation between doorway or bedroom and the kitchen).
The Radio Beacon that is used to limit mobile robot's travel zone continues to send infrared ray (IR) signal to the border of travel zone, so that produce beam zone (beam region).So that when detecting the IR signal executable operations time, the mobile robot changes its direct of travel in order to avoid pass through the beam zone, keeps away the barrier navigation thereby carry out when advancing the mobile robot.The mobile robot only carries out when the signal that sends from Radio Beacon is detected and keeps away the barrier navigation.But,, unnecessarily wasted so be used to send the high power of signal even because when the mobile robot was not in the signal coverage area in Radio Beacon, Radio Beacon still continued the transmission signal.Because described unnecessary power consumption, the battery of Radio Beacon are dashed electricity continually and are therefore more renewed battery continually.Therefore, the user may be unsatisfied with the life-span of battery.
Summary of the invention
Therefore, an aspect of of the present present invention is the method that a kind of mobile-robot system is provided and controls this mobile-robot system, wherein, described mobile-robot system only is used for when the remote controller receiver module of Radio Beacon detects from signal that the mobile robot sends with low-power consumption, and the response signal of the travel zone by being used to limit the mobile robot to mobile robot's report is with the energy efficiency of the battery that improves Radio Beacon.
Aspect that the present invention is other and/or advantage will be partly articulated in the following description, and apparent from this is described to a certain extent, perhaps can recognize by enforcement of the present invention.
By providing a kind of mobile-robot system to realize above-mentioned and/or other aspects, described mobile-robot system comprises: the mobile robot is used for sending signal when travel zone is advanced; And Radio Beacon, be used to receive the signal that sends from the mobile robot and be used for sending response signal to the mobile robot, wherein, described Radio Beacon is defined for the field of view (FOV) of received signal, and and if only if when being sensed to be within the FOV that limits, send response signal to the mobile robot to the signal that sends from the mobile robot.
The signal that sends from the mobile robot can comprise infrared ray, visible light, ultrasonic wave or laser beam.
The response signal that sends from Radio Beacon can comprise infrared ray, visible light, ultrasonic wave, radio frequency (RF) signal or laser beam.
The mobile robot also can comprise one or more transmitters, is used to send the travel condition of signal with the report mobile robot, and described one or more transmitter can send signal by the bag unit.
Transmitter can be 360 degree dispersing lens, and described 360 degree dispersing lens are installed in the top of front surface of mobile robot's main body, are used for sending signal on all directions that the mobile robot advances.
The mobile robot also can comprise: one or more receivers are used to receive the response signal of Radio Beacon; And the robot control unit, if the response signal of Radio Beacon is received, the barrier of keeping away of then controlling the mobile robot navigates.
The mobile robot keeps away barrier navigation the mobile robot is rotated, up to the response signal that no longer receives Radio Beacon.
The robot control unit can control the mobile robot and begin rotation when receiving the response signal of Radio Beacon, and the control mobile robot finishes rotation when not receiving the response signal of Radio Beacon, and begins the cleaning navigation on the direction that rotation stops.
A plurality of receivers can comprise 180 degree dispersing lens, and described 180 degree dispersing lens are installed in the front surface and the side surface of mobile robot's main body with predetermined interval, are used for received signal on all directions that the mobile robot advances.
Radio Beacon can be installed to be with the mobile robot separates.
Radio Beacon also can comprise the directive property receiver, be used for receiving the signal that sends from the mobile robot in the FOV that limits, and described directive property receiver can be the remote controller receiver module with wide, long, the high slit shape that is used to limit FOV.
The directive property receiver can comprise: the first directive property receiver is used for the sensing mobile robot whether near the restricted boundary of travel zone; And the second directive property receiver, be used for the sensing mobile robot whether passed through restricted boundary and near the zone, forward position so that move to another zone.
Received signal when carrying out cleaning when the first directive property receiver can be worked as the mobile robot and advanced in travel zone, described signal is used to prevent that the mobile robot from passing through restricted boundary.
The first directive property receiver can be the slit that is used for the restricted boundary recognition mode, and described slit is installed in the top of front surface of the main body of Radio Beacon.
But the second directive property receiver received signal, described signal are used to indicate the mobile robot to finish the cleaning of travel zone.The second directive property receiver can be the slit that is used for motor pattern, and described slit is installed in the left side and the right side of the first directive property receiver.
Radio Beacon also can comprise omnidirectional's receiver, be used for receiving the signal that sends from the mobile robot with 360 degree, and whether the sensing mobile robot is close.
By providing a kind of method of controlling mobile-robot system to realize above-mentioned and/or other aspects, described method comprises: the mobile robot, send signal when advancing in travel zone; Determine whether in the field of view (FOV) of the qualification of Radio Beacon, to sense the signal that sends from the mobile robot; In Radio Beacon,, then send response signal to the mobile robot if in the FOV that limits, sense the signal that sends from the mobile robot; And when the mobile robot receives the response signal of Radio Beacon, limit advancing of mobile robot, make the mobile robot not pass through the restricted boundary of travel zone.
The qualification of advancing to the mobile robot can comprise that control mobile robot's the barrier of keeping away navigates, and makes the mobile robot rotate, up to the response signal that no longer receives Radio Beacon.
The mobile robot begins rotation in the time of can working as the response signal that receives Radio Beacon, and finishes rotation when not receiving the response signal of Radio Beacon, and stops to begin on the direction cleaning navigation in rotation.
By providing a kind of method of controlling mobile-robot system to realize above-mentioned and/or other aspects, described side goes to comprise: the mobile robot, send signal when advancing in travel zone; In Radio Beacon, receive the signal that sends from the mobile robot with 360 degree, and whether definite mobile robot is near Radio Beacon; In Radio Beacon, if the mobile robot then sends response signal to the mobile robot near Radio Beacon; And, when the mobile robot receives the response signal of Radio Beacon, carry out and to keep away the barrier navigation and bump against with Radio Beacon preventing the mobile robot.
Determine that whether the mobile robot can comprise near the processing of Radio Beacon,, determine that then the mobile robot is near Radio Beacon if Radio Beacon senses " close " signal that sends from the mobile robot.
By providing a kind of method of controlling mobile-robot system to realize above-mentioned and/or other aspects, described method comprises: the mobile robot, send signal when finishing the cleaning of travel zone; Determine whether in the field of view (FOV) of the qualification of Radio Beacon, to sense the signal that sends from the mobile robot; In Radio Beacon,, then send response signal to the mobile robot if in the FOV that limits, sense the signal that sends from the mobile robot; And when the mobile robot received the response signal of Radio Beacon, guiding the mobile robot passed through the restricted boundary of travel zone and move to another zone.
Can comprise mobile robot's guiding making the mobile robot come near Radio Beacon, determine the whether close region of close Radio Beacon of mobile robot along the guiding area that forms by Radio Beacon; In Radio Beacon,, send response signal to the mobile robot as mobile robot during near the close region of Radio Beacon; The mobile robot,, then carry out along the wall navigation so that pass through restricted boundary along the close region of Radio Beacon if the mobile robot receives the response signal of Radio Beacon.
Radio Beacon can receive the completed signal of cleaning of indication travel zone, and the sensing mobile robot whether near guiding area so that pass through restricted boundary to move to another zone.
According to the embodiment of the invention, use remote controller receiver module to replace sending signal with high power consumption with low-power consumption.Only when the remote controller receiver module of Radio Beacon sensed from signal that the mobile robot sends, sensing result reported to the mobile robot with the form of response signal.Correspondingly, can be when limiting mobile robot's travel zone, energy consumption minimized with the Radio Beacon battery, and the energy efficiency of Radio Beacon battery can be improved.In addition, the field of view (FOV) of remote controller receiver module is limited by the directive property receiver.Only when sensing from signal that the mobile robot sends in the FOV that limits, sensing result is reported to the mobile robot.Therefore, mobile robot's motion localized area is minimized, will be thereby do not limit by the zone of mobile robot's cleaning.Increase the beacon function, thereby even when the several room of cleaning, still can satisfy the various demands of user, wherein, described beacon function is used for guiding moveable robot movement to another room when the mobile robot finishes the cleaning in a room.
Description of drawings
By the description of carrying out below in conjunction with accompanying drawing to embodiment, these and/or other aspect of the present invention will become clear and should be readily appreciated that more, wherein;
Fig. 1 is the diagrammatic sketch that illustrates according to the configured in one piece of the mobile-robot system of embodiment;
Fig. 2 is the perspective view that illustrates according to the mobile robot's of embodiment outward appearance;
Fig. 3 is the perspective view that illustrates according to the outward appearance of the Radio Beacon of embodiment;
Fig. 4 is the control block diagram according to the mobile-robot system of embodiment;
Fig. 5 is the concept map of explanation according to the operating principle of the mobile-robot system of embodiment;
Fig. 6 is the flow chart that illustrates according to the method for the travel zone that limits the mobile robot in mobile-robot system of embodiment;
Fig. 7 is the flow chart that prevents the method that the mobile robot collides in mobile-robot system that illustrates according to embodiment;
Fig. 8 is the concept map of explanation according to the operating principle of the mobile-robot system of embodiment;
Fig. 9 illustrates the flow chart that arrives another regional method according to the guiding moveable robot movement in mobile-robot system of embodiment;
Figure 10 is the table that mobile robot's signal transmission of state is set according to Radio Beacon in mobile-robot system that illustrates according to embodiment.
The specific embodiment
Now describe embodiment in detail, the example of embodiment is shown in the drawings, and wherein, identical label is indicated identical parts all the time.Below, explain the present invention by describing embodiment with reference to the accompanying drawings.
Fig. 1 is the diagrammatic sketch that illustrates according to the configured in one piece of the mobile-robot system of embodiment.Mobile-robot system comprises: the mobile robot 10, are used for when execution clean operation when presumptive area is independently advanced, and are used for sending infrared ray (IR) signal with the bag unit; And Radio Beacon 20, separate with mobile robot 10, be used to receive the signal that sends from mobile robot 10.
Radio Beacon 20 is installed in the border (as the door between the corner between bedroom and the kitchen, the room etc.) of travel zone movably, so that limit mobile robot 10 travel zone.Radio Beacon 20 is surveyed the signal that sends from mobile robot 10, and send response signal so that control keeps away the barrier navigation to mobile robot 10 omnidirectionals ground according to result of detection, thereby prevent that mobile robot 10 from passing through the border of travel zone (restricted boundary), and prevent that mobile robot 10 and Radio Beacon 20 from bumping against.
In addition, Radio Beacon 20 has the beacon function and arrives another room to lead mobile robot 10, thereby the mobile robot carries out the clean operation in another room behind the clean operation that finishes a room.
Fig. 2 is the perspective view that illustrates according to the mobile robot's of embodiment outward appearance.
In Fig. 2, mobile robot 10 comprises the main body 12 that forms outward appearance and a pair ofly is installed in the wheel 14 that is used to drive mobile robot 10 below the main body 12 with predetermined space.This is optionally driven by the driver element (engine) that makes the wheel rotation driving wheel 14, makes mobile robot 10 advance towards the direction of expectation.The a plurality of auxiliary wheels that are used for supportive body 12 and are used to make mobile robot 10 smoothly to advance can be installed in the front side and the rear side of driving wheel 14.
In addition, mobile robot 10 comprises that one is used for sending the IR signal so that the transmitter 100 that the report mobile robot advances and a plurality of (for example 5) are used to receive the receiver 102 of the response signal of Radio Beacon 20 with the bag unit.Transmitter 100 is installed in the top of the front surface of main body 12, and uses 360 degree dispersing lens to come omnidirectional ground (with 360 degree) to send the IR signal.A plurality of receivers 102 are installed in the front surface and the side surface of main body 12 with predetermined space, and use 180 degree dispersing lens to come omnidirectional ground to receive the IR signal.
Fig. 3 is the perspective view that illustrates according to the outward appearance of the Radio Beacon of embodiment.
In Fig. 3, Radio Beacon 20 comprises main body 22 that forms outward appearance and the sensor window that is used for transmitt or receive signal 24 that is installed in main body 22 peripheries.The outer wall of sensor window 24 is annulars, and the wave beam of the feasible signal that sends or receive is not crooked.
In addition, Radio Beacon 20 comprises: the first directive property receiver 200, be used in the field of view (FOV) that limits, being received in the signal (high/medium/low/close signal) that mobile robot 10 sends when advancing for the cleaning of carrying out a room, and be used for the border (restricted boundary) whether sensing mobile robot 10 has entered travel zone; The second directive property receiver 202 is used for receiving the completed signal of cleaning in a room of indication in the FOV that limits, and whether is used for sensing mobile robot 10 near being used to guide the guiding area of mobile robot 10 from a room to another room; Omnidirectional's receiver 204 is used to receive " close " signal that sends from mobile robot 10, and whether is used for sensing mobile robot 10 near near the Radio Beacon 20; And a plurality of (as 3) transmitter 206, be used for sending response signal (the IR signal of transmission is so that prevent that the mobile robot from passing through restricted boundary or the guiding mobile robot arrives another zone) to mobile robot 10 omnidirectionals ground according to the result who surveys.
The first directive property receiver 200 is that the directive property that is used for the restricted boundary recognition mode receives slit, described directive property receives slit and is installed in the top of the front surface of Radio Beacon 20, so that be defined for the zone that is received in the signal (high/medium/low/close signal) that sends when mobile robot 10 carries out a home cleaning.Gap (width), length by using described slit and highly limit the signal receiving area, the described directive property that is used for the restricted boundary recognition mode receives slit and has directive property.
Each second directive property receiver 202 is that the directive property that is used for motor pattern receives slit, described directive property receives left side or the right side that slit is installed in the first directive property receiver 200, so that restriction is used for receiving from mobile robot 10 zone of the completed signal of cleaning in a room of indication.Be similar to the directive property reception slit that is used for the restricted boundary recognition mode with the first directive property receiver 200 accordingly, gap (width), length by using described slit and highly limit the signal receiving area, the described directive property that is used for motor pattern receives slit and has directive property.The width that the directive property that is used for motor pattern accordingly with the second directive property receiver 202 receives slit receives the width of slit greater than the directive property that is used for the restricted boundary recognition mode, so as to lead mobile robot 10 from a room to another room.
A plurality of (as 2) second directive property receiver 202 is installed in the left side and the right side of the first directive property receiver 200, so that mobile robot 10 from a room moves to another room time guiding mobile robot 10 from right receiving area to left receiving area, perhaps from left receiving area to right receiving area.
Omnidirectional's receiver 204 is arranged on omnidirectional's receiver of the core of Radio Beacon 20 bottoms, so that receive from " close " signal of mobile robot's 10 transmissions with 360 degree.Omnidirectional's receiver 204 uses refraction and the reflecting attribute of lens 204a, receives the IR signal by receiver module 204b from any assigned direction, and produces area of scattered light.
The first directive property receiver 200, the second directive property receiver 202 and omnidirectional's receiver 204 use the remote controller receiver module with utmost point low current loss, and wherein, the current loss maximum is about 0.4mA to 2.0mA.
When the first directive property receiver 200, the second directive property receiver 202 and omnidirectional's receiver 204 receive from the signal that mobile robot 10 sends, described a plurality of transmitter 206 sends to mobile robot 10 and is used to report the response signal of receive direction and received signal, and uses 180 degree dispersing lens.
Radio Beacon 20 also comprises the battery 26 of the driving power that is used to provide Radio Beacon 20, the signal that is used for Radio Beacon 20 arrives the signal that distance is set to " height ", " " or " low " switch 28 is set, and the operator scheme that is used for Radio Beacon 20 is set to the mode setting switch 30 of " restricted boundary recognition mode " or " motor pattern ".
If signal is provided with switch 28 and is set to " height ", then the signal of Radio Beacon 20 arrives apart from being about 4m, and this is equivalent to 1/2 distance in the bedroom of average family.
If signal be provided with switch 28 be set to " in ", then the signal of Radio Beacon 20 arrives distance and is about 2m, this is equivalent to the distance in the corridor in kitchen in average family.
If signal is provided with switch 28 and is set to " low ", then the signal of Radio Beacon 20 arrives apart from being about 1m, and this is equivalent to the width of door in average family.
Fig. 4 is the control block diagram according to the mobile-robot system of embodiment.
In Fig. 4, except the basic configuration of Fig. 2, mobile robot 10 also comprises input block 104, barrier sensing cell 106, driver element 108, battery sensing cell 110, memory cell 112 and robot control unit 114.
In barrier sensing cell 106 sensing mobile robots 10 travel zone as barriers such as furniture, office equipment or walls.Barrier sensing cell 106, receives from the ultrasonic signal of barrier reflection along its path of advancing emission ultrasonic signal to mobile robot 10, and the existence of sensing barrier/do not exist and to the distance of barrier.At this moment, barrier sensing cell 106 can be the IR sensor, comprises a plurality of IR emission elements and light-receiving member, so that emission IR and reception reverberation.
The charging residual quantity of battery sensing cell 110 sensing rechargeable batteries 109, and to the information of robot control unit's 114 transmissions about the charging residual quantity, wherein, described rechargeable battery 109 is used to provide mobile robot 10 driving power (for example sending the necessary energy of signal by a plurality of transmitters).
In Fig. 4, except basic configuration shown in Figure 3, Radio Beacon 20 also comprises: memory cell 208 is used to header of storing mobile robot 10 etc.; With Radio Beacon control module 210, be used for the integrated operation of mouse beacon machine 20, that is, being used to control described a plurality of transmitter 206 uses the IR signal to report that the first directive property receiver 200 and the second directive property receiver 202 or omnidirectional's receiver 204 have received the signal that sends from mobile robot 10.
Below description is had the operation and the effect of mobile-robot system of configuration described above and the method for controlling this mobile-robot system.
Fig. 5 is for example concept map of explaining according to embodiment of the operating principle of the mobile-robot system when the operator scheme of Radio Beacon 20 is set to the restricted boundary recognition mode.
In Fig. 5, mobile robot 10 independently advances in travel zone (as along by thick arrow indicated direction), and (as the door between the corner between bedroom and the kitchen, the room etc.) is provided with Radio Beacon 20 on the border of mobile robot 10 travel zone.
As shown in Figure 5, when mobile robot 10 independently advanced in travel zone, a transmitter 100 on the top of the front surface of the main body 12 of described mobile robot by being arranged on robot sent the IR signal with the bag unit, and the mobile robot is advancing with report.At this moment, the bag signal that sends from mobile robot 10 comprise mobile robot 10 header and intensity for " height ", " ", " low " or be used to report the signal data of " close " that mobile robot 10 is close.The bag signal sending time is about weekly 180 milliseconds to 200 milliseconds of phases.
In an embodiment, if mobile robot 10 is positioned at the position away from Radio Beacon 20, then Radio Beacon 20 does not send signal, thereby the energy of Radio Beacon battery 26 is not unnecessarily wasted.At this moment, Radio Beacon 20 is in holding state, so that make directive property receiver 200 and the omnidirectional's receiver 204 of winning use the non-firm power of the remote controller receiver module with extremely low power dissipation to receive the signal that sends from mobile robot 10.
The first directive property receiver 200 of Radio Beacon 20 limits restricted boundary so that the remote controller receiver module has directive property with slit shape, and when the signal that sends from mobile robot 10 entered the restricted boundary of described qualification, the described first directive property receiver, 200 sensing mobile robots 10 were near restricted boundary.
Omnidirectional's receiver 204 of Radio Beacon 20 receives the signal that sends from mobile robot 10 with 360 degree, and when receiving " close " signal from the signal that mobile robot 10 sends when (arrival of " close " signal move near Radio Beacon apart from the indication mobile robot, and this distance just is enough to and Radio Beacon bumps against), described omnidirectional receiver 204 sense the close Radio Beacon 20 of mobile robot 10 near.
If the first directive property receiver 200 of Radio Beacon 20 or omnidirectional's receiver 204 receive the signal that sends from mobile robot 10, then Radio Beacon 20 sends response signal by a plurality of transmitters 206 to mobile robot 10 omnidirectionals ground, signal with report mobile robot 10 receives, thereby prevents that mobile robot 10 from entering the border of travel zone or preventing that mobile robot 10 and Radio Beacon 20 from bumping against.
Correspondingly, mobile robot 10 receives the response signal of Radio Beacon 20 to stop to advance of mobile robot 10 by a plurality of receivers 102, and carry out and keep away the barrier navigation, thereby prevent that mobile robot 10 from passing through the border of travel zone or preventing the mobile robot and Radio Beacon 20 collisions.
Fig. 6 is the flow chart that illustrates according to the method for the travel zone that limits the mobile robot in mobile-robot system of embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 is set to the restricted boundary recognition mode.
In Fig. 6, when advancing, mobile robot 10 sends the IR signal with the bag unit in travel zone, to report that the mobile robot is in advance (300) by transmitter 100.
At this moment, Radio Beacon 20 is in the holding state of the non-firm power that uses the remote controller receiver module with extremely low power dissipation, and pass through the signal that the first directive property receiver 200 receives mobile robots' 10 transmissions, and when entering the FOV of qualification, the signal that sends from mobile robot 10 sends the signal that receives to Radio Beacon control module 210.
Radio Beacon control module 210 determines whether the first directive property receiver 200 has received the signal (302) that sends from mobile robot 10.If the first directive property receiver 200 of Radio Beacon 20 does not receive the signal that sends from mobile robot 10, then Radio Beacon 20 keeps holding state (304).
Received the signal that sends from mobile robot 10 if in operation 302, determine the first directive property receiver 200 of Radio Beacon 20, then Radio Beacon control module 210 senses mobile robot 10 and has entered restricted boundary, and send response signal (IR signal) by a plurality of transmitter 206 omnidirectionals ground, so that to mobile robot 10 report " prohibited area " (306).
If determine that in operation 308 mobile robot 10 has received the response signal of Radio Beacon 20, then robot control unit 114 stops mobile robot 10 cleaning navigation, and control keeps away barrier navigation and makes mobile robot's 10 rotations, in order to avoid pass through restricted boundary (310).
After this, robot control unit 114 determines whether to keep away the response signal (312) that hinders navigation and do not sense Radio Beacon 20 by mobile robot 10 rotation, if and sense the response signal of Radio Beacon 20, the rotation that then described robot control unit 114 continues execution mobile robot 10 keeps away the barrier navigation, up to the response signal that does not sense Radio Beacon 20.
If determine not sense the response signal of Radio Beacon 20 in operation 312, the rotation that then finishes Radio Beacon 10 keeps away the barrier navigation, and in the cleaning navigation (314) of rotating beginning mobile robot on the direction that finishes.
Fig. 7 is the flow chart that prevents the method that the mobile robot collides in mobile-robot system that illustrates according to embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 is set to the restricted boundary recognition mode.
In Fig. 7, when advancing, mobile robot 10 sends the IR signal with the bag unit in travel zone, to report that the mobile robot is in advance (400) by transmitter 100.
At this moment, Radio Beacon 20 is in the holding state of the non-firm power that uses the remote controller receiver module with extremely low power dissipation, and pass through " close " signal that 204 receptions of omnidirectional's receiver send from mobile robot 10, and send the signal that receives to Radio Beacon control module 210.
Radio Beacon control module 210 determines whether omnidirectional's receiver 204 has received the signal (402) that sends from mobile robot 10.If omnidirectional's receiver 204 of Radio Beacon 20 does not receive " close " signal that sends from mobile robot 10, then Radio Beacon 20 keeps holding state (404).
Receive " close " signal that sends from mobile robot 10 if in operation 402, determine omnidirectional's receiver 204 of Radio Beacon 20, then Radio Beacon control module 210 sensing mobile robots 10 are near near the Radio Beacon 20, and send response signal (IR signal) by a plurality of transmitter 206 omnidirectionals ground, so that to mobile robot 10 report " prohibited area " (406).
If determine that in operation 408 mobile robot 10 has received the response signal of Radio Beacon 20, then robot control unit 114 stops mobile robot 10 cleaning navigation, and control keeps away barrier navigation and makes mobile robot's 10 rotations, in order to avoid bump against (410) with Radio Beacon 20.
After this, robot control unit 114 determines whether to keep away the response signal (412) that hinders navigation and do not sense Radio Beacon 20 by mobile robot 10 rotation, if and sense the response signal of Radio Beacon 20, then described robot control unit 114 continues execution mobile robot 10 on the rightabout of direct of travel rotation keeps away the barrier navigation, up to the response signal that does not sense Radio Beacon 20.
If determine not sense the response signal of Radio Beacon 20 in operation 412, the rotation that then finishes mobile robot 10 on the rightabout of direct of travel keeps away the barrier navigation, and begins cleaning navigation (414) on the rightabout of direct of travel.
Fig. 8 is for example concept map of explaining according to embodiment of the operating principle of mobile-robot system when the operator scheme of Radio Beacon 20 is set to motor pattern.
In Fig. 8, mobile robot 10 advances along guiding area, and Radio Beacon 20 is installed in the border (as the door between the room etc.) of mobile robot 10 travel zone.
As shown in Figure 8, if mobile robot 10 finishes the cleaning in a room, then the transmitter 100 on the top of the front surface of the main body 12 of mobile robot 10 by being arranged on robot sends the IR signals with 360 degree, finishes with the report cleaning.
The second directive property receiver 202 of Radio Beacon 20 limits left FOV or right FOV (guiding area) so that the remote controller receiver module has directive property with slit shape, and when the signal that sends from mobile robot 10 enters the left FOV of qualification or right FOV (guiding area), sense mobile robot 10 and entered this guiding area.
Omnidirectional's receiver 204 of Radio Beacon 20 receives the signal that sends from mobile robot 10 with 360 degree, and when " close " that send from mobile robot 10 when signal is received, described omnidirectional receiver 204 senses mobile robot 10 near near the Radio Beacon 20.
The second directive property receiver 202 or omnidirectional's receiver 204 in Radio Beacon 20 sense under the situation of the signal that sends from mobile robot 10, Radio Beacon 20 sends response signal by a plurality of transmitter 206 omnidirectionals ground and is received with report mobile robot's 10 signal, thereby mobile robot 10 is along the close Radio Beacon of the guiding area that is formed by Radio Beacon 20, so that move to another room from a room, perhaps when the mobile robot senses " close " signal, mobile robot 10 carries out and navigates along wall along close region (dizzy FOV, halo FOV).
Correspondingly, mobile robot 10 receives the response signal of Radio Beacon 20 by a plurality of receivers 102, along guiding area near Radio Beacon 20, and when the time near the close region (FOV swoons) of Radio Beacon 20, close region (dizzy FOV) along Radio Beacon 20 is carried out along the wall navigation, in order to avoid pass through restricted boundary.
Although in Fig. 8, described mobile robot 10 along the close Radio Beacon 20 of right guiding area, navigating along wall near the close region execution along Radio Beacon 20 behind the close region of Radio Beacon 20, and move to the situation in left room from right room, but embodiment is not limited thereto.Mobile robot 10 can navigate along wall near the close region execution along Radio Beacon 20 behind the close region of Radio Beacon 20, and move to right room from left room along left guiding area near Radio Beacon 20.
Fig. 9 illustrates the flow chart that arrives another regional method according to the guiding mobile robot in mobile-robot system of embodiment.
In order to describe this operation, suppose the mode setting switch 30 of Radio Beacon 20 is set to motor pattern.
In Fig. 9, if finish the cleaning in a room, then mobile robot 10 sends the IR signal that is used for motor pattern by transmitter 100 with 360 degree, finishes (500) with the report cleaning.
At this moment, Radio Beacon 20 is in the holding state of the non-firm power that uses the remote controller receiver module with extremely low power dissipation, and by the signal of the second directive property receiver, 202 receptions from mobile robot's 10 transmissions, and when the signal that is used for motor pattern that sends from mobile robot 10 enters the left FOV of qualification or right FOV, send the signal that receives to Radio Beacon control module 210.
Correspondingly, Radio Beacon control module 210 determines whether the second directive property receiver 202 has received the signal (502) that sends from mobile robot 10.If the second directive property receiver 202 of Radio Beacon 20 does not receive the signal that sends from mobile robot 10, then Radio Beacon 20 keeps holding state (504).
Received the signal that sends from mobile robot 10 if in operation 502, determine the second directive property receiver 202 of Radio Beacon 20, then Radio Beacon control module 210 senses left FOV or the right FOV (guiding area) that mobile robot 10 has entered qualification, and send response signal (IR signal) by a plurality of transmitter 206 omnidirectionals ground, so that to mobile robot 10 report " guiding area " (506).
If determine that in operation 508 mobile robot 10 has received the response signal of Radio Beacon 20, then robot control unit's 114 control guiding navigation, make mobile robot 10 along the close Radio Beacon 20 of the guiding area that forms by Radio Beacon 20, so that move to another room (510) from a room finishing cleaning.
After this, so that mobile robot 10 near the close region (dizzy FOV) of Radio Beacon 20 time, beacon control module 210 determines whether omnidirectional's receivers 204 have received " close " signal (512) that sends from mobile robot 10 when carrying out the guiding navigation.
Do not receive " close " signal that sends from mobile robot 10 if determine omnidirectional's receiver 204 of Radio Beacon 20 in operation 512, then described method proceeds to operation 510, and Radio Beacon 20 continues to carry out mobile robot 10 guiding navigation.
Received " close " signal that sends from mobile robot 10 if in operation 512, determine omnidirectional's receiver 204 of Radio Beacon 20, then Radio Beacon control module 210 senses mobile robot 10 near the close region of Radio Beacon 20 (dizzy FOV), and Radio Beacon 20 sends response signal by a plurality of transmitter 206 omnidirectionals ground and is received with " close " signal of reporting mobile robot 10.
Then, mobile robot 10 receives the response signal of Radio Beacon 20 by a plurality of receivers 102, and controls along the wall navigation, so that pass through restricted boundary (514) along the close region (dizzy FOV) of Radio Beacon 20.
After this, robot control unit 114 determines whether mobile robot 10 passes through restricted boundary (516) along close region (dizzy FOV), if and mobile robot 10 does not pass through restricted boundary, then described method proceeds to operation 514, so that continue to carry out, make the mobile robot pass through restricted boundary along close region (dizzy FOV) along the wall navigation.
If determine that in operation 516 mobile robot 10 has passed through restricted boundary, then control mobile robot 10 navigation herein by another guiding area (, then being left guiding area) if the mobile robot moves to left room along right guiding area from right room.
In navigation by another guiding area control mobile robot 10, mobile robot 10 continues to navigate along wall along close region (dizzy FOV) execution, up to the second directive property receiver 202 of Radio Beacon 20 (more specifically, the second directive property receiver shown in the left side of Fig. 5) receives the signal that after mobile robot 10 passes through restricted boundary, sends from mobile robot 10, and when the second directive property receiver 202 of Radio Beacon 20 receives from signal that mobile robot 10 sends, sense mobile robot 10 and entered left receiving area (guiding area), and mobile robot 10 is controlled to left guiding area (promptly, another guiding area) is the cleaning navigation in the left room of beginning, basis (that is another room).
Figure 10 is the table that mobile robot's signal transmission of state is set according to Radio Beacon in mobile-robot system that illustrates according to embodiment.
In Figure 10, the signal that the user operates Radio Beacon 20 is provided with switch 28, so as the arrival of Radio Beacon 20 distance be set to " height ", " in " or " low ".Then, even when Radio Beacon 20 receives from signal that mobile robot 10 sends, Radio Beacon 20 does not send response signal according to the value of setting, thus can distinguish control mobile robot 10 keep away the barrier navigation.
For example, if the user is provided with switch 28 with the signal of Radio Beacon 20 and is set to " low ", even then when the first directive property receiver 200 of Radio Beacon 20 receives from signal that mobile robot 10 sends, Radio Beacon 20 does not send response signal omnidirectional yet, thereby mobile robot 10 ignore for have the signal that sends from mobile robot 10 " in " or the signal of " height " intensity keep away the barrier navigation, and only keep away the barrier navigation for the signal report that has " low " or " close " intensity the signal that sends from mobile robot 10.
For example, if the user with the signal of Radio Beacon 20 be provided with switch 28 be set to " in ", even then when the first directive property receiver 200 of Radio Beacon 20 receives from signal that mobile robot 10 sends, Radio Beacon 20 does not send response signal omnidirectional yet, thereby mobile robot 10 ignore for the signal that has " height " intensity the signal that sends from mobile robot 10 keep away the barrier navigation, and only for have the signal that sends from mobile robot 10 " in ", the signal report of " low " or " close " intensity keeps away the barrier navigation.
Example indication described above first directive property receiver 200 of Radio Beacon 20 when the mode setting switch 30 of Radio Beacon 20 is set to " restricted boundary recognition mode " receives from the situation of the signal of mobile robot's 10 transmissions.If the user is set to " motor pattern " with the mode setting switch 30 of Radio Beacon 20, then the second directive property receiver 202 of Radio Beacon 20 receives the signal that is used for motor pattern that sends from mobile robot 10, to lead mobile robot 10 to another room by left guiding area and right guiding area.
Although the signal that sends from mobile robot 10 in described embodiment is the IR signal, embodiment is not limited thereto.Even if use visible light, ultrasonic wave or laser signal, also can realize same effect.
Although the signal that sends from Radio Beacon 20 in described embodiment is the IR signal, embodiment is not limited thereto.Even if use visible light, ultrasonic wave, radio frequency (RF) signal or laser signal, also can realize same effect.
Although illustrated and described some embodiment, but it will be appreciated by those skilled in the art that under the situation of principle that does not break away from embodiment and spirit, can change these embodiments, wherein, the scope of embodiment is defined in claim and equivalent thereof.
Claims (15)
1. mobile-robot system comprises:
The mobile robot is used for sending signal when travel zone is advanced; With
Radio Beacon is used to receive the signal that sends from the mobile robot and sends response signal to the mobile robot,
Wherein, described Radio Beacon is defined for the field of view (FOV) of received signal, and and if only if the signal that sends from the mobile robot when being sensed to be within the FOV that limits, described Radio Beacon sends response signal to the mobile robot.
2. mobile-robot system as claimed in claim 1, wherein:
The mobile robot also comprises one or more transmitters, be used to send signal with report mobile robot's travel condition and
The mobile robot comprises main body, and described transmitter is 360 degree dispersing lens, and described 360 degree dispersing lens are installed in the top of front surface of mobile robot's main body, are used for sending signal on all directions that the mobile robot advances.
3. mobile-robot system as claimed in claim 1, wherein, the mobile robot also comprises:
Receiver is used to receive the response signal of Radio Beacon; With
The robot control unit, if be used for receiving the response signal of Radio Beacon, the barrier of keeping away of then controlling the mobile robot navigates.
4. mobile-robot system as claimed in claim 3, also comprise a plurality of receivers, the mobile robot comprises main body, and, described receiver comprises 180 degree dispersing lens, described 180 degree dispersing lens are installed in the front surface and the side surface of mobile robot's main body with predetermined space, be used for received signal on all directions that the mobile robot advances.
5. mobile-robot system as claimed in claim 1, wherein, described Radio Beacon is installed to be with the mobile robot separates.
6. mobile-robot system as claimed in claim 5, wherein:
Radio Beacon also comprises the directive property receiver, be used in the FOV that limits, receiving the signal that sends from the mobile robot and
Described directive property receiver is to have the remote controller receiver module of wide, long, the high slit shape that is used to limit FOV to limit the visual field.
7. mobile-robot system as claimed in claim 6, wherein, the directive property receiver comprises: the first directive property receiver is used for the sensing mobile robot whether near the restricted boundary of travel zone; With a plurality of second directive property receivers, be used for the sensing mobile robot and whether passed through the also close guiding area of restricted boundary so that move to another zone.
8. mobile-robot system as claimed in claim 7, wherein, Radio Beacon comprises main body, and the described first directive property receiver is the slit that is used for the restricted boundary recognition mode, described slit is installed in the top of front surface of the main body of Radio Beacon.
9. mobile-robot system as claimed in claim 8, wherein, the second directive property receiver is the slit that is used for motor pattern, described slit is installed in the left side and the right side of the first directive property receiver.
10. mobile-robot system as claimed in claim 5, wherein, Radio Beacon also comprises omnidirectional's receiver, be used for receiving the signal that sends from the mobile robot with 360 degree, and whether be used for the sensing mobile robot close.
11. a method of controlling mobile-robot system, described method comprises:
The mobile robot, send signal when in travel zone, advancing;
Determine whether in the field of view (FOV) of the qualification of Radio Beacon, to sense the signal that sends from the mobile robot;
In Radio Beacon,, then send response signal to the mobile robot if in the FOV that limits, sense the signal that sends from the mobile robot; And
When the mobile robot receives the response signal of Radio Beacon, limit advancing of mobile robot, make the mobile robot not pass through the restricted boundary of travel zone.
12. method as claimed in claim 11, wherein, the qualification that the mobile robot is advanced comprises: the control mobile robot keeps away barrier navigation, makes the mobile robot rotate, and no longer is received up to the response signal of Radio Beacon.
13. a method of controlling mobile-robot system, described method comprises:
The mobile robot, send signal when in travel zone, advancing;
In Radio Beacon, receive the signal that sends from the mobile robot with 360 degree, and whether definite mobile robot is near Radio Beacon;
In Radio Beacon, if the mobile robot then sends response signal to the mobile robot near Radio Beacon; And
The mobile robot, when the mobile robot receives the response signal of Radio Beacon, carry out and to keep away the barrier navigation and bump against with Radio Beacon preventing.
14. a method of controlling mobile-robot system, described method comprises:
The mobile robot, when finishing the cleaning of travel zone, send signal;
Determine whether in the field of view (FOV) of the qualification of Radio Beacon, to sense the signal that sends from the mobile robot;
In Radio Beacon,, then send response signal to mobile computer if in the FOV that limits, sense the signal that sends from the mobile robot; And
When the mobile robot received the response signal of Radio Beacon, guiding the mobile robot passed through the restricted boundary of travel zone and move to another zone.
15. method as claimed in claim 14, wherein the guiding to the mobile robot comprises:
The mobile robot is come near Radio Beacon along the guiding area that is formed by Radio Beacon;
Determine that the mobile robot is whether near the close region of Radio Beacon;
In Radio Beacon,, send response signal to the mobile robot as mobile robot during near the close region of Radio Beacon; And
The mobile robot,, then carry out along the wall navigation so that pass through restricted boundary along the close region of Radio Beacon if the mobile robot receives the response signal of Radio Beacon.
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| KR20090101527A KR101487781B1 (en) | 2009-05-15 | 2009-10-26 | Mobile robot system and control method thereof |
| KR10-2009-0101527 | 2009-10-26 |
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