CN104503448B - Device used to define working area of mobile robot and defining method thereof - Google Patents
Device used to define working area of mobile robot and defining method thereof Download PDFInfo
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- CN104503448B CN104503448B CN201410570402.5A CN201410570402A CN104503448B CN 104503448 B CN104503448 B CN 104503448B CN 201410570402 A CN201410570402 A CN 201410570402A CN 104503448 B CN104503448 B CN 104503448B
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Abstract
The invention discloses a device used to define working area of a mobile robot and a defining method thereof. The device comprises a controller and at least a signal detector. The controller and the signal detector are installed on a mobile robot. The signal detector comprises an induction coil used to generate electromagnetic induction phenomenon with the boundary of a conductive material, and a detection circuit used to acquire loss resistance of the induction coil or resonant frequency. The position of the induction coil on the mobile robot is higher than the boundary. The detection circuit acquires the loss resistance of the induction coil or the resonant frequency, and converts the loss resistance of the induction coil or the resonant frequency to real-time digital signals, and then sends the signals to the controller. The controller compares the real-time digital signals with a reference value range. If the real-time digital signals are in the reference value range, the mobile robot gets to the boundary. The device is advantaged in that just the conductive material is needed to be used as a passive boundary, selection range of a boundary material is wide, a signal generator does not need to be configured, and cost of the device is relatively low.
Description
Technical field
The present invention relates to a kind of mobile work robot region deviding technology, especially relate to one kind and be used for defining moving machine
The device of device people working region and its confining method.
Background technology
Mobile robot technology originates from abroad, and current Massachusetts science and engineering, Georgia science and engineering, Caltech and Stamford etc. are ground
Study carefully mechanism all in the content studying this one side energetically, and have relatively in artificial intelligence field and robot hardware's design field
Significantly achievement.On market, better performances both is from large-scale public affairs abroad mostly for the mobile robot cleaning or prune
Department, the such as roomba of irobot company, fm of rc and fmart company of karcher company etc. clean robot, and
The robomow of friendly machines company, the ambrigio robo-lawnmower of zucchetti company and
The grass-removing robots such as the husqvarna auto mower of electrolux company.These mobile robots are all passed through to refer at one
Travel through in fixed working region and to complete to clean or to prune work, thus, the device defining mobile work robot region becomes
The requisite ingredient of mobile robot.
Disclose one kind in the U.S. patent documents of Patent No. us20080097645 to be used for defining mobile work robot
The device in region.This device is detected to border based on galvanomagnetic-effect, mainly includes controller, signal generator and signal and visits
Survey device.This device cable being connected with signal generator surrounds square, one active square boundary of formation, border
Place's magnetic field intensity is maximum.Signal generator makes border generation magnetic field, during mobile robot moves closer to border, installs
Signal sensor in mobile robot obtains the field signal of border generation in real time, and the magnetic field obtaining is believed by signal sensor
Number it is converted into voltage signal and is real-time transmitted to controller, controller is by the boundary of the voltage signal receiving and its storage inside
The corresponding reference voltage signal of magnetic field intensity is contrasted, and judges whether mobile robot reaches border, according to result of determination control
The direct of travel of mobile robot processed, thereby guarantees that mobile robot moves in the working region that border is surrounded.
But the above-mentioned device for defining mobile work robot region is there is problems in that limiting of being subject to of border material
System is larger, in order that border generation magnetic field forms active border it is necessary to be equipped with signal generator with cable, in addition each side
Boundary needs a signal generator, if, if laying new border in existing border, needing extra signal generator, cost
Higher.
Content of the invention
One of the technical problem to be solved is to provide a kind of dress for defining mobile work robot region
Put, in this device, signal sensor includes induction coil and testing circuit, based on induction coil and conductive material near when can produce
The principle that raw electromagnetic induction phenomenon, the loss resistance of induction coil and the size of resonant frequency can change, testing circuit is real
When obtain induction coil loss resistance or resonant frequency and can determine that border, thus only need using conductive material as passive edge
Boundary, the scope that border material selects is wide, and does not need optional equipment signal generator, and cost is relatively low.
The technical scheme that one of present invention solution above-mentioned technical problem is adopted is: one kind is used for defining mobile robot work
Make the device in region, including controller and at least one signal sensor, described controller and described signal sensor are pacified
It is contained in mobile robot it is characterised in that described signal sensor includes producing electromagnetism sense for the border with conductive material
Answer the induction coil of phenomenon and the testing circuit for obtaining the described loss resistance of induction coil or resonant frequency, described
Position in mobile robot for the induction coil is higher than border, and the described induction coil that is stored with described controller reaches side
Loss resistance when above boundary or the reference range of resonant frequency, described testing circuit obtains described induction coil in real time
Loss resistance or resonant frequency, and loss resistance or resonant frequency be converted into after digital signal, be sent to described control
Device, the value of real time digital signal and reference range are contrasted by described controller, if the value of real time digital signal falls
Enter in reference range, then mobile robot reaches border.
Described testing circuit include inductance digital converter, the first electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity,
5th electric capacity, the 6th electric capacity and the 7th electric capacity, described model ldc1000, ldc1041 of inductance digital converter or
Ldc1051, the one of described the 4th foot of inductance digital converter, described one end of the first electric capacity and the second described electric capacity
End connects and 3.3v voltage is accessed in its connection end, and the other end of the described other end of the first electric capacity and the second described electric capacity is equal
Ground connection, one end of described the 13rd foot of inductance digital converter and the 3rd described electric capacity connects, described the 3rd electric capacity
The other end is grounded, and one end of described the 7th foot of inductance digital converter and the 4th described electric capacity connects, and described the 4th is electric
The other end holding and the 8th foot of described inductance digital converter connect, described the 11st foot of inductance digital converter and the
17 feet all connect simulation ground, described the 9th foot of inductance digitizer, described one end of the 7th electric capacity and the described line of induction
One end of circle connects, described the 10th foot of inductance digital converter, the described other end of the 7th electric capacity and described sensing
The other end of coil connects, described the 12nd foot of inductance digital converter, described one end of the 5th electric capacity and described the
One end connection of six electric capacity and its connection end access 5v voltage, the described other end of the 5th electric capacity and the 6th described electric capacity
The other end all connects simulation ground, described the 1st foot of inductance digital converter, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot
It is connected with described controller respectively.
Described controller include control chip for model stm32f103, the voltage stabilizing chip of model spx1117,
First resistor, second resistance, 3rd resistor, the 4th resistance, the 8th electric capacity, the 9th electric capacity, the tenth electric capacity, the 11st electric capacity,
12 electric capacity, the 13rd electric capacity, the 14th electric capacity, the 15th electric capacity, the 16th electric capacity, the 17th electric capacity, the 18th electric capacity,
19 electric capacity, the 20th electric capacity, the 21st electric capacity, the 22nd electric capacity, the 23rd electric capacity, the first crystal oscillator, the second crystal oscillator,
Button and connection terminal；
One end ground connection of described first resistor, another termination simulation ground of described first resistor, described voltage stabilizing core
One end of 2nd foot, described one end of the 8th electric capacity and the 9th described electric capacity of piece connects and 5v voltage is accessed in its connection end,
One end of 3rd foot, described one end of the tenth electric capacity and the 11st described electric capacity of described voltage stabilizing chip connects and it connects
Connect end output 3.3v voltage, the described other end of the 8th electric capacity, the described other end of the 9th electric capacity, the tenth described electric capacity
The other end and the other end of the 11st described electric capacity be all grounded；
Described one end of the 12nd electric capacity, described the 2nd foot of the first crystal oscillator and the 12nd foot of described control chip
Connect, one end of the described other end of the 12nd electric capacity and the 13rd described electric capacity is all grounded, described the 13rd electric capacity
One end of the other end, the 1st foot of the first described crystal oscillator and described second resistance connect, described second resistance another
13rd foot of end and described control chip connects；
8th foot of described one end of the 14th electric capacity, the 2nd foot of the second described crystal oscillator and described control chip is even
Connect, one end of the described other end of the 14th electric capacity and the 15th described electric capacity is all grounded, described the 15th electric capacity
9th foot of the other end, the 1st foot of the second described crystal oscillator and described control chip connects；
Described one end of the 16th electric capacity, described one end of the 17th electric capacity, described one end of the 18th electric capacity,
Described one end of the 19th electric capacity, described one end of the 20th electric capacity, described one end of the 21st electric capacity and described
One end of the 22nd electric capacity connect and 3.3v voltage is accessed in its connection end, the described other end of the 16th electric capacity, described
The other end of the 17th electric capacity, the described other end of the 18th electric capacity, the described other end of the 19th electric capacity, described
The other end of the other end of the 20th electric capacity, the described other end of the 21st electric capacity and the 22nd described electric capacity all connects
Ground；
3.3v voltage is accessed in one end of described 3rd resistor, the described other end of 3rd resistor, described connection end
94th foot of the 2nd foot of son and described control chip connects, and the 1st foot of described connection terminal is grounded；The 4th described electricity
3.3v voltage, the described other end of the 4th resistance, described one end of the 23rd electric capacity, described pressing are accessed in one end of resistance
One end of key and the 14th foot connection of described control chip, the described other end of button and the 23rd described electric capacity
The other end is all grounded；
16th foot of the 47th foot of described control chip and described inductance digital converter connects, described control core
48th foot of piece and the 14th foot connection, described the 51st foot of control chip and the described electricity of described inductance digital converter
2nd foot of sense digital converter connects, and the 1st foot of described the 52nd foot of control chip and described inductance digital converter is even
Connect, the 5th foot of described the 53rd foot of control chip and described inductance digital converter connects, the of described control chip
3rd foot of 54 feet and described inductance digital converter connects, described the 6th foot of control chip, the 11st foot, the 28th foot, the
50 feet, the 75th foot and the 100th foot all access 3.3v voltage, described the 10th foot of control chip, the 27th foot, the 49th foot, the 74th
Foot and the 99th foot are all grounded.
The two of the technical problem to be solved are to provide a kind of dress for defining mobile work robot region
The confining method put, this confining method be based on induction coil and conductive material near when can produce electromagnetic induction phenomenon, the line of induction
The principle that the size of the loss resistance of circle and resonant frequency can change, obtains induction coil loss in real time by testing circuit
Resistance or resonant frequency can determine that border, drive guiding mobile robot in working region by controller after determining border
Interior traversal, realizes the guiding defined with mobile work robot on border, is only needed using conductive material conduct by this method
Passive border, the scope that border material selects is wide, and does not need optional equipment signal generator, and cost is relatively low, and can achieve
The complete traversal of working region.
Compared with prior art, the advantage of assembly of the invention is, by arranging induction coil and testing circuit, to be based on
Induction coil and conductive material near when can produce electromagnetic induction phenomenon, the loss resistance of induction coil and the size of resonant frequency
The principle that can change, the loss resistance when induction coil that is stored with controller reaches above border or resonant frequency correspond to
Reference range, testing circuit obtains loss resistance or the resonant frequency of induction coil in real time, and by loss resistance or resonance
Frequency translation is sent to controller for after digital signal, and it is right that the value of real time digital signal and reference range are carried out by controller
If the value of real time digital signal falls in reference range, mobile robot reaches border to ratio, obtains induction coil in real time
Loss resistance or resonant frequency can determine that border, thus only need using conductive material as passive border, and border material selects
Scope wide, and do not need optional equipment signal generator, cost is relatively low.
Two technical schemes being adopted that the present invention solves above-mentioned technical problem are: one kind is used for defining mobile robot work
Make the confining method of the device in region it is characterised in that the quantity of described signal sensor is two, the signal described in two
The induction coil of detector is arranged parallel, specifically includes following steps:
1. controller and signal sensor are initialized；
Loss resistance when 2. reaching induction coil above border or resonant frequency corresponding reference range vmin～
Vmax is deposited in controller, and when wherein vmin initially enters above border for induction coil, loss resistance or resonant frequency correspond to
Digital signal size, vmax be induction coil completely into loss resistance when above border or the corresponding numeral of resonant frequency
The size of signal；
3. the moving direction of adjustment mobile robot entrance working region:
3. -1 controller drives mobile robot through a line circle entrance working region, and two testing circuits obtain sense in real time
Answer loss resistance or the resonant frequency of coil, and loss resistance or resonant frequency are converted into after real time digital signal are sent to control
Device processed, the loss resistance that obtain two testing circuits in real time or the value of the corresponding digital signal of resonant frequency are designated as v1 and v2；
If 3. having one in -2 v1 and v2 first to fall in the range of vmin～vmax, controller drives mobile robot to adjust
Whole moving direction each falls within the range of vmin～vmax and equal in magnitude to v1 and v2；If v1 and v2 fall into simultaneously vmin～
When in the range of vmax, if v1 and v2 is equal, mobile robot moving direction is without adjustment, if v1 and v2 is unequal,
Controller drives mobile robot adjustment moving direction equal in magnitude and each fall within the range of vmin～vmax to v1 and v2, now
The moving direction in working region for mobile robot border at entrance；
4. mobile robot is controlled to travel through in the right area of working region, detailed process is:
4. -1 mobile robot moves forward along the direction on border at entrance, and two testing circuits obtain institute in real time
The loss resistance of the induction coil stated or resonant frequency, and by loss resistance or resonant frequency be converted into after real time digital signal send out
Give controller, the value of real time digital signal is contrasted by controller with reference range vmin～vmax, if counted in real time
The value of word signal falls in reference range, then mobile robot reaches the border relative with border at entrance；
4. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot suitable
After 90 degree of hour hands rotation, the direction parallel to the border relative with border at entrance moves forward a distance, d, and d is equal to moving machine
The working width of device people, then rotates clockwise 90 degree of forward movements again；
4. -3 run into the border relative with border at entrance every time after, all repeat steps 4. -2, and count mobile robot
The number of times moving forward along the direction parallel to the border relative with border at entrance, this number of times is designated as n；Work as mobile robot
When the border along on the right of reach during parallel to relative with border at entrance Boundary Moving, stop moving, control mobile robot
Move forward to boundary after rotating clockwise 90 degree, complete right area traversal；
5. boundary rotates clockwise the direction movement after 90 degree perpendicular to the right border on the right to control mobile robot
Size rotates clockwise 90 degree after the distance for n*d again, the now moving direction of mobile robot border at entrance；
6. control the left area traversal in working region for the mobile robot, detailed process is:
6. -1 mobile robot moves forward along the direction on border at entrance, and two testing circuits obtain institute in real time
The loss resistance of the induction coil stated or resonant frequency, and by loss resistance or resonant frequency be converted into after real time digital signal send out
Give controller, the value of real time digital signal is contrasted by controller with reference range vmin～vmax, if counted in real time
The value of word signal falls in reference range, then mobile robot reaches the border relative with border at entrance；
6. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot inverse
Hour hands rotate 90 degree of tailing edge and move forward a distance, d parallel to the direction on the border relative with border at entrance, and d is equal to and moves
The working width of robot, then rotates counterclockwise 90 degree of forward movements again；
6. -3 run into the border relative with border at entrance every time after, all repeat steps 6. -2, when mobile robot move
When reaching left boundary, stop moving, control mobile robot to move forward to boundary after rotating counterclockwise 90 degree, complete a left side
Side area coverage.
Described testing circuit include inductance digital converter, the first electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity,
5th electric capacity, the 6th electric capacity and the 7th electric capacity, described model ldc1000, ldc1041 of inductance digital converter or
Ldc1051, the one of described the 4th foot of inductance digital converter, described one end of the first electric capacity and the second described electric capacity
End connects and 3.3v voltage is accessed in its connection end, and the other end of the described other end of the first electric capacity and the second described electric capacity is equal
Ground connection, one end of described the 13rd foot of inductance digital converter and the 3rd described electric capacity connects, described the 3rd electric capacity
The other end is grounded, and one end of described the 7th foot of inductance digital converter and the 4th described electric capacity connects, and described the 4th is electric
The other end holding and the 8th foot of described inductance digital converter connect, described the 11st foot of inductance digital converter and the
17 feet all connect simulation ground, described the 9th foot of inductance digitizer, described one end of the 7th electric capacity and the described line of induction
One end of circle connects, described the 10th foot of inductance digital converter, the described other end of the 7th electric capacity and described sensing
The other end of coil connects, described the 12nd foot of inductance digital converter, described one end of the 5th electric capacity and described the
One end connection of six electric capacity and its connection end access 5v voltage, the described other end of the 5th electric capacity and the 6th described electric capacity
The other end all connects simulation ground, described the 1st foot of inductance digital converter, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot
It is connected with described controller respectively.
Described controller include control chip for model stm32f103, the voltage stabilizing chip of model spx1117,
First resistor, second resistance, 3rd resistor, the 4th resistance, the 8th electric capacity, the 9th electric capacity, the tenth electric capacity, the 11st electric capacity,
12 electric capacity, the 13rd electric capacity, the 14th electric capacity, the 15th electric capacity, the 16th electric capacity, the 17th electric capacity, the 18th electric capacity,
19 electric capacity, the 20th electric capacity, the 21st electric capacity, the 22nd electric capacity, the 23rd electric capacity, the first crystal oscillator, the second crystal oscillator,
Button and connection terminal；
One end ground connection of described first resistor, another termination simulation ground of described first resistor, described voltage stabilizing core
One end of 2nd foot, described one end of the 8th electric capacity and the 9th described electric capacity of piece connects and 5v voltage is accessed in its connection end,
One end of 3rd foot, described one end of the tenth electric capacity and the 11st described electric capacity of described voltage stabilizing chip connects and it connects
Connect end output 3.3v voltage, the described other end of the 8th electric capacity, the described other end of the 9th electric capacity, the tenth described electric capacity
The other end and the other end of the 11st described electric capacity be all grounded；
Described one end of the 12nd electric capacity, described the 2nd foot of the first crystal oscillator and the 12nd foot of described control chip
Connect, one end of the described other end of the 12nd electric capacity and the 13rd described electric capacity is all grounded, described the 13rd electric capacity
One end of the other end, the 1st foot of the first described crystal oscillator and described second resistance connect, described second resistance another
13rd foot of end and described control chip connects；
8th foot of described one end of the 14th electric capacity, the 2nd foot of the second described crystal oscillator and described control chip is even
Connect, one end of the described other end of the 14th electric capacity and the 15th described electric capacity is all grounded, described the 15th electric capacity
9th foot of the other end, the 1st foot of the second described crystal oscillator and described control chip connects；
Described one end of the 16th electric capacity, described one end of the 17th electric capacity, described one end of the 18th electric capacity,
Described one end of the 19th electric capacity, described one end of the 20th electric capacity, described one end of the 21st electric capacity and described
One end of the 22nd electric capacity connect and 3.3v voltage is accessed in its connection end, the described other end of the 16th electric capacity, described
The other end of the 17th electric capacity, the described other end of the 18th electric capacity, the described other end of the 19th electric capacity, described
The other end of the other end of the 20th electric capacity, the described other end of the 21st electric capacity and the 22nd described electric capacity all connects
Ground；
3.3v voltage is accessed in one end of described 3rd resistor, the described other end of 3rd resistor, described connection end
94th foot of the 2nd foot of son and described control chip connects, and the 1st foot of described connection terminal is grounded；The 4th described electricity
3.3v voltage, the described other end of the 4th resistance, described one end of the 23rd electric capacity, described pressing are accessed in one end of resistance
One end of key and the 14th foot connection of described control chip, the described other end of button and the 23rd described electric capacity
The other end is all grounded；
16th foot of the 47th foot of described control chip and described inductance digital converter connects, described control core
48th foot of piece and the 14th foot connection, described the 51st foot of control chip and the described electricity of described inductance digital converter
2nd foot of sense digital converter connects, and the 1st foot of described the 52nd foot of control chip and described inductance digital converter is even
Connect, the 5th foot of described the 53rd foot of control chip and described inductance digital converter connects, the of described control chip
3rd foot of 54 feet and described inductance digital converter connects, described the 6th foot of control chip, the 11st foot, the 28th foot, the
50 feet, the 75th foot and the 100th foot all access 3.3v voltage, described the 10th foot of control chip, the 27th foot, the 49th foot, the 74th
Foot and the 99th foot are all grounded.
Compared with prior art, method of the present invention advantage is by arranging induction coil and testing circuit, based on sense
Answer coil and conductive material near when can produce electromagnetic induction phenomenon, the size meeting of the loss resistance of induction coil and resonant frequency
The principle changing, the loss resistance when induction coil that is stored with controller reaches above border or resonant frequency are corresponding
Reference range, testing circuit obtains loss resistance or the resonant frequency of induction coil in real time, and by loss resistance or resonance frequency
Rate is sent to controller after being converted into real time digital signal, it is right that the value of real time digital signal and reference range are carried out by controller
If the value of real time digital signal falls in reference range, mobile robot reaches border to ratio, obtains induction coil in real time
Loss resistance or resonant frequency can determine that border, thus only need using conductive material as passive border, and border material selects
Scope wide, and do not need optional equipment signal generator, cost is relatively low, and when mobile robot enters border, adjustment moves
The moving direction that mobile robot enters working region moves it direction border at entrance, when mobile robot reaches phase
To border or the right and left border when, controller changes one's plans task according to the border that mobile robot reaches, and drives
Make mobile robot adjustment direction, return in working region, and so on, make mobile robot toward returning to work in working region
Make, be achieved in the guiding of mobile work robot, simple to operate and precision is higher.
Brief description
Fig. 1 is the circuit diagram of the signal sensor of the present invention；
Fig. 2 is the circuit diagram of the controller of the present invention；
Fig. 3 is the structural representation of mobile robot in the method for the present invention；
Fig. 4 is the traveling schematic diagram of mobile robot in the confining method of the present invention；
The schematic diagram that Fig. 5 advances along boundary for mobile robot in the confining method of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
The invention discloses a kind of device for defining mobile work robot region, including controller and at least one
Signal sensor, controller and signal sensor are arranged in mobile robot, signal sensor include for and conductive material
Border produce the induction coil l1 of electromagnetic induction phenomenon and for obtaining the loss resistance of induction coil l1 or resonant frequency
Testing circuit, the position in mobile robot of induction coil l1 is higher than border, and the induction coil l1 that is stored with controller stretches
Loss resistance during to above border or the corresponding reference range of resonant frequency, testing circuit obtains induction coil l1's in real time
Loss resistance or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal are sent to controller, control
The value of real time digital signal and reference range are contrasted by device processed, if the value of real time digital signal falls into reference range
Interior, then mobile robot reaches border.
Embodiment: a kind of device for defining mobile work robot region, including controller and at least one signal
Detector, controller and signal sensor are arranged in mobile robot, and signal sensor is included for the side with conductive material
Boundary produces the induction coil l1 of electromagnetic induction phenomenon and for obtaining the loss resistance of induction coil l1 or the detection of resonant frequency
Circuit, the position in mobile robot of induction coil l1 is higher than border, and the induction coil l1 that is stored with controller reaches side
Loss resistance when above boundary or resonant frequency corresponding reference range vmin～vmax, testing circuit obtains the line of induction in real time
The circle loss resistance of l1 or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal are sent to control
Device, the value of real time digital signal and reference range are contrasted by controller, if the value of real time digital signal falls into reference
In the range of value, then mobile robot reaches border.
In the present embodiment, loss electricity when vmin initially enters above border for induction coil l1 in reference digital signal scope
Resistance or the size of the corresponding digital signal of resonant frequency, vmax be induction coil l1 completely into loss resistance when above border or
The size of the corresponding digital signal of resonant frequency.
In the present embodiment, the material source on border extensively, can be the blocking of low cost or common iron wire,
As long as general conductor can be used in the foundation on border.
In the present embodiment, as shown in figure 1, testing circuit includes inductance digital converter u1, the first electric capacity c1, the second electric capacity
C2, the 3rd electric capacity c3, the 4th electric capacity c4, the 5th electric capacity c5, the 6th electric capacity c6 and the 7th electric capacity c7, inductance digital converter u1
Model ldc1000, ldc1041 or ldc1051, the 4th foot of inductance digital converter u1, one end and second of the first electric capacity c1
One end of electric capacity c2 connects and 3.3v voltage, the other end of the other end of the first electric capacity c1 and the second electric capacity c2 are accessed in its connection end
All it is grounded, one end of the 13rd foot of inductance digital converter u1 and the 3rd electric capacity c3 connects, the other end ground connection of the 3rd electric capacity c3,
One end of 7th foot of inductance digital converter u1 and the 4th electric capacity c4 connects, and the other end of the 4th electric capacity c4 and inductance numeral turn
8th foot of parallel operation u1 connects, and the 11st foot of inductance digital converter u1 and the 17th foot all connect simulation ground, inductance digitizer
One end of 9th foot, one end of the 7th electric capacity c7 and induction coil l1 connects, the 10th foot of inductance digital converter u1, the 7th electricity
Hold the other end of c7 and the other end of induction coil l1 connects, the 12nd foot of inductance digital converter u1, the one of the 5th electric capacity c5
One end connection of end and the 6th electric capacity c6 and its connection end access 5v voltage, the other end of the 5th electric capacity c5 and the 6th electric capacity c6's
The other end all connects simulation ground, and the 1st foot of inductance digital converter u1, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot are respectively
It is connected with controller.
In the present embodiment, as shown in Fig. 2 controller includes control chip u2 for model stm32f103, model
Voltage stabilizing chip m1 of spx1117, first resistor r1, second resistance r2,3rd resistor r3, the 4th resistance r4, the 8th electric capacity c8,
Nine electric capacity c9, the tenth electric capacity c10, the 11st electric capacity c11, the 12nd electric capacity c12, the 13rd electric capacity c13, the 14th electric capacity c14,
15th electric capacity c15, the 16th electric capacity c16, the 17th electric capacity c17, the 18th electric capacity c18, the 19th electric capacity c19, the 20th
Electric capacity c20, the 21st electric capacity c21, the 22nd electric capacity c22, the 23rd electric capacity c23, the first crystal oscillator y1, the second crystal oscillator
Y2, button s1 and connection terminal p1；
One end ground connection of first resistor r1, another termination simulation ground of first resistor r1, the 2nd foot of voltage stabilizing chip m1, the
One end of one end of eight electric capacity c8 and the 9th electric capacity c9 connects and 5v voltage is accessed in its connection end, the 3rd foot of voltage stabilizing chip m1, the
One end of one end of ten electric capacity c10 and the 11st electric capacity c11 connects and its connection end output 3.3v voltage, and the 8th electric capacity c8's is another
One end, the other end of the 9th electric capacity c9, the other end of the tenth electric capacity c10 and the other end of the 11st electric capacity c11 are all grounded；
12nd foot of one end of the 12nd electric capacity c12, the 2nd foot of the first crystal oscillator y1 and control chip u2 connects, and the 12nd
One end of the other end of electric capacity c12 and the 13rd electric capacity c13 is all grounded, the other end of the 13rd electric capacity c13, the first crystal oscillator y1
One end of 1st foot and second resistance r2 connects, and the 13rd foot of the other end of second resistance r2 and control chip u2 connects；
8th foot of one end of the 14th electric capacity c14, the 2nd foot of the second crystal oscillator y2 and control chip u2 connects, the 14th electricity
Hold the other end of c14 and one end of the 15th electric capacity c15 is all grounded, the other end of the 15th electric capacity c15, the of the second crystal oscillator y2
9th foot of 1 foot and control chip u2 connects；
One end of 16th electric capacity c16, one end of the 17th electric capacity c17, one end of the 18th electric capacity c18, the 19th electricity
Hold one end, one end of one end, one end of the 21st electric capacity c21 and the 22nd electric capacity c22 of the 20th electric capacity c20 of c19
Connect and its connection end access 3.3v voltage, the other end of the 16th electric capacity c16, the other end of the 17th electric capacity c17, the 18th
The other end of electric capacity c18, the other end of the 19th electric capacity c19, the other end of the 20th electric capacity c20, the 21st electric capacity c21
The other end of the other end and the 22nd electric capacity c22 is all grounded；
3.3v voltage, the other end of 3rd resistor r3, the 2nd foot of connection terminal p1 and control are accessed in one end of 3rd resistor r3
94th foot of coremaking piece u2 connects, the 1st foot ground connection of connection terminal p1；One end access 3.3v voltage of the 4th resistance r4, the 4th
14th foot of the other end of resistance r4, one end of the 23rd electric capacity c23, one end of button s1 and control chip u2 connects, and presses
The other end of the other end of key s1 and the 23rd electric capacity c23 is all grounded；
16th foot of the 47th foot of control chip u2 and inductance digital converter u1 connects, the 48th foot of control chip u2 and
14th foot of inductance digital converter u1 connects, and the 2nd foot of the 51st foot of control chip u2 and inductance digital converter u1 connects,
1st foot of the 52nd foot of control chip u2 and inductance digital converter u1 connects, and the 53rd foot of control chip u2 and inductance are digital
5th foot of transducer u1 connects, and the 3rd foot of the 54th foot of control chip u2 and inductance digital converter u1 connects, control chip
6th foot of u2, the 11st foot, the 28th foot, the 50th foot, the 75th foot and the 100th foot all access 3.3v voltage, and the 10th of control chip u2 the
Foot, the 27th foot, the 49th foot, the 74th foot and the 99th foot are all grounded.
The invention also discloses a kind of confining method of the above-mentioned device for defining mobile work robot region, signal
The quantity of detector is two, and the induction coil l1 of two signal sensors is arranged in mobile robot parallel, as Fig. 3 institute
Show.Illustrate below in conjunction with specific embodiment.
Embodiment: a kind of confining method of the device for defining mobile work robot region, working region is by border
Surround square, the material source on border extensively, can be the blocking of low cost or common iron wire, specifically include with
Lower step:
1. controller and signal sensor are initialized；
Loss resistance when 2. reaching induction coil l1 above border or resonant frequency corresponding reference range vmin
～vmax is deposited in controller, loss resistance or resonant frequency when wherein vmin initially enters above border for induction coil l1
The size of corresponding digital signal, vmax is that induction coil l1 corresponds to completely into loss resistance when above border or resonant frequency
Digital signal size；
3. the moving direction of adjustment mobile robot entrance working region:
3. -1 controller drives mobile robot through a line circle entrance working region, and two testing circuits obtain sense in real time
Answer loss resistance or the resonant frequency of coil l1, and loss resistance or resonant frequency are converted into after real time digital signal are sent to
Controller, by two testing circuits, the loss resistance obtaining or the corresponding digital signal of resonant frequency are designated as v1 and v2 in real time；
If 3. having one in -2 v1 and v2 first to fall in the range of vmin～vmax, controller drives mobile robot to adjust
Whole moving direction each falls within the range of vmin～vmax and equal in magnitude to v1 and v2；If v1 and v2 fall into simultaneously vmin～
When in the range of vmax, if v1 and v2 is equal, mobile robot moving direction is without adjustment, if v1 and v2 is unequal,
Controller drives mobile robot adjustment moving direction equal in magnitude and each fall within the range of vmin～vmax to v1 and v2, now
The moving direction in working region for mobile robot border at entrance；
4. mobile robot is controlled to travel through in the right area of working region, detailed process is:
4. -1 mobile robot moves forward along the direction on border at entrance, and two testing circuits obtain sense in real time
Answer loss resistance or the resonant frequency of coil l1, and loss resistance or resonant frequency are converted into after digital signal are sent to control
Device, the value of real time digital signal is contrasted by controller with reference range vmin～vmax, if real time digital signal
Value falls in reference range, then mobile robot reaches the border relative with border at entrance；
4. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot suitable
After 90 degree of hour hands rotation, the direction parallel to the border relative with border at entrance moves forward a distance, d, and d is equal to moving machine
(in such as mowing mobile robot, d is the length of mowing cutter to the working width of device people, and sweeping the floor with d in mobile robot is
The absorption distance of dust collection equipment), then rotate clockwise 90 degree of forward movements again；
4. -3 run into the border relative with border at entrance every time after, all repeat steps 4. -2, and count mobile robot
The number of times moving forward along the direction parallel to the border relative with border at entrance, this number of times is designated as n；Work as mobile robot
When the border along on the right of reach during parallel to relative with border at entrance Boundary Moving, stop moving, control mobile robot
Move forward to boundary after rotating clockwise 90 degree, complete right area traversal；
5. boundary rotates clockwise the direction movement after 90 degree perpendicular to the right border on the right to control mobile robot
Size rotates clockwise 90 degree after the distance for n*d again, the now moving direction of mobile robot border at entrance；
6. control the left area traversal in working region for the mobile robot, detailed process is:
6. -1 mobile robot moves forward along the direction on border at entrance, and two testing circuits obtain institute in real time
The loss resistance of induction coil l1 stated or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal
It is sent to controller, real time digital signal is contrasted by controller with reference range vmin～vmax, if real-time digital
The value of signal falls in reference range, then mobile robot reaches the border relative with border at entrance；
6. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot inverse
Hour hands rotate 90 degree of tailing edge and move forward a distance, d parallel to the direction on the border relative with border at entrance, and d is equal to and moves
The working width of robot, then rotates counterclockwise 90 degree of forward movements again；
6. -3 run into the border relative with border at entrance every time after, all repeat steps 6. -2, when mobile robot is on edge
When reaching left boundary during parallel to relative with border at entrance Boundary Moving, stop moving, control the mobile robot inverse time
Pin moves forward to boundary after rotating 90 degree, completes left area traversal.
In the present embodiment, encoder adopts the matured product of its technical field.As shown in figure 4, mobile robot 1 is in work
According to being planned of task in region 2, by certain way motion, when entering working region 2, by two testing circuits, rectify
The position of positive mobile robot 1 retive boundary 3 is so as to be remedied to the state on border 31 at entrance.Testing circuit is examined in fact
Survey the loss resistance of induction coil l1 or resonant frequency and send corresponding signal to controller, when mobile robot run into
During the relative border 32 in border 31, the change of induction coil l1 field signal, testing circuit detects induction coil l1 change
Loss resistance or resonant frequency, corresponding signal is sent to controller, and controller judges that mobile robot reaches boundary, changes
Become plan target, drive and mobile robot 1 is turned around, return in working region, and so on, make mobile robot 1 in work
Make working in reciprocating mode in region.
In the present embodiment, as shown in figure 1, testing circuit includes inductance digital converter u1, the first electric capacity c1, the second electric capacity
C2, the 3rd electric capacity c3, the 4th electric capacity c4, the 5th electric capacity c5, the 6th electric capacity c6 and the 7th electric capacity c7, inductance digital converter u1
Model ldc1000, ldc1041 or ldc1051, the 4th foot of inductance digital converter u1, one end and second of the first electric capacity c1
One end of electric capacity c2 connects and 3.3v voltage, the other end of the other end of the first electric capacity c1 and the second electric capacity c2 are accessed in its connection end
All it is grounded, one end of the 13rd foot of inductance digital converter u1 and the 3rd electric capacity c3 connects, the other end ground connection of the 3rd electric capacity c3,
One end of 7th foot of inductance digital converter u1 and the 4th electric capacity c4 connects, and the other end of the 4th electric capacity c4 and inductance numeral turn
8th foot of parallel operation u1 connects, and the 11st foot of inductance digital converter u1 and the 17th foot all connect simulation ground, inductance digitizer
One end of 9th foot, one end of the 7th electric capacity c7 and induction coil l1 connects, the 10th foot of inductance digital converter u1, the 7th electricity
Hold the other end of c7 and the other end of induction coil l1 connects, the 12nd foot of inductance digital converter u1, the one of the 5th electric capacity c5
One end connection of end and the 6th electric capacity c6 and its connection end access 5v voltage, the other end of the 5th electric capacity c5 and the 6th electric capacity c6's
The other end all connects simulation ground, and the 1st foot of inductance digital converter u1, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot are respectively
It is connected with controller.
In the present embodiment, as shown in Fig. 2 controller includes control chip u2 for model stm32f103, model
Voltage stabilizing chip m1 of spx1117, first resistor r1, second resistance r2,3rd resistor r3, the 4th resistance r4, the 8th electric capacity c8,
Nine electric capacity c9, the tenth electric capacity c10, the 11st electric capacity c11, the 12nd electric capacity c12, the 13rd electric capacity c13, the 14th electric capacity c14,
15th electric capacity c15, the 16th electric capacity c16, the 17th electric capacity c17, the 18th electric capacity c18, the 19th electric capacity c19, the 20th
Electric capacity c20, the 21st electric capacity c21, the 22nd electric capacity c22, the 23rd electric capacity c23, the first crystal oscillator y1, the second crystal oscillator
Y2, button s1 and connection terminal p1；
One end ground connection of first resistor r1, another termination simulation ground of first resistor r1, the 2nd foot of voltage stabilizing chip m1, the
One end of one end of eight electric capacity c8 and the 9th electric capacity c9 connects and 5v voltage is accessed in its connection end, the 3rd foot of voltage stabilizing chip m1, the
One end of one end of ten electric capacity c10 and the 11st electric capacity c11 connects and its connection end output 3.3v voltage, and the 8th electric capacity c8's is another
One end, the other end of the 9th electric capacity c9, the other end of the tenth electric capacity c10 and the other end of the 11st electric capacity c11 are all grounded；
12nd foot of one end of the 12nd electric capacity c12, the 2nd foot of the first crystal oscillator y1 and control chip u2 connects, and the 12nd
One end of the other end of electric capacity c12 and the 13rd electric capacity c13 is all grounded, the other end of the 13rd electric capacity c13, the first crystal oscillator y1
One end of 1st foot and second resistance r2 connects, and the 13rd foot of the other end of second resistance r2 and control chip u2 connects；
8th foot of one end of the 14th electric capacity c14, the 2nd foot of the second crystal oscillator y2 and control chip u2 connects, the 14th electricity
Hold the other end of c14 and one end of the 15th electric capacity c15 is all grounded, the other end of the 15th electric capacity c15, the of the second crystal oscillator y2
9th foot of 1 foot and control chip u2 connects；
One end of 16th electric capacity c16, one end of the 17th electric capacity c17, one end of the 18th electric capacity c18, the 19th electricity
Hold one end, one end of one end, one end of the 21st electric capacity c21 and the 22nd electric capacity c22 of the 20th electric capacity c20 of c19
Connect and its connection end access 3.3v voltage, the other end of the 16th electric capacity c16, the other end of the 17th electric capacity c17, the 18th
The other end of electric capacity c18, the other end of the 19th electric capacity c19, the other end of the 20th electric capacity c20, the 21st electric capacity c21
The other end of the other end and the 22nd electric capacity c22 is all grounded；
3.3v voltage, the other end of 3rd resistor r3, the 2nd foot of connection terminal p1 and control are accessed in one end of 3rd resistor r3
94th foot of coremaking piece u2 connects, the 1st foot ground connection of connection terminal p1；One end access 3.3v voltage of the 4th resistance r4, the 4th
14th foot of the other end of resistance r4, one end of the 23rd electric capacity c23, one end of button s1 and control chip u2 connects, and presses
The other end of the other end of key s1 and the 23rd electric capacity c23 is all grounded；
16th foot of the 47th foot of control chip u2 and inductance digital converter u1 connects, the 48th foot of control chip u2 and
14th foot of inductance digital converter u1 connects, and the 2nd foot of the 51st foot of control chip u2 and inductance digital converter u1 connects,
1st foot of the 52nd foot of control chip u2 and inductance digital converter u1 connects, and the 53rd foot of control chip u2 and inductance are digital
5th foot of transducer u1 connects, and the 3rd foot of the 54th foot of control chip u2 and inductance digital converter u1 connects, control chip
6th foot of u2, the 11st foot, the 28th foot, the 50th foot, the 75th foot and the 100th foot all access 3.3v voltage, and the 10th of control chip u2 the
Foot, the 27th foot, the 49th foot, the 74th foot and the 99th foot are all grounded.
In the present invention, when mobile robot needs to walk along border, we can be with drawing that above-mentioned confining method is similar to
Lead mode to complete, that is, after running into border, adjustment mobile robot makes the moving direction of mobile robot perpendicular to this border,
Then controlling mobile robot to rotate 90 degree again makes it parallel to this border, then just can be along this Boundary Moving, as Fig. 5 institute
Show.
Claims (4)
1. a kind of device for defining mobile work robot region, including controller and at least one signal sensor, institute
The controller stated and described signal sensor is arranged in mobile robot it is characterised in that described signal sensor includes
Produce the induction coil of electromagnetic induction phenomenon and the loss for obtaining described induction coil for the border with conductive material
Resistance or the testing circuit of resonant frequency, the described induction coil position in mobile robot is higher than border, described control
Loss resistance when the described induction coil that is stored with device processed reaches above border or the reference range of resonant frequency, described
Testing circuit in real time obtain the described loss resistance of induction coil or resonant frequency, and loss resistance or resonant frequency are turned
It is sent to described controller, the value of real time digital signal and reference range are entered by described controller after turning to digital signal
Row contrast, if the value of real time digital signal falls in reference range, mobile robot reaches border；
Described testing circuit include inductance digital converter, the first electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th
Electric capacity, the 6th electric capacity and the 7th electric capacity, described model ldc1000, ldc1041 of inductance digital converter or ldc1051,
One end of 4th foot, described one end of the first electric capacity and the second described electric capacity of described inductance digital converter connect and
3.3v voltage is accessed in its connection end, and the other end of the described other end of the first electric capacity and the second described electric capacity is all grounded, institute
One end of 13rd foot of the inductance digital converter stated and the 3rd described electric capacity connects, another termination of described the 3rd electric capacity
Ground, one end of described the 7th foot of inductance digital converter and the 4th described electric capacity connects, described the 4th electric capacity another
8th foot of end and described inductance digital converter connects, and described the 11st foot of inductance digital converter and the 17th foot all connect
With simulating, one end of described the 9th foot, described one end of the 7th electric capacity and described induction coil of inductance digitizer
Connect, described the 10th foot of inductance digital converter, the described other end of the 7th electric capacity and described induction coil another
One end connects, described the 12nd foot of inductance digital converter, described one end of the 5th electric capacity and the 6th described electric capacity
One end connects and 5v voltage is accessed in its connection end, and the other end of the described other end of the 5th electric capacity and the 6th described electric capacity is equal
Connect simulation ground, described the 1st foot of inductance digital converter, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot respectively with institute
The controller stated connects.
2. the device for defining mobile work robot region according to claim 1 is it is characterised in that described control
Device processed includes control chip for model stm32f103, the voltage stabilizing chip of model spx1117, first resistor, the second electricity
Resistance, 3rd resistor, the 4th resistance, the 8th electric capacity, the 9th electric capacity, the tenth electric capacity, the 11st electric capacity, the 12nd electric capacity, the 13rd
Electric capacity, the 14th electric capacity, the 15th electric capacity, the 16th electric capacity, the 17th electric capacity, the 18th electric capacity, the 19th electric capacity, the 20th
Electric capacity, the 21st electric capacity, the 22nd electric capacity, the 23rd electric capacity, the first crystal oscillator, the second crystal oscillator, button and connection terminal；
One end ground connection of described first resistor, another termination simulation ground of described first resistor, described voltage stabilizing chip
One end of 2nd foot, described one end of the 8th electric capacity and the 9th described electric capacity connects and 5v voltage is accessed in its connection end, described
The 3rd foot, described one end of the tenth electric capacity and the 11st described electric capacity of voltage stabilizing chip one end connect and its connection end
Output 3.3v voltage, the described other end of the 8th electric capacity, the described other end of the 9th electric capacity, the tenth described electric capacity another
The other end of one end and the 11st described electric capacity is all grounded；
12nd foot of described one end of the 12nd electric capacity, the 2nd foot of the first described crystal oscillator and described control chip connects,
One end of the described other end of the 12nd electric capacity and the 13rd described electric capacity is all grounded, described the 13rd electric capacity another
One end connection, the described other end of second resistance and the institute of end, described the 1st foot of the first crystal oscillator and described second resistance
13rd foot of the control chip stated connects；
8th foot of described one end of the 14th electric capacity, the 2nd foot of the second described crystal oscillator and described control chip connects,
One end of the described other end of the 14th electric capacity and the 15th described electric capacity is all grounded, described the 15th electric capacity another
9th foot of end, described the 1st foot of the second crystal oscillator and described control chip connects；
Described one end of the 16th electric capacity, described one end of the 17th electric capacity, described one end of the 18th electric capacity, described
One end of the 19th electric capacity, described one end of the 20th electric capacity, described one end of the 21st electric capacity and described
One end of 22 electric capacity connects and 3.3v voltage is accessed in its connection end, the described other end of the 16th electric capacity, described the
The other end of 17 electric capacity, the described other end of the 18th electric capacity, the described other end of the 19th electric capacity, described second
The other end of the other end of ten electric capacity, the described other end of the 21st electric capacity and the 22nd described electric capacity is all grounded；
3.3v voltage is accessed in one end of described 3rd resistor, the described other end of 3rd resistor, described connection terminal
94th foot of the 2nd foot and described control chip connects, and the 1st foot of described connection terminal is grounded；The 4th described resistance
One end accesses 3.3v voltage, the described other end of the 4th resistance, described one end of the 23rd electric capacity, described button
14th foot of one end and described control chip connects, the described other end of button and the 23rd described electric capacity another
End is all grounded；
16th foot of the 47th foot of described control chip and described inductance digital converter connects, described control chip
48th foot and the 14th foot connection, described the 51st foot of control chip and the described inductance number of described inductance digital converter
2nd foot of word transducer connects, and the 1st foot of described the 52nd foot of control chip and described inductance digital converter connects,
5th foot of the 53rd foot of described control chip and described inductance digital converter connects, and the 54th of described control chip the
3rd foot of foot and described inductance digital converter connects, described the 6th foot of control chip, the 11st foot, the 28th foot, the 50th
Foot, the 75th foot and the 100th foot all access 3.3v voltage, described the 10th foot of control chip, the 27th foot, the 49th foot, the 74th foot
All it is grounded with the 99th foot.
3. the confining method of the device for defining mobile work robot region described in a kind of claim 1, its feature exists
Quantity in described signal sensor is two, and the induction coil of the signal sensor described in two is arranged parallel, concrete bag
Include following steps:
1. controller and signal sensor are initialized；
Loss resistance when 2. reaching induction coil above border or resonant frequency corresponding reference range vmin～vmax
It is deposited in controller, loss resistance or resonant frequency corresponding number when wherein vmin initially enters above border for induction coil
The size of word signal, vmax is induction coil completely into loss resistance when above border or the corresponding digital signal of resonant frequency
Size；
3. the moving direction of adjustment mobile robot entrance working region:
3. -1 controller drives mobile robot through a line circle entrance working region, and two testing circuits obtain the line of induction in real time
The loss resistance of circle or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal are sent to control
Device, by two testing circuits, the loss resistance obtaining or the corresponding digital signal of resonant frequency are designated as v1 and v2 in real time；
If 3. having one in -2 v1 and v2 first to fall in the range of vmin～vmax, controller drives mobile robot adjustment to move
Dynamic direction each falls within the range of vmin～vmax and equal in magnitude to v1 and v2；If v1 and v2 falls into vmin～vmax model simultaneously
When enclosing interior, if v1 and v2 is equal, mobile robot moving direction is without adjustment, if v1 and v2 is unequal, controller
Drive mobile robot adjustment moving direction equal in magnitude and each fall within the range of vmin～vmax to v1 and v2, now moving machine
The moving direction in working region for device people border at entrance；
4. mobile robot is controlled to travel through in the right area of working region, detailed process is:
4. -1 mobile robot moves forward along the direction on border at entrance, described in two testing circuits acquisitions in real time
The loss resistance of induction coil or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal are sent to
Controller, real time digital signal is contrasted by controller with reference range vmin～vmax, if real time digital signal falls
Enter in reference range, then mobile robot reaches the border relative with border at entrance；
4. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot clockwise
After rotating 90 degree, the direction parallel to the border relative with border at entrance moves forward a distance, d, and d is equal to mobile robot
Working width, then rotate clockwise 90 degree of forward movements again；
4. -3 run into the border relative with border at entrance every time after, all repeat steps 4. -2, and count mobile robot along flat
The number of times that row moves forward in the direction on the border relative with border at entrance, this number of times is designated as n；When mobile robot is on edge
When reaching the right border during parallel to relative with border at entrance Boundary Moving, stop moving, control mobile robot up time
Pin moves forward to boundary after rotating 90 degree, completes right area traversal；
5. boundary rotates clockwise the direction movement size after 90 degree perpendicular to the right border on the right to control mobile robot
For rotating clockwise 90 degree after the distance of n*d again, the now moving direction of mobile robot border at entrance；
6. control the left area traversal in working region for the mobile robot, detailed process is:
6. -1 mobile robot moves forward along the direction on border at entrance, described in two testing circuits acquisitions in real time
The loss resistance of induction coil or resonant frequency, and loss resistance or resonant frequency are converted into after real time digital signal are sent to
Controller, the value of real time digital signal is contrasted by controller with reference range vmin～vmax, if real-time digital letter
Number value fall in reference range, then mobile robot reaches the border relative with border at entrance；
6. -2 when mobile robot reaches the boundary relative with border at entrance, and controller controls mobile robot counterclockwise
The direction rotating 90 degree of tailing edge parallel to the border relative with border at entrance moves forward a distance, d, and d is equal to mobile machine
The working width of people, then rotates counterclockwise 90 degree of forward movements again；
6. -3 run into the border relative with border at entrance every time after, all repeat steps 6. -2, when mobile robot is along parallel
When reaching left boundary when the Boundary Moving relative with border at entrance, stop moving, control mobile robot to turn counterclockwise
Move forward to boundary after dynamic 90 degree, complete left area traversal；
Described testing circuit include inductance digital converter, the first electric capacity, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th
Electric capacity, the 6th electric capacity and the 7th electric capacity, described model ldc1000, ldc1041 of inductance digital converter or ldc1051,
One end of 4th foot, described one end of the first electric capacity and the second described electric capacity of described inductance digital converter connect and
3.3v voltage is accessed in its connection end, and the other end of the described other end of the first electric capacity and the second described electric capacity is all grounded, institute
One end of 13rd foot of the inductance digital converter stated and the 3rd described electric capacity connects, another termination of described the 3rd electric capacity
Ground, one end of described the 7th foot of inductance digital converter and the 4th described electric capacity connects, described the 4th electric capacity another
8th foot of end and described inductance digital converter connects, and described the 11st foot of inductance digital converter and the 17th foot all connect
With simulating, one end of described the 9th foot, described one end of the 7th electric capacity and described induction coil of inductance digitizer
Connect, described the 10th foot of inductance digital converter, the described other end of the 7th electric capacity and described induction coil another
One end connects, described the 12nd foot of inductance digital converter, described one end of the 5th electric capacity and the 6th described electric capacity
One end connects and 5v voltage is accessed in its connection end, and the other end of the described other end of the 5th electric capacity and the 6th described electric capacity is equal
Connect simulation ground, described the 1st foot of inductance digital converter, the 2nd foot, the 3rd foot, the 5th foot, the 14th foot and the 16th foot respectively with institute
The controller stated connects.
4. the confining method of the device for defining mobile work robot region according to claim 3, its feature exists
Include control chip for model stm32f103, the voltage stabilizing chip of model spx1117, the first electricity in described controller
Resistance, second resistance, 3rd resistor, the 4th resistance, the 8th electric capacity, the 9th electric capacity, the tenth electric capacity, the 11st electric capacity, the 12nd electricity
Appearance, the 13rd electric capacity, the 14th electric capacity, the 15th electric capacity, the 16th electric capacity, the 17th electric capacity, the 18th electric capacity, the 19th electricity
Appearance, the 20th electric capacity, the 21st electric capacity, the 22nd electric capacity, the 23rd electric capacity, the first crystal oscillator, the second crystal oscillator, button and
Connection terminal；
One end ground connection of described first resistor, another termination simulation ground of described first resistor, described voltage stabilizing chip
One end of 2nd foot, described one end of the 8th electric capacity and the 9th described electric capacity connects and 5v voltage is accessed in its connection end, described
The 3rd foot, described one end of the tenth electric capacity and the 11st described electric capacity of voltage stabilizing chip one end connect and its connection end
Output 3.3v voltage, the described other end of the 8th electric capacity, the described other end of the 9th electric capacity, the tenth described electric capacity another
The other end of one end and the 11st described electric capacity is all grounded；
12nd foot of described one end of the 12nd electric capacity, the 2nd foot of the first described crystal oscillator and described control chip connects,
One end of the described other end of the 12nd electric capacity and the 13rd described electric capacity is all grounded, described the 13rd electric capacity another
One end connection, the described other end of second resistance and the institute of end, described the 1st foot of the first crystal oscillator and described second resistance
13rd foot of the control chip stated connects；
8th foot of described one end of the 14th electric capacity, the 2nd foot of the second described crystal oscillator and described control chip connects,
One end of the described other end of the 14th electric capacity and the 15th described electric capacity is all grounded, described the 15th electric capacity another
9th foot of end, described the 1st foot of the second crystal oscillator and described control chip connects；
Described one end of the 16th electric capacity, described one end of the 17th electric capacity, described one end of the 18th electric capacity, described
One end of the 19th electric capacity, described one end of the 20th electric capacity, described one end of the 21st electric capacity and described
One end of 22 electric capacity connects and 3.3v voltage is accessed in its connection end, the described other end of the 16th electric capacity, described the
The other end of 17 electric capacity, the described other end of the 18th electric capacity, the described other end of the 19th electric capacity, described second
The other end of the other end of ten electric capacity, the described other end of the 21st electric capacity and the 22nd described electric capacity is all grounded；
3.3v voltage is accessed in one end of described 3rd resistor, the described other end of 3rd resistor, described connection terminal
94th foot of the 2nd foot and described control chip connects, and the 1st foot of described connection terminal is grounded；The 4th described resistance
One end accesses 3.3v voltage, the described other end of the 4th resistance, described one end of the 23rd electric capacity, described button
14th foot of one end and described control chip connects, the described other end of button and the 23rd described electric capacity another
End is all grounded；
16th foot of the 47th foot of described control chip and described inductance digital converter connects, described control chip
48th foot and the 14th foot connection, described the 51st foot of control chip and the described inductance number of described inductance digital converter
2nd foot of word transducer connects, and the 1st foot of described the 52nd foot of control chip and described inductance digital converter connects,
5th foot of the 53rd foot of described control chip and described inductance digital converter connects, and the 54th of described control chip the
3rd foot of foot and described inductance digital converter connects, described the 6th foot of control chip, the 11st foot, the 28th foot, the 50th
Foot, the 75th foot and the 100th foot all access 3.3v voltage, described the 10th foot of control chip, the 27th foot, the 49th foot, the 74th foot
All it is grounded with the 99th foot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410570402.5A CN104503448B (en) | 2014-10-23 | 2014-10-23 | Device used to define working area of mobile robot and defining method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410570402.5A CN104503448B (en) | 2014-10-23 | 2014-10-23 | Device used to define working area of mobile robot and defining method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104503448A CN104503448A (en) | 2015-04-08 |
| CN104503448B true CN104503448B (en) | 2017-02-01 |
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| WO2019061441A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳拓邦股份有限公司 | Electromagnetic field detection apparatus, movable device and boundary identification system |
| CN107479099A (en) * | 2017-09-30 | 2017-12-15 | 深圳拓邦股份有限公司 | A kind of electromagnetic field detection device, movable equipment and Boundary Recognition system |
| CN107743771A (en) * | 2017-10-19 | 2018-03-02 | 谢新昇 | One kind can avoidance automatic mowing robot |
| CN111381569A (en) * | 2018-12-29 | 2020-07-07 | 苏州宝时得电动工具有限公司 | Automatic working system and control method thereof, door control equipment and self-moving equipment |
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