CN105717922A - Robot - Google Patents
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- CN105717922A CN105717922A CN201510244345.6A CN201510244345A CN105717922A CN 105717922 A CN105717922 A CN 105717922A CN 201510244345 A CN201510244345 A CN 201510244345A CN 105717922 A CN105717922 A CN 105717922A
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Abstract
The invention discloses a robot, comprising a robot main body, a return receiving device, a return emission device and a controller. The robot main body is provided with an obstacle-avoiding sensor; the return receiving device is arranged on the robot main body; the return emission device is used for emitting a return signal; the controller is connected to the robot main body, the obstacle-avoiding sensor and the return receiving device and can control the robot main body to maintain a preset distance with a wall body when the robot main body returns. In the invention, the robot is low in cost and high in reliability of autonomous operation.
Description
Technical field
The present invention relates to an electro-technical field, particularly to a kind of robot.
Background technology
For a long time, in order to realize the autonomous of robot, research worker have employed multiple method, a kind of method of relatively broad application is the establishment adopting scanning laser sensor to carry out indoor map, and according to the map built in real time, adopt path planning algorithm, make robot from a position autonomous to another one position in room.Costly, is often there is insecure phenomenon by the impact of environmental map modeling error to the price having drawbacks in that scanning laser sensor on the one hand of this technology in contexture by self algorithm on the other hand.
Summary of the invention
It is contemplated that one of technical problem solved at least to a certain extent in correlation technique.For this, it is an object of the invention to propose a kind of robot, the cost of this robot is low and robot body has the reliability of higher autonomous operation.
Robot according to the present invention, including: robot body, described robot body is provided with avoidance sensor；Homeward reception device, described homeward reception device is arranged on described robot body；Homeward discharger, described homeward discharger is used for launching homeward signal；And controller, described controller is connected with described robot body, described avoidance sensor and described homeward reception device respectively and can control when described robot body is homeward to be maintained in preset distance between described robot body and body of wall.
Robot according to the present invention, controller can control when robot body moves to homeward discharger to be maintained in preset distance between robot body and body of wall, make robot body can move to homeward discharger along body of wall, and then avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body autonomous operation, and reducing the time of the robot body homeward discharger of arrival at least to a certain extent.
It addition, the robot according to the present invention can also have following additional technical characteristic:
According to one embodiment of present invention, described preset distance is between 0-50cm.
According to one embodiment of present invention, described preset distance is between 20cm-40cm.
According to one embodiment of present invention, described avoidance sensor includes preposition obstacle sensor and sidepiece body of wall obstacle sensor, and described sidepiece body of wall obstacle sensor is located on left side and/or the right side of described robot body.
According to one embodiment of present invention, described robot also includes: cradle, and described cradle is provided with described homeward discharger.
According to one embodiment of present invention, described robot body being additionally provided with load machine, described load machine includes: one or more in air purifier, air humidifier, oxygen generator and sterilizing unit.
According to one embodiment of present invention, the relatively described robot body of described load machine is separable.
According to one embodiment of present invention, described load machine electrically connects with described robot body.
According to one embodiment of present invention, described robot body is provided with the location structure for positioning with described load machine.
According to one embodiment of present invention, described robot body is additionally provided with and shelves groove for what shelve object.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the schematic diagram in a direction of robot body according to embodiments of the present invention；
Fig. 2 is the schematic diagram in another direction of robot body according to embodiments of the present invention；
Fig. 3 is the schematic diagram that robot body according to embodiments of the present invention runs along body of wall；
Fig. 4 is the schematic diagram that robot body according to embodiments of the present invention runs along body of wall；
Fig. 5 is the schematic diagram that robot body according to embodiments of the present invention arrives cradle；
Fig. 6 is the schematic diagram being provided with load machine on robot body according to embodiments of the present invention.
Accompanying drawing labelling:
Robot body 100, homeward reception device 110, preposition obstacle sensor 121, sidepiece body of wall obstacle sensor 122, power supply interface 130, communication interface 140, mechanical interface 150,
Cradle 200, homeward discharger 210, guiding sensor 211 on a large scale, narrow angular guiding sensor 212,
Load machine 300.
Detailed description of the invention
Being 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 the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
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 ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, for instance 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, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
Below in conjunction with Fig. 1 to Fig. 6, robot according to embodiments of the present invention is described in detail.
Robot according to embodiments of the present invention can include robot body 100, homeward reception device 110, homeward discharger 210 and controller.
Wherein, robot body 100 is provided with avoidance sensor, and avoidance sensor may determine that the distance between barrier and robot body 100 and can send this distance signal to controller.
Homeward discharger 210 is used for launching homeward signal, robot body 100 is provided with and the homeward reception device 110 of homeward discharger 210 adaptation, homeward reception device 110 can receive the homeward signal that homeward discharger 210 sends, and substantially determine the position of homeward discharger 210 according to the homeward signal received.
Controller is connected with robot body 100, avoidance sensor and homeward reception device 110 respectively, controller can be built in robot body 100, and controller can control when robot body 100 is homeward to be maintained in preset distance between robot body 100 and body of wall.
That is, receive homeward signal at robot body 100 and need homeward rear (such as battery electric quantity is relatively low), robot body 100 can move along body of wall to homeward discharger 210, and keeps preset distance with body of wall, and then achieves the autonomous of robot body 100.
Such as, the distance of a robot body 100 and body of wall can be pre-determined, robot body 100 is in receiving homeward signal the process that moves to homeward discharger 210, avoidance sensor can distance between continuous measuring robots body 100 and body of wall, when avoidance sensor detects distance between robot body 100 and body of wall more than default distance, controller controls robot body 100 near body of wall；When avoidance sensor detects distance between robot body 100 and body of wall less than default distance, controller controls robot body 100 away from body of wall.
Thus, robot body 100 is after receiving homeward signal, homeward discharger 210 can be moved to along body of wall, it is respectively mounted homeward discharger 210 in indoor multiple rooms, just can achieve robot body 100 autonomous between multiple rooms, avoid the navigation algorithm using high scanning laser sensor and complexity, and then reduce the cost of robot and improve the reliability of robot body 100 autonomous operation.
Additionally, due to homeward discharger 210 contiguous body of wall mostly is arranged, therefore robot body 100 reaches homeward discharger 210 along body of wall, it is possible to reduces robot body 100 at least to a certain extent and arrives the time of homeward discharger 210.
Robot according to embodiments of the present invention, controller can control when robot body 100 moves to homeward discharger 210 to be maintained in preset distance between robot body 100 and body of wall, make robot body 100 can move to homeward discharger 210 along body of wall, and then avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body 100 autonomous operation, and reducing robot body 100 at least to a certain extent and arrive the time of homeward discharger 210.
In some embodiments of the invention, preset distance can between 0-50cm.It is to say, robot body 100 can move in the scope between distance body of wall 0-50cm in homeward process.
Preferably, preset distance can between 20cm-40cm.It is to say, robot body 100 can move in the scope between distance body of wall 20cm-40cm.And then reduce robot body 100 and encounter the risk of body of wall, improve the stability of robot body 100 work.
It is highly preferred that in order to be suitable to domestic environment, preset distance can be 30cm.It is, of course, understood that predeterminable range can be set by consumer as the case may be.
In some embodiments of the invention, avoidance sensor can include preposition obstacle sensor 121 and sidepiece body of wall obstacle sensor 122.Preposition obstacle sensor 121 is for the barrier on front side of measuring robots body 100, and sidepiece body of wall obstacle sensor 122 is for the barrier of measuring robots body 100 sidepiece, for instance body of wall.
The distance of a robot body 100 and body of wall can be pre-determined, robot body 100 is in receiving homeward signal the process that moves to homeward discharger 210, distance between the sidepiece body of wall obstacle sensor 122 continuous measuring robots body 100 of meeting and body of wall, when sidepiece body of wall obstacle sensor 122 detects distance between robot body 100 and body of wall more than default distance, controller controls robot body 100 near body of wall；When sidepiece body of wall obstacle sensor 122 detects distance between robot body 100 and body of wall less than default distance, controller controls robot body 100 away from body of wall.
Wherein, as it is shown in figure 1, preposition obstacle sensor 121 can be multiple and be arranged on the front portion of robot body 100, sidepiece body of wall obstacle sensor 122 is located on left side and/or the right side of robot body 100.
It is to say, sidepiece body of wall obstacle sensor 122 can be arranged on the left side of robot body 100 and the wherein side on right side, the left side of certain robot body 100 and right side can also be completely provided with sidepiece body of wall obstacle sensor 122.
When one of them of the left side of robot body 100 and right side is provided with sidepiece body of wall obstacle sensor 122, only the side arranging sidepiece body of wall obstacle sensor 122 of robot body 100 can be moved along body of wall；When the left side of robot body 100 and right side are provided with sidepiece body of wall obstacle sensor 122, the left side of robot body 100 and right side all can be moved along body of wall.
Alternatively, sidepiece body of wall obstacle sensor 122 can be infrared PSD sensor.
In some embodiments of the invention, robot also includes cradle 200, and cradle 200 is provided with homeward discharger 210.Thus, receiving, at robot body 100, signal that cradle 200 sends and move along body of wall to cradle 200, cradle 200 can charge for robot body 100.
Further, homeward discharger 210 can be launched guided robot body 100 and arrives the big distance Infrared of cradle 200 and the small distance Infrared for protecting robot body 100, avoid robot body 100 and cradle 200 to collide.
Further, homeward reception device 110 can be 360 ° of infrared receiver sensors, arrive after near homeward discharger 210 at homeward discharger 210 guided robot body 100, robot body 100 presses close to cradle 200, and cradle 200 can pass through charging pole piece and charge to robot body 100.
In some embodiments of the invention, robot body 100 being additionally provided with load machine 300, load machine 300 includes one or more in air purifier, air humidifier, oxygen generator and sterilizing unit.
That is, robot body 100 is in the process of movement, load machine 300 thereon can also move together, and then load machine 300 is in a room (namely, the position at one homeward discharger 210 place) after hours, can be operated along with robot body 100 moves to Next Room (that is, the position at another homeward discharger 210 place) along body of wall.
Further, robot body 100 and load machine 300 electrically connect.Being provided with battery on robot body 100, in the process that robot body 100 moves, the battery on robot body 100 can provide electric energy for load machine 300, and to ensure robot body 100, in the process of movement, load machine 300 can also maintenance work state.
Specifically, robot body 100 can pass through power supply interface 130, communication interface 140 and mechanical interface 150 and is connected with load machine 300.Power supply interface 130 is the battery on robot body 100 be load machine 300 power supply passage；Communication interface 140 can transmit signal, and then robot body 100 can work by control load machine 300, and signal can be transferred to robot body 100 from load machine 300, it is also possible to is be transferred to load machine 300 from robot body 100；Robot body 100 and load machine 300 connect through mechanical interface 150 and are fixed together.
When robot body 100 moves to cradle 200, robot body 100 and load machine 300 can be powered by cradle 200 simultaneously, and then can ensure that robot body 100 and load machine 300 stably work.
Certainly, it is understood that when robot body 100 moves to cradle 200, robot body 100 can also be only charged by cradle 200, then electric energy is provided by the battery on robot body 100 for load machine 300 again, it is ensured that load machine 300 normal operation.
Cradle 200 it is respectively provided with in multiple rooms, robot body 100 can receive the homeward signal that the homeward discharger 210 on cradle 200 sends, and move between multiple cradles 200 receiving homeward signal trailing edge body of wall, and then achieve robot body 100 autonomous between multiple rooms, avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body 100 autonomous operation.
Owing to robot body 100 can move along body of wall, and cradle 200 is placed on the root of body of wall mostly, and then while avoiding the scanning laser sensor using cost high, robot body 100 can also be saved and arrive the time specifying position, improve the work efficiency of robot body 100 to a certain extent.
In some embodiments of the invention, load machine 300 opposed robots's body 100 is separable.Robot body 100 can adaptive multiple load machine 300.Such as, after robot body 100 drives air purifier to complete indoor multiple rooms are purified, robot body 100 can be disassembled from air purifier, then oxygen generator is arranged on robot body 100, and then robot body 100 can drive oxygen generator to provide oxygen for indoor multiple rooms.
Further, robot body 100 is provided with the location structure for positioning with load machine 300.Thus, facilitating user to be arranged on load machine 300 by robot body 100, the use sense that improve user is subject to.
It is, of course, understood that robot body 100 can be not provided with load machine 300, but only it is provided only with and shelves groove for what shelve object.Thus, robot body 100 can conveying articles between different locations.
In some embodiments of the invention, homeward discharger 210 can be infrared transmitter, the infrared light that infrared transmitter can be sent by user is encoded, so that different homeward dischargers 210 has unique identity and indicates, and can be arranged to robot body 100 only just can stop when the infrared light with a certain specific coding being detected, so when robot body 100 runs along body of wall, only receive the infrared transmitter with a certain specific coding just can stop, and ignore the guiding infrared light of other cradles 200.Thus, the load machine 300 on robot body 100 in cradle 200 place (in the room) work specified, can improve the work efficiency of load machine 300.
Such as, when load machine 300 is dehumidifier, robot body 100 can drive dehumidifier stop in the room needing dehumidifying and this room is dehumidified, without the room that need not dehumidify is dehumidified.
Robot body 100 according to embodiments of the present invention also includes the parts such as chassis, driving wheel, the dropproof sensor in bottom, universal wheel, and these parts have been prior art and have been well known to those of ordinary skill in the art, are not repeating here.
Work process for load machine 300 for air purifier detailed description robot according to embodiments of the present invention below.
Robot body 100 is provided with avoidance sensor and homeward reception device 110, cradle 200 is provided with homeward discharger 210, cradle 200 can be arranged in multiple room and arrange near body of wall, homeward discharger 210 on cradle 200 includes launching the guiding sensor on a large scale 211 guiding signal on a large scale and launching little scope guiding the narrow angular guiding sensor 212 of signal, first homeward reception device 110 on robot body 100 senses and guides signal on a large scale, then under the effect of avoidance sensor and controller, the distance predetermined with body of wall maintenance also moves along body of wall to the cradle 200 launching homeward signal.
In the process of movement, the battery on robot body 100 can be powered for air purifier so that air purifier can also work in the process of movement.
When robot body 100 moves near the cradle 200 launching homeward signal, homeward reception device 110 on robot body 100 senses that the little scope that narrow angular guiding sensor 212 sends guides signal, then controller control robot body 100 is directed at cradle 200, run and press close to cradle 200, the charging pole piece making robot is directed at the charging pole piece of cradle 200, and cradle 200 starts to charge for robot body 100；Meanwhile, cradle 200 can also be powered for air purifier so that air purifier works, and purifies the air in room, cradle 200 place.
When after air purifier works a period of time or when the air in room meet require time, additionally the cradle 200 in room can send homeward signal, guided robot body 100 and air purifier move to Next Room, and the air in Next Room is purified.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Although above it has been shown and described that embodiments of the invention, it is understandable that, above-described embodiment is illustrative of, it is impossible to be interpreted as limitation of the present invention, and above-described embodiment can be changed, revises, replace and modification by those of ordinary skill in the art within the scope of the invention.
Claims (10)
1. a robot, it is characterised in that including:
Robot body, described robot body is provided with avoidance sensor；
Homeward reception device, described homeward reception device is arranged on described robot body；
Homeward discharger, described homeward discharger is used for launching homeward signal；And
Controller, described controller is connected with described robot body, described avoidance sensor and described homeward reception device respectively and can control when described robot body is homeward to be maintained in preset distance between described robot body and body of wall.
2. robot according to claim 1, it is characterised in that described preset distance is between 0-50cm.
3. robot according to claim 1, it is characterised in that described preset distance is between 20cm-40cm.
4. robot according to claim 1, it is characterised in that described avoidance sensor includes preposition obstacle sensor and sidepiece body of wall obstacle sensor, and described sidepiece body of wall obstacle sensor is located on left side and/or the right side of described robot body.
5. robot according to claim 1, it is characterised in that also include: cradle, described cradle is provided with described homeward discharger.
6. the robot according to any one of claim 1-5, it is characterised in that being additionally provided with load machine on described robot body, described load machine includes: one or more in air purifier, air humidifier, oxygen generator and sterilizing unit.
7. robot according to claim 6, it is characterised in that the relatively described robot body of described load machine is separable.
8. robot according to claim 6, it is characterised in that described load machine electrically connects with described robot body.
9. robot according to claim 6, it is characterised in that be provided with the location structure for positioning with described load machine on described robot body.
10. the robot according to any one of claim 1-5, it is characterised in that be additionally provided with on described robot body and shelve groove for what shelve object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244345.6A CN105717922A (en) | 2015-05-13 | 2015-05-13 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244345.6A CN105717922A (en) | 2015-05-13 | 2015-05-13 | Robot |
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| CN105717922A true CN105717922A (en) | 2016-06-29 |
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| CN201510244345.6A Pending CN105717922A (en) | 2015-05-13 | 2015-05-13 | Robot |
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| CN107179771A (en) * | 2017-06-13 | 2017-09-19 | 芜湖桑健电子科技有限公司 | Portable oxygen generator and its from moving method |
| CN108344419A (en) * | 2018-02-09 | 2018-07-31 | 弗徕威智能机器人科技（上海）有限公司 | A kind of method for searching of cradle |
| CN108363388A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of AGV robot obstacle-avoiding systems based on infrared sensor |
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