CN102880178B - Virtual wall system - Google Patents
Virtual wall system Download PDFInfo
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- CN102880178B CN102880178B CN201210302403.2A CN201210302403A CN102880178B CN 102880178 B CN102880178 B CN 102880178B CN 201210302403 A CN201210302403 A CN 201210302403A CN 102880178 B CN102880178 B CN 102880178B
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- ultraviolet
- virtual wall
- receiving trap
- reduce
- wall system
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Abstract
The invention relates to a virtual wall system, which comprises a self-walking device and at least one fixed device, wherein the self-walking device comprises an infrared receiving device and also comprises a first ultraviolet emitting device; the fixed device comprises an infrared emitting device and also comprises a first ultraviolet receiving device and a switch module which are mutually connected; and when the first ultraviolet receiving device receives ultraviolet rays emitted by the first ultraviolet emitting device, the switch module turns on the infrared emitting device. By the utilization of the characteristics that the ultraviolet rays have low energy consumption and weak penetrability compared with the infrared rays, the infrared emitting device of the self-walking device is in a turn-on state only near the boundary of a virtual wall. The infrared emitting device does not need to be in a continuous turn-on state, so that electric energy consumption can be saved compared with the traditional technology.
Description
Technical field
The present invention relates to and utilize electromagnetic wave to carry out the technology of navigating, especially relate to a kind of virtual wall system.
Background technology
Traditional virtual wall technology, is at the upper installation infrared line receiving trap of a self-walking apparatus (such as from robot walking, certainly walking carrier, from walking suction cleaner etc.), and at least one stationary installation, installs the infrared launcher of directional transmissions.When self-walking apparatus marches to infrared ray action scope, produce the action that running self-walking apparatus stops or turning to, to form a virtual restricted quarter.
But, because this Infrared emitting and receiving device must continue to open, cause power consumption higher and not environmentally.
Summary of the invention
Based on this, be necessary to consume energy high problem for traditional virtual wall technology, a kind of virtual wall system of low power consuming is provided.
A kind of virtual wall system, comprise self-walking apparatus and at least one stationary installation, described self-walking apparatus comprises infrared receiver, and described stationary installation comprises infrared transmitting device, and described self-walking apparatus also comprises the first ultraviolet emission device; Described stationary installation also comprises the first ultraviolet receiving trap and the switch module be electrically connected to each other, described first ultraviolet receiving trap, when receiving the ultraviolet that described first ultraviolet emission device is launched, opens described infrared transmitting device by described switch module.
Wherein in an embodiment, described stationary installation also comprises the reduce-speed sign emitter be electrically connected with described first ultraviolet receiving trap, and described reduce-speed sign emitter is used for launching reduce-speed sign when the first ultraviolet receiving trap receives the ultraviolet of the first ultraviolet emission device transmitting; Described self-walking apparatus also comprises the reduce-speed sign receiving trap and speed adjustment module that are electrically connected to each other, and described speed adjustment module is used for, when reduce-speed sign receiving trap receives described reduce-speed sign, the travel rate of described self-walking apparatus is reduced to first rate.
Wherein in an embodiment, described reduce-speed sign emitter is the second ultraviolet emission device, and described reduce-speed sign receiving trap is the second ultraviolet receiving trap, and described reduce-speed sign is ultraviolet signal.
Wherein in an embodiment, be also provided with the curve lens cover of the printing opacity covering described infrared receiver, for converging from the light be transmitted in curve lens cover outside described curve lens cover.
Wherein in an embodiment, described curve lens cover is that dye has red curve lens cover.
Wherein in an embodiment, be also provided with the curve lens cover of the printing opacity covering described first ultraviolet receiving trap, for converging from the light be transmitted in curve lens cover outside described curve lens cover.
Wherein in an embodiment, described curve lens cover is the purpuric curve lens cover of dye.
Wherein in an embodiment, in described curve lens cover, be provided with the many knuckles optical mirror for being carried out reflecting by the light from below.
Wherein in an embodiment, the material of described curve lens cover is the one in plastics, glass, quartz and crystal.
Wherein in an embodiment, described ultraviolet is UVA ray.
Above-mentioned virtual wall system, utilize that ultraviolet is low relative to infrared ray power consumption, characteristic that penetrability is weak, make the infrared transmitting device in self-walking apparatus only when the border of virtual wall (the first ultraviolet receiving trap can receive the scope of the first ultraviolet emission device) be just in opening.Because infrared transmitting device does not need to be in lasting opening, therefore can saves energy consumption relative to conventional art.
Accompanying drawing explanation
Fig. 1 is the structural representation of virtual wall system in an embodiment;
Fig. 2 is the structural representation of virtual wall system in another embodiment;
Fig. 3 A, 3B are the cut-open view arranging the forward and backward curve lens cover of many knuckles optical mirror in an embodiment respectively
Fig. 4 A, 4B are the cut-open view arranging the forward and backward curve lens cover of many knuckles optical mirror in another embodiment respectively.
Embodiment
For enabling object of the present invention, feature and advantage more become apparent, and are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing.
Fig. 1 is the structural representation of virtual wall system in an embodiment, and virtual wall system comprises self-walking apparatus 200 and at least one stationary installation 100.Wherein, self-walking apparatus 200 comprises the first ultraviolet emission device 210 and infrared receiver 230; Stationary installation 100 comprises the first ultraviolet receiving trap 110, switch module 120 and infrared transmitting device 130.
Infrared transmitting device 130 is in closed condition usually, and the first ultraviolet emission device 210 is in normally open.When the first ultraviolet receiving trap 110 receives the ultraviolet of the first ultraviolet emission device 210 transmitting, just open infrared transmitting device 130 by switch module 120.It should be noted that and must, by parameters such as the emissive powers of configuration first ultraviolet emission device 210, make its reach be greater than the scope of virtual wall, namely self-walking apparatus 200 just can receive ultraviolet signal before the movable boundary arriving virtual wall.The present invention utilizes the characteristic that ultraviolet is low relative to infrared ray power consumption, penetrability is weak, because infrared transmitting device 130 does not need to be in lasting opening, and therefore can saves energy consumption relative to conventional art.Understandable, in order to reach the object of economize energy, after self-walking apparatus 200 is away from the border of virtual wall, infrared transmitting device 130 should reply closed condition.Wherein in an embodiment, switch module 120 is at the first ultraviolet receiving trap 110 k continuously
1when all not receiving ultraviolet signal in second, control infrared transmitting device 130 and close.K
1it is an empirical value.
Fig. 2 is the structural representation of virtual wall system in another embodiment.In this embodiment, stationary installation 100 also comprises the reduce-speed sign emitter 140 be electrically connected with the first ultraviolet receiving trap 110, reduce-speed sign emitter 140 for receive at the first ultraviolet receiving trap 110 first ultraviolet emission device 210 launch ultraviolet time, launch reduce-speed sign.Self-walking apparatus 200 also comprises the reduce-speed sign receiving trap 240 and speed adjustment module 250 that are electrically connected to each other.Speed adjustment module 250 is for being reduced to first rate when reduce-speed sign receiving trap 240 receives reduce-speed sign by the travel rate of self-walking apparatus 200.
In the embodiment depicted in figure 2, speed adjustment module 250 can make it slow down before self-walking apparatus 200 arrives the border prerequisite of virtual wall, urgency is stopped, anxious go to action to avoid self-walking apparatus 200 to produce, loss and the energy consumption of the parts such as the motor (motor) of self-walking apparatus 200 can be reduced, play increase reliability, increase the service life and energy-conservation effect.
Wherein in an embodiment, reduce-speed sign emitter 140 no longer launches reduce-speed sign when the first ultraviolet receiving trap 110 does not receive ultraviolet signal, and reduce-speed sign receiving trap 240 is at continuous k
2when all not receiving reduce-speed sign again in second, the travel rate of self-walking apparatus 200 gos up to the second speed by Negotiation speed adjustment module 250.K
2be an empirical value equally, can k be made
1=k
2.
Wherein in an embodiment, reduce-speed sign emitter 140 is second ultraviolet emission devices, and reduce-speed sign receiving trap 240 is second ultraviolet receiving traps, and reduce-speed sign is ultraviolet signal.Understandable, in other embodiments, reduce-speed sign emitter 140 and reduce-speed sign receiving trap 240 also can adopt the electromagnetic wave communication apparatus of other form to replace.
In order to avoid ultraviolet causes damage to human body, the ultraviolet in the present invention is preferably long wave ultraviolet (UVA).Ultraviolet B radiation (UVB) harmless when also can adopt light exposure.
Wherein in an embodiment, lid infrared receiver 230(and the first ultraviolet receiving trap 110, second ultraviolet receiving trap can be covered) by the curve lens of printing opacity, thus the light (or ray) be transmitted into outside curve lens cover in curve lens cover is converged, increase the induction range/distance of reaction of receiving trap.Certainly, increase induction range for not need in above-mentioned 3 kinds of receiving traps, then do not need at its outer curve lens cover arranging printing opacity.The shape of curve lens cover can be dome-type, ball-cut shape or spherical, also can be set to other curve form according to actual needs, or comprise the combined structure of curved-surface structure.
In order to increase the induction angle of receiving trap further, can also the many knuckles optical mirror being positioned at receiving trap oblique upper be set on curve lens cover, by the light reflection from below to receiving trap.Fig. 3 A, 3B are the cut-open view arranging the forward and backward curve lens cover of many knuckles optical mirror in an embodiment respectively.In this embodiment, curve lens cover 32 is mushroom-shaped structure, and stem base section hollows out with accommodating receiving trap 40.Whole curve lens cover 32 is hollow structure, and many knuckles optical mirror 322 is located at lamella (namely connecting the part of cap and the stem) place of mushroom curve lens cover 32.Receiving trap 40 can be infrared receiver 230, first ultraviolet receiving trap 110 and the second ultraviolet receiving trap.
Fig. 4 A, 4B are the cut-open view arranging the forward and backward curve lens cover of many knuckles optical mirror in another embodiment respectively.Curve lens cover in this embodiment is combined by (similar to Fig. 3 A, 3B illustrated embodiment structure) mushroom-shaped structure 34 and T-shaped cover structure 33, and many knuckles optical mirror 332 is located at inside T-shaped cover structure 33.The wherein coated receiving trap 40 of T-shaped cover structure 33, the stem of mushroom-shaped structure 34 penetrates in T-shaped cover structure 33 from top, the optical texture part of receiving trap 40 is placed in the cut-out of stem.
In order to increase infrared ray or ultraviolet efficiency of transmission, curve lens cover can use the material with selective transmission function, thus is reflected by the light/ray beyond target wavelength, makes it can not be transmitted in curve lens cover.In order to cost-saving, the mode of dyeing can be used to reach the effect of selective transmission, such as, the curve lens cover of infrared receiver 230 be dyed redness, by the curve lens cover purple of the first ultraviolet receiving trap 110 and the second ultraviolet receiving trap.The material of curve lens cover can be tool printing opacity and can one in the plastics of dyeing property, glass, quartz and crystal.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (12)
1. a virtual wall system, comprise self-walking apparatus and at least one stationary installation, described self-walking apparatus comprises infrared receiver, and described stationary installation comprises infrared transmitting device, it is characterized in that,
Described self-walking apparatus also comprises the first ultraviolet emission device;
Described stationary installation also comprises the first ultraviolet receiving trap and the switch module be electrically connected to each other, described first ultraviolet receiving trap, when receiving the ultraviolet that described first ultraviolet emission device is launched, opens described infrared transmitting device by described switch module.
2. virtual wall system according to claim 1, is characterized in that,
Described stationary installation also comprises the reduce-speed sign emitter be electrically connected with described first ultraviolet receiving trap, and described reduce-speed sign emitter is used for launching reduce-speed sign when the first ultraviolet receiving trap receives the ultraviolet of the first ultraviolet emission device transmitting;
Described self-walking apparatus also comprises the reduce-speed sign receiving trap and speed adjustment module that are electrically connected to each other, and described speed adjustment module is used for, when reduce-speed sign receiving trap receives described reduce-speed sign, the travel rate of described self-walking apparatus is reduced to first rate.
3. virtual wall system according to claim 2, is characterized in that, described reduce-speed sign emitter is the second ultraviolet emission device, and described reduce-speed sign receiving trap is the second ultraviolet receiving trap, and described reduce-speed sign is ultraviolet signal.
4. virtual wall system according to claim 1, is characterized in that, is also provided with the first surface eyeglass cover of the printing opacity covering described infrared receiver, for converging from the light be transmitted in curve lens cover outside described first surface eyeglass cover.
5. virtual wall system according to claim 4, is characterized in that, described first surface eyeglass cover is that dye has red curve lens cover.
6. virtual wall system according to claim 1, it is characterized in that, also be provided with the second curve lens cover of the printing opacity covering described first ultraviolet receiving trap, for converging from the light be transmitted in curve lens cover outside described second curve lens cover.
7. virtual wall system according to claim 6, is characterized in that, described second curve lens cover is the purpuric curve lens cover of dye.
8. virtual wall system according to claim 4, is characterized in that, is provided with the many knuckles optical mirror for being carried out reflecting by the light from below in described first surface eyeglass cover.
9. virtual wall system according to claim 6, is characterized in that, is provided with the many knuckles optical mirror for being carried out reflecting by the light from below in described second curve lens cover.
10. virtual wall system according to claim 4, is characterized in that, the material of described first surface eyeglass cover is the one in plastics, glass, quartz and crystal.
11. virtual wall systems according to claim 6, is characterized in that, the material of described second curve lens cover is the one in plastics, glass, quartz and crystal.
12. virtual wall systems according to claim 1, is characterized in that, described ultraviolet is UVA ray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210302403.2A CN102880178B (en) | 2012-08-23 | 2012-08-23 | Virtual wall system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210302403.2A CN102880178B (en) | 2012-08-23 | 2012-08-23 | Virtual wall system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102880178A CN102880178A (en) | 2013-01-16 |
| CN102880178B true CN102880178B (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210302403.2A Expired - Fee Related CN102880178B (en) | 2012-08-23 | 2012-08-23 | Virtual wall system |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629972B (en) * | 2014-11-07 | 2018-05-18 | 科沃斯机器人股份有限公司 | Guiding virtual wall system |
| CN104433954A (en) * | 2014-12-01 | 2015-03-25 | 任利娜 | Dust collector with sterilization device |
| CN106182044B (en) * | 2015-05-07 | 2021-04-13 | 张周新 | Electronic fence |
| CN105741533B (en) * | 2016-04-11 | 2019-03-05 | 东莞市优优照明科技有限公司 | Counter infrared ray virtual wall remote control system and the remote-control ceiling lamp for using the system |
| CN108008725A (en) * | 2017-12-01 | 2018-05-08 | 深圳市沃特沃德股份有限公司 | Confining device and from moving-vision robot and its control method |
| CN108334080B (en) * | 2018-01-18 | 2021-01-05 | 大连理工大学 | Automatic virtual wall generation method for robot navigation |
| CN110597253B (en) * | 2019-09-05 | 2022-12-09 | 珠海一微半导体股份有限公司 | Robot control method, chip and laser type cleaning robot |
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| JPS62105208A (en) * | 1985-10-31 | 1987-05-15 | Sanyo Electric Co Ltd | Guidance system for moving body |
| CN1491094A (en) * | 2001-02-16 | 2004-04-21 | Obstruction management system for robots | |
| CN101297267A (en) * | 2005-09-02 | 2008-10-29 | Neato机器人技术公司 | Multi-function robotic device |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN202041809U (en) * | 2011-04-02 | 2011-11-16 | 宁波波朗电器有限公司 | Electric control system of intelligent cleaning robot |
| CA2824606A1 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile human interface robot |
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2012
- 2012-08-23 CN CN201210302403.2A patent/CN102880178B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62105208A (en) * | 1985-10-31 | 1987-05-15 | Sanyo Electric Co Ltd | Guidance system for moving body |
| CN1491094A (en) * | 2001-02-16 | 2004-04-21 | Obstruction management system for robots | |
| CN101297267A (en) * | 2005-09-02 | 2008-10-29 | Neato机器人技术公司 | Multi-function robotic device |
| CA2824606A1 (en) * | 2010-12-30 | 2012-07-05 | Irobot Corporation | Mobile human interface robot |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN202041809U (en) * | 2011-04-02 | 2011-11-16 | 宁波波朗电器有限公司 | Electric control system of intelligent cleaning robot |
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| CN102880178A (en) | 2013-01-16 |
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Granted publication date: 20150610 Termination date: 20200823 |