CN104950889A - Robot charging stand and robot provided with same - Google Patents
Robot charging stand and robot provided with same Download PDFInfo
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- CN104950889A CN104950889A CN201510355476.1A CN201510355476A CN104950889A CN 104950889 A CN104950889 A CN 104950889A CN 201510355476 A CN201510355476 A CN 201510355476A CN 104950889 A CN104950889 A CN 104950889A
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- sensor
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Abstract
The invention discloses a robot charging stand and a robot provided with the same. The robot charging stand comprises a charging stand body, a front sensor, a side sensor and a tilt sensor, wherein a charging terminal is arranged on the charging stand body; the front sensor is arranged on the charging stand body and used for transmitting a front homing signal to the right front of the charging stand body; the side sensor is arranged on the charging stand body, is orthogonally arranged with the front sensor and is used for transmitting a side homing signal to the left side and/or the right side of the charging stand body; the tilt sensor is arranged on the charging stand body and forms included angles with the front sensor and the side sensor. According to the robot charging stand, the time for the robot to find the robot charging stand and return to the robot charging stand can be remarkably shortened.
Description
Technical field
The present invention relates to field of household appliances, particularly a kind of robot cradle and there is its robot.
Background technology
Existing robot automatic charging technology mainly contains and guides mobile robot to get back to cradle by light beam (such as, infrared emission etc.) or image recognition technology.The main Problems existing of existing infrared emission technology has:
1, along with the angle of mobile robot and cradle increases, mobile robot is for searching cradle and the time of docking with cradle will increase, particularly when mobile robot becomes 90 degree of angles along wall walking with cradle, mobile robot can not receive the infrared signal that cradle sends, collided as barrier so cradle itself can be moved robot or evaded, the time causing mobile robot homeward like this increases, and the use sense reducing user is subject to.
2, the another one problem that infrared emission technology also exists is when mobile robot enters within the scope of the infrared emission that the cradle that set sends, but because the reason of barrier or angle, mobile robot does not likely receive infrared signal, because do not receive infrared signal, mobile robot can move to outside infrared emission range of signal, namely mobile robot needs the transmitting boundary again searching infrared signal, the therefore turn-round period of mobile robot corresponding increase again.
The chip requirement of existing image recognition technology to master control borad is high, cost large, and the success ratio of docking is low, in the use of reality, generally do not adopt image recognition technology.
Summary of the invention
The present invention is intended to solve one of above-mentioned technical matters of the prior art at least to a certain extent.For this reason, one object of the present invention is to propose a kind of robot cradle, and this robot cradle significantly can shorten robot body and search out robot cradle and the time returning robot cradle.
Another object of the present invention is to propose a kind of robot with above-mentioned robot cradle.
According to robot of the present invention cradle, comprising: cradle body, described cradle body is provided with charging terminal; Front sensors, described front sensors to be arranged on described cradle body and for the homeward signal in transmitting front, dead ahead to described cradle body; Side sensor, described side sensor setting on described cradle body, described side sensor setting orthogonal with described front sensors and for the homeward signal in left side and/or transmitting side, right side to described cradle body; And tilting sensor, described tilting sensor setting is on described cradle body and and have angle between described front sensors and described side sensor.
According to robot of the present invention cradle, by arranging side sensor and arrange tilting sensor on cradle body between side sensor and front sensors, the homeward signal that cradle body can be made to send wider, robot body can action rapidly after receiving the homeward signal that side sensor and tilting sensor send, search and enter into the scope of the front signal that front sensors sends, and then save the time that robot body searches the homeward signal in front that front sensors sends again, reduce robot body and get back to the cradle body time used.
In addition, following additional technical characteristic can also be had according to robot of the present invention cradle:
According to one embodiment of present invention, described front sensors comprises: remote pickup and Proximity Sensor, and described remote pickup and described Proximity Sensor are symmetrically distributed on described cradle body about the central plane of described cradle body.
According to one embodiment of present invention, described side sensor be positioned at the central plane of described cradle body right side and for launching the homeward signal in side to the right or/and described side sensor be positioned at the central plane of described cradle body left side and for launching the homeward signal in side to the left.
According to one embodiment of present invention, the angle of described tilting sensor and described front sensors is between 30 °-60 °.
According to one embodiment of present invention, described tilting sensor and the angle between described front sensors and described side sensor are 45 °.
According to one embodiment of present invention, described tilting sensor is two and these two tilting sensors are symmetrically distributed on described cradle body about the central plane of described cradle body, and the relatively described central plane of tilting sensor being positioned at left side is tilted to the left 45 ° and the relatively described central plane of tilting sensor being positioned at right side is tilted to the right 45 °.
According to one embodiment of present invention, described cradle body is provided with two mounting hole site symmetrically about described central plane, left side mounting hole site and right side mounting hole site respectively relative described central plane left, to the right open wide and angle is 45 °, described tilting sensor be separately positioned on left side and right side mounting hole site in.
According to one embodiment of present invention, described robot cradle also comprises: installing plate, and described front sensors, described side sensor and described tilting sensor are installed on described installing plate.
According to one embodiment of present invention, described in described front sensors, described side sensor and described tilting sensor distance, the distance of the central plane of cradle body increases successively.
According to one embodiment of present invention, described front sensors, described side sensor and described tilting sensor are infrared sensor.
According to one embodiment of present invention, described cradle body is also provided with anti-raming, described anti-built-in obstacle avoidance sensor of raming.
Robot according to the present invention comprises the robot cradle in robot body and above-described embodiment, and because robot according to the present invention is provided with above-mentioned robot cradle, therefore this robot is more intelligent, and has the time of longer continuous firing.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the robot cradle according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of the installing plate according to the embodiment of the present invention.
Reference numeral:
Robot cradle 100,
Cradle body 110,
Installing plate 120, the mounting hole site 101 in left side, the mounting hole site 102 on right side, remote pickup mounting hole site 103, Proximity Sensor mounting hole site 104, side sensor mounting hole position 105,
Prevent raming 130.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrically connected maybe can communicate with one another; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can comprise the first and second features and directly contact, also can comprise the first and second features and not be directly contact but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " comprise fisrt feature directly over second feature and oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " comprise fisrt feature immediately below second feature and tiltedly below, or only represent that fisrt feature level height is less than second feature.
Be described in detail the robot cradle 100 according to the embodiment of the present invention below in conjunction with Fig. 1 and Fig. 2, this robot cradle 100 is for launching homeward signal and can charging for robot body to robot body.
Cradle body 110, front sensors, side sensor and tilting sensor can be comprised according to the robot cradle 100 of the embodiment of the present invention.
Wherein, cradle body 110 is provided with charging terminal, robot body is provided with the charging contact being suitable for contacting with the charging terminal on cradle body 110, after cradle body 110 sends homeward signal and guided robot body gets back to cradle body 110, charging contact can contact with charging terminal, and then realizes charging to robot body.
Cradle body 110 is also provided with charging inlet, and charging inlet is suitable for being connected by power lead with socket, and then ensures that cradle body 110 is in chargeable state always.Thus, cradle body 110 can place the place that any place has power supply, improves the applicability of cradle body 110.
Front sensors to be arranged on cradle body 110 and for the homeward signal in transmitting front, dead ahead to cradle body 110.Robot body, can towards the direction motion of cradle until touch charging terminal and start charging after have received the homeward signal in front.
Side sensor setting on charging main body, side sensor setting orthogonal with front sensors and for the homeward signal in left side and/or transmitting side, right side to cradle body 110.Because cradle body 110 is generally resisted against on body of wall, the signal that therefore side sensor sends generally is parallel to body of wall.
That is, side sensor both can be arranged in one of them of the left side of cradle body 110 and right side, can be arranged on again on the both sides (i.e. left side and right side) of cradle body 110.
The position of side sensor setting is relevant with the mode of motion of robot body, and when robot body is for moving along wall clockwise, side sensor can be arranged on the left side of cradle body 110; When robot body is counterclockwise movement, side sensor can be arranged on the right side of cradle body 110; When robot body not only can clockwise but also can counterclockwise along wall move or erratic motion time, side sensor setting is in the both sides of cradle body 110.
Thus, when robot body moves along wall or the signal launched with front sensors has larger angle, robot can receive the homeward signal in side that side sensor sends, and stop moving forward and turning to the direction deviating from body of wall after receiving the homeward signal in side that side sensor sends, and then be convenient to robot body and search the homeward signal in front that sends of front sensors, enter in the scope of the homeward signal in front that front sensors sends fast, saving robot body returns the time needed for cradle.
Tilting sensor setting on cradle body 110, and with front sensors and side sensor before there is angle.Tilting sensor can launch homeward signal, and after have received the homeward signal that tilting sensor sends, robot body can rotate in 180 ° of scopes coming back to the homeward signal in homeward front that front sensors sends.
In other words, tilting sensor further increases the scope of the homeward signal that cradle body 110 upper sensor sends.Particularly, time in the range areas that robot body enters the homeward signal in front that front sensors sends, when robot body because external action (such as, be obscured by an obstacle) or unforced error cause robot body the not receive homeward signal in front that front sensors sends and departed from the transmitting boundary of the homeward signal in front time, because tilting sensor is placed between front sensors and side sensor, therefore the both sides of the homeward signal in front that front sensors sends have the homeward signal that tilting sensor sends, when robot body enters into the homeward signal that tilting sensor sends, robot body will turn to 180 ° of regions coming back to the homeward signal in front that front sensors sends, save the time that robot body searches the homeward signal in front that front sensors sends again.
According to the robot cradle 100 of the embodiment of the present invention, by arranging side sensor and arrange tilting sensor on cradle body 110 between side sensor and front sensors, the homeward signal that cradle body 110 can be made to send wider, robot body can action rapidly after receiving the homeward signal that side sensor and tilting sensor send, search and enter into the scope of the front signal that front sensors sends, and then save the time that robot body searches the homeward signal in front that front sensors sends again, reduce robot body and get back to cradle body 110 time used.
In some embodiments of the invention, front sensors comprises remote pickup and Proximity Sensor, and remote pickup and Proximity Sensor are symmetrically distributed on cradle body 110 about the central plane of cradle body 110.
The homeward signal that remote pickup sends is for coarse positioning, and the homeward signal that Proximity Sensor sends is for accurate location.Corresponding, on robot body, two different homeward signal receiving devices are installed equally, are respectively used to receive homeward signal that remote pickup launches and the homeward signal that Proximity Sensor sends.When robot body receives the homeward signal of remote pickup transmitting, robot body searches the homeward signal that Proximity Sensor is launched in the homeward range of signal that remote pickup sends, when robot body searches the homeward signal that Proximity Sensor sends, robot body starts towards the motion of cradle body 110 direction, until stop after touching the charging terminal on cradle body 110 and start charging.
In some embodiments of the invention, side sensor be positioned at the central plane of cradle body 110 right side and for launching the homeward signal in side to the right or/and side sensor be positioned at the central plane of cradle body 110 left side and for launching the homeward signal in side to the left.
When side sensor is positioned at right side and the left side of the central plane of cradle body 110, side sensor can be two, one of them side sensor be positioned at the central plane of cradle body 110 right side and for launching the homeward signal in side to the right, another one side sensor be positioned at the central plane of cradle body 110 left side and for launching the homeward signal in side to the left.
It should be noted that, in describing the invention, description about " left and right ", " front and back " isotropy determines according to direction when cradle body 110 normal mounting and use, namely when cradle body 110 normal mounting with when using, side towards user is " front ", side away from user is " afterwards ", be positioned on the left of user for " left side ", what be positioned at user right is " right side ".
In concrete example of the present invention, as depicted in figs. 1 and 2, side sensor be positioned at cradle body 110 right side and for launching the homeward signal in side to the right.That is, robot body is counterclockwise movement operationally, when robot body moves along wall and receives the homeward signal in side that side sensor sends, robot body stop immediately travelling forward and turn left to, so that robot body searches the homeward signal that remote pickup sends, enter in the scope of the homeward signal that remote pickup sends fast, save the refill time of robot.
Alternatively, the angle of tilting sensor and front sensors is between 30 °-60 °.Preferably, tilting sensor and the angle between front sensors and side sensor are 45 °.
In concrete example of the present invention, tilting sensor is two and these two tilting sensors are symmetrically distributed on cradle body 110 about the central plane of cradle body 110, the tilting sensor relative centre being positioned at left side, towards left bank 45 °, is positioned at the tilting sensor relative centre on right side towards right bank 45 °.
In some embodiments of the invention, cradle body 110 is symmetrically arranged with two mounting hole site about central plane, the mounting hole site 101 in left side and the mounting hole site 102 on right side respectively relative centre towards left, to open wide and angle is 45 ° to the right, tilting sensor is separately positioned in the mounting hole site on left side and right side.
Be understandable that, cradle body 110 is also symmetrically arranged with remote pickup mounting hole site 103 and Proximity Sensor mounting hole site 104 about central plane, and remote pickup and Proximity Sensor are arranged in remote pickup mounting hole site 103 and Proximity Sensor mounting hole site 104 respectively.Cradle body 110 is also provided with side sensor mounting hole position 105, side sensor is arranged in side sensor mounting hole position 105.
In some embodiments of the invention, as depicted in figs. 1 and 2, robot cradle 100 comprises installing plate 120, and front sensors, side sensor and tilting sensor are installed on installing plate 120, be understandable that, installing plate 120 is arranged on cradle body 110.
Particularly, as shown in Figure 2, the distance of the central plane of front sensors, side sensor and tilting sensor distance cradle body 110 increases successively.
In some embodiments of the invention, front sensors, side sensor and tilting sensor are infrared ray sensor.Certainly, be understandable that, front sensors, side sensor and tilting sensor also can be the sensor of other types, and the present invention does not limit the kind of sensor.
In some embodiments of the invention, as shown in Figure 1, cradle body 110 is also provided with and prevents raming 130, anti-130 built-in obstacle avoidance sensors of raming.Obstacle avoidance sensor can send signal, and the range of this signal is only greater than the radius value of cradle body 110, robot body nearby time, robot body can be avoided to encounter cradle body 110.
The simple robot described according to the embodiment of the present invention below.
The robot cradle 100 in robot body and above-described embodiment is comprised according to the robot of the embodiment of the present invention, owing to being provided with above-mentioned robot cradle 100 according to the robot of the embodiment of the present invention, therefore this robot is more intelligent, and has the time of longer continuous firing.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.In addition, the different embodiment described in this instructions or example can carry out engaging and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (12)
1. a robot cradle, is characterized in that, comprising:
Cradle body, described cradle body is provided with charging terminal;
Front sensors, described front sensors to be arranged on described cradle body and for the homeward signal in transmitting front, dead ahead to described cradle body;
Side sensor, described side sensor setting on described cradle body, described side sensor setting orthogonal with described front sensors and for the homeward signal in left side and/or transmitting side, right side to described cradle body; And
Tilting sensor, described tilting sensor setting is on described cradle body and and have angle between described front sensors and described side sensor.
2. robot according to claim 1 cradle, it is characterized in that, described front sensors comprises: remote pickup and Proximity Sensor, and described remote pickup and described Proximity Sensor are symmetrically distributed on described cradle body about the central plane of described cradle body.
3. robot according to claim 1 cradle, it is characterized in that, described side sensor be positioned at the central plane of described cradle body right side and for launching the homeward signal in side to the right or/and described side sensor be positioned at the central plane of described cradle body left side and for launching the homeward signal in side to the left.
4. robot according to claim 1 cradle, is characterized in that, the angle of described tilting sensor and described front sensors is between 30 °-60 °.
5. robot according to claim 4 cradle, is characterized in that, described tilting sensor and the angle between described front sensors and described side sensor are 45 °.
6. robot according to claim 1 cradle, it is characterized in that, described tilting sensor is two and these two tilting sensors are symmetrically distributed on described cradle body about the central plane of described cradle body, and the relatively described central plane of tilting sensor being positioned at left side is tilted to the left 45 ° and the relatively described central plane of tilting sensor being positioned at right side is tilted to the right 45 °.
7. robot according to claim 6 cradle, it is characterized in that, described cradle body is provided with two mounting hole site symmetrically about described central plane, left side mounting hole site and right side mounting hole site respectively relative described central plane left, to the right open wide and angle is 45 °, described tilting sensor be separately positioned on left side and right side mounting hole site in.
8. robot according to claim 1 cradle, is characterized in that, also comprise: installing plate, and described front sensors, described side sensor and described tilting sensor are installed on described installing plate.
9. robot according to claim 1 cradle, is characterized in that, described in described front sensors, described side sensor and described tilting sensor distance, the distance of the central plane of cradle body increases successively.
10. robot according to claim 1 cradle, is characterized in that, described front sensors, described side sensor and described tilting sensor are infrared sensor.
11. robot according to claim 1 cradles, is characterized in that, described cradle body are also provided with anti-raming, described anti-built-in obstacle avoidance sensor of raming.
12. 1 kinds of robots, is characterized in that, comprising:
Robot body and robot cradle, the robot cradle of described robot cradle according to any one of claim 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355476.1A CN104950889A (en) | 2015-06-24 | 2015-06-24 | Robot charging stand and robot provided with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355476.1A CN104950889A (en) | 2015-06-24 | 2015-06-24 | Robot charging stand and robot provided with same |
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| CN104950889A true CN104950889A (en) | 2015-09-30 |
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| CN201510355476.1A Pending CN104950889A (en) | 2015-06-24 | 2015-06-24 | Robot charging stand and robot provided with same |
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| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| CN111880524A (en) * | 2020-06-12 | 2020-11-03 | 珠海市一微半导体有限公司 | Charging seat, recharging docking system and laser docking method |
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Application publication date: 20150930 |