CN107095622A - A kind of Docking station and sweeping robot for being used to dock sweeping robot - Google Patents
A kind of Docking station and sweeping robot for being used to dock sweeping robot Download PDFInfo
- Publication number
- CN107095622A CN107095622A CN201610093316.9A CN201610093316A CN107095622A CN 107095622 A CN107095622 A CN 107095622A CN 201610093316 A CN201610093316 A CN 201610093316A CN 107095622 A CN107095622 A CN 107095622A
- Authority
- CN
- China
- Prior art keywords
- signal
- sweeping robot
- docking
- remote
- guiding area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a kind of Docking station for being used to dock sweeping robot, belong to cleaning appliance field, solve in the prior art that there are null zones in front of Docking station causes the problem of sweeping robot can not be docked, solving the technical scheme of the problem mainly includes matrix and the first signal projector located at matrix, secondary signal transmitter, 3rd signal projector and the 4th signal projector, first signal projector transmitting docking signal, secondary signal transmitter launches closely targeting signal, closely targeting signal has arc border, the remote targeting signal in 3rd signal projector transmitting left side, the remote targeting signal in 4th signal projector transmitting right side.The present invention charges or unloading rubbish mainly for the docking of sweeping robot.In addition, the present invention also provides a kind of sweeping robot docked with above-mentioned Docking station.
Description
Technical field
The present invention relates to cleaning appliance, particularly a kind of Docking station for being used to dock sweeping robot and with this
The sweeping robot that Docking station is docked.
Background technology
Sweeping robot can be moved in the case where not needing user to manipulate in preset range region, moved
Clean operation is carried out while dynamic, rubbish the dust, paper scrap such as absorption floor, when sweeping robot electricity
When the rubbish for the interior accumulation of either sweeping robot that amount is not enough is enough or in user finger is sent using remote control
When order allows the sweeping robot to be docked, sweeping robot can be moved to Docking station dock charged or
Person unloads rubbish.Therefore how to control sweeping robot to carry out accurate dock with Docking station is to need to obtain effectively
The problem of solution.
In existing technology, Docking station is using three transmitter unit transmitting docking targeting signals, by the first transmitting
Unit docks targeting signal to first direction transmitting first, and second is launched from the second transmitter unit to second direction
Targeting signal is docked, targeting signal is docked towards the direction transmitting the 3rd on front side of station by the 3rd transmitter unit,
As shown in figure 1, the first docking guide portion includes the first short distance docking guide portion (L areas) and first over long distances
Dock in guide portion (W1 areas), the second docking guide portion includes the second short distance docking guide portion (Zone R) and the
Two docking guide portion (W2 areas) over long distances, the first docking guide portion and the second docking guide portion do not overlap each other,
A region of no signal is formed therebetween, and the 3rd transmitter unit launches the 3rd docking targeting signal
Docking area (P areas) is formed to the region of this no signal, when sweeping robot enters docking area (P areas) then
It can be achieved a butt joint to Docking station along docking area (P areas) straight line moving, when sweeping robot is not at docking
Area (P areas), then first guiding sweeping robot docks guide portion along short distance and docks the side of guide portion over long distances
Boundary's walking enters docking area (P areas), the border in such as L areas and W1 areas or the border in RQu He W2 areas.By
In sweeping robot receiving side signal to direction of travel out of plumb, sweeping robot have no idea ensure edge
Short distance docking guide portion and over long distances the border walking of docking guide portion, when sweeping robot receives signal
When, sweeping robot along when front direction walking, due to receiving side signal to direction of travel out of plumb, clean
Robot can go to (or boundary line outside short distance docking guide portion and the over long distances boundary line of docking guide portion
It is interior), it is assumed that it is that, (away from Docking station) outside boundary line, now sweeping robot only receives docking over long distances and led
To the signal in area, sweeping robot needs to be reoriented, and advances towards the direction of Docking station, works as reception
When docking the signal of guide portion to short distance, sweeping robot needs to be reoriented, and is docked along short distance
The border walking of guide portion and over long distances docking guide portion；Above procedure repeatedly, until enter docking area, institute
Zigzag can be similar to the traveling track of sweeping robot.Again because the first docking guide portion is docked with second
There are null zones between guide portion, if there are multiple null zones, sweeping robot can not be judged
Whether these null zones are that the first docking guide portion docks null zones between guide portion with second,
Travel time extension of the sweeping robot before docking, influence docking efficiency can be caused.
The content of the invention
The purpose of the invention to be reached just is to provide a kind of Docking station for being used to dock sweeping robot, improves
The efficiency of sweeping robot docking.
In order to achieve the above object, the present invention is adopted the following technical scheme that：One kind is used to dock sweeping robot
Docking station, including matrix and the first signal projector located at matrix, secondary signal transmitter, the 3rd
Signal projector and the 4th signal projector；
First signal projector be used in the first direction transmitting docking signal, docking signal covering region for pair
Region is connect, sweeping robot is walked along docking region towards the first signal projector；
Secondary signal transmitter, which is used for alternate emission, prevents sweeping robot from hitting Docking station in cleaning works
Nearly signal and the guiding sweeping robot defended enters the closely targeting signal for docking region, closely targeting signal
The region of covering is closely guiding area, and closely guiding area has arc border, and arc border has one
Part is located in docking region, and for guiding sweeping robot, arcuately border runs to docking area on arc border
Domain；
3rd signal projector is used to launch the remote targeting signal in left side, the remote targeting signal covering in left side
Region be the remote guiding area in left side, the 4th signal projector is used to launch the remote targeting signal in right side,
The region of the remote targeting signal covering in right side is the remote guiding area in right side, the remote guiding area in left side
The radius of the remote guiding area of radius and right side be all higher than the radius of closely guiding area.
As preferred scheme, the remote guiding area in left side and the remote guiding area eclipsed in right side
Into remote overlapping guiding area.Docking region had with overlapping guiding area it is overlapping, can avoid docking
There are null zones in region beyond region, it is ensured that sweeping robot can be received pair in working range
The signal gone to the station to meet somebody.
Further preferred scheme, the part that the arc border is located at the remote guiding area in left side is left side
Border, only detects the remote targeting signal in left side or is detected simultaneously by the remote targeting signal in left side and near
Sweeping robot apart from targeting signal is walked towards left border；It is remote that the arc border is located at right side
The part of guiding area is right side boundary, only detects the remote targeting signal in right side or is detected simultaneously by the right side
The remote targeting signal in side and the closely sweeping robot of targeting signal are walked towards right side boundary.
Further preferred scheme, closely the docking signal, targeting signal, left side are oriented to letter at a distance
Number, the remote targeting signal in right side be infrared signal or ultrasonic signal.
Further preferred scheme, the secondary signal transmitter includes transparent bodies, and transparent bodies are cylinder
Shape, the lower end of transparent bodies is fixed on the top of matrix, and the outer circumference surface of transparent bodies exposes matrix, transparent
The lower end of body is provided with fovea superior cavity, and the ball recess being recessed upwards is provided with the roof center of fovea superior cavity,
The top of transparent bodies is provided with recessed reflection recess, and the inwall of reflection recess is surface of revolution, surface of revolution
Bus be parabola, parabolical focus overlaps with the centre of sphere of ball recess, provided with signal in fovea superior cavity
Source, signal source is located at the centre of sphere of ball recess.
Scheme still more preferably, the top of the transparent bodies is provided with cover body.
In addition, the present invention also provides a kind of sweeping robot, with the Docking station described in any of the above-described technical scheme
Docked, including housing and the control system and walking mechanism located at housing, control system is for controlling clearly
Robot work is swept, walking mechanism includes transfer, and the front end of the housing is provided with the first signal receiver
With secondary signal receiver, the 3rd signal receiver is provided with the left-hand end angle of housing forward end, in housing forward end
Right-hand end angle be provided with the 4th signal receiver, the first signal receiver, secondary signal receiver, the 3rd letter
Number receiver and the 4th signal receiver are connected and are used for all letters for receiving Docking station transmitting with control system
Number.
As preferred scheme, the receiving side signal of the 3rd signal receiver is to the walking with walking mechanism
Direction it is tangential perpendicular, the receiving side signal of the 4th signal receiver to the direction of travel of walking mechanism
It is tangential perpendicular.
As preferred scheme, the walking process that the sweeping robot is docked with Docking station is as follows：
If 1) sweeping robot is in the remote guiding area in left side and outside closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives most strong direction straight line moving of the walking mechanism along signal, when arrival low coverage
From guiding area left border when, sweeping robot can be along the left border of closely guiding area to right lateral
Walk, the 3rd signal receiver is kept alignment Docking station, until being moved to docking region；
If 2) sweeping robot is in the remote guiding area in right side and outside closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives most strong direction straight line moving of the walking mechanism along signal, when arrival low coverage
From guiding area right side boundary when, sweeping robot can be along the right side boundary of closely guiding area to left lateral
Walk, the 4th signal receiver is kept alignment Docking station, until being moved to docking region；
If 3) sweeping robot is in the remote guiding area in left side and within closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives opposite direction straight line moving of the walking mechanism along the most strong direction of signal, when
When reaching the closely left border of guiding area, left side of the sweeping robot meeting along closely guiding area
Boundary walks to the right, the 3rd signal receiver is kept alignment Docking station, until being moved to docking region；
If 4) sweeping robot is in the remote guiding area in left side and within closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives opposite direction straight line moving of the walking mechanism along the most strong direction of signal, when
When reaching the closely right side boundary of guiding area, right edge of the sweeping robot meeting along closely guiding area
Boundary walks to the left, the 4th signal receiver is kept alignment Docking station, until being moved to docking region；
5) after the arc border walking when sweeping robot along closely guiding area enters docking region, clearly
The direction walking that robot is swept towards signal can be docked with Docking station；
If 6) sweeping robot is within docking region, sweeping robot elder generation original place respectively rotates to the left and to the right
180 °, the most strong direction of signal is determined, if sweeping robot only receives docking signal and is closely oriented to letter
Number, then it can be docked along the direction walking of docking signal with Docking station；If sweeping robot is received pair simultaneously
Signal, the remote targeting signal of the remote targeting signal in left side and right side are connect, then along the direction row of docking signal
Walk, until only receiving docking signal and closely targeting signal, walking on can dock with Docking station；
If sweeping robot receives docking signal and the remote targeting signal in left side simultaneously, right side long distance is not received
From targeting signal, then illustrate that sweeping robot route deviates, now sweeping robot moves right, Zhi Daotong
When receive docking signal, the remote targeting signal of the remote targeting signal in left side and right side, then along docking letter
Number direction walking, until only receiving docking signal and closely targeting signal, walk on can with it is right
Go to the station to meet somebody docking；If sweeping robot receives docking signal and the remote targeting signal in right side simultaneously, do not receive
To the remote targeting signal in left side, then illustrate that sweeping robot route deviates, now sweeping robot is to moving to left
It is dynamic, until receiving docking signal, the remote targeting signal of the remote targeting signal in left side and right side simultaneously, so
Afterwards along the direction walking of docking signal, until only receiving docking signal and closely targeting signal, continue to go
Walking can dock with Docking station；
7) if sweeping robot is in outside the remote guiding area of the remote guiding area in left side and right side, or
Person fails to receive the remote targeting signal in left side or the remote targeting signal in right side for some reason, then clearly
Sweep the first original place of robot and respectively rotate 180 ° to the left and to the right, if not receiving any signal, along when before front direction
Enter certain distance, signal is continued search for while walking, if still not receiving any signal after walking in place,
Then continuation is so repeated after n times along front direction forward travel distance is worked as, if not receiving signal yet, and edge is worked as always
Front direction is advanced up to untill encountering barrier, subsequently into welt walking mode, so can quickly be looked for
To the Docking station positioned at foundation, if into the remote guiding area in left side, according to 1) description process walking,
Finally docked with Docking station, if into the remote guiding area in right side, being walked according to 2) description process, most
Docked eventually with Docking station.
After adopting the above technical scheme, the invention has the advantages that：Handed over simultaneously using secondary signal transmitter
Signal and closely targeting signal closely are defended for transmitting, the quantity of signal projector, Er Qieke can be not only reduced
To realize that the overlay area for sending closely targeting signal forms arc border simultaneously, sweeping robot is allowed along closely
Arc border apart from targeting signal region is walked, and sweeping robot can in the process of walking continuously, stably
Ground receives the closely targeting signal that Docking station is sent, and in turn ensures that sweeping robot can be along in turn
Arc border is walked, and sweeping robot receives the remote targeting signal in left side or right side is oriented to letter at a distance
Number, it can be determined that the left side or right side of Docking station are now placed in, allows sweeping robot to run to proximal most position
Arc border, enters docking signal area then along the walking of arc border and is finally docked with Docking station,
In addition, sweeping robot meeting one directly receives the signal that Docking station is sent, be not in sweeping robot search
The situation of signal, therefore the present invention can reduce sweeping robot reception docking instruction to the time achieved a butt joint
Interval, greatly improves the efficiency of sweeping robot docking.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the overlay area schematic diagram of Docking station transmission signal in the prior art；
Fig. 2 is the structural representation of Docking station in the embodiment of the present invention one；
Fig. 3 is the overlay area schematic diagram of Docking station transmission signal in the embodiment of the present invention one；
Fig. 4 is the enlarged drawing at I in Invention figure 3；
Fig. 5 is the structural representation of secondary signal transmitter in the embodiment of the present invention one；
Fig. 6 is the structural representation (left side) of sweeping robot in the embodiment of the present invention two；
Fig. 7 is the structural representation (right side) of sweeping robot in the embodiment of the present invention two.
Embodiment
Embodiment one：
Present invention firstly provides a kind of Docking station for being used to dock sweeping robot, as shown in Fig. 2 including base
Body 1, matrix 1 is fixed on foundation, and the front end of matrix 1 is provided with the dock 11 extended forward, sweeping machine
People can walk onto dock 11 in docking.Matrix 1 is believed provided with the first signal projector 101, second
Number transmitter 102, the 3rd signal projector 103 and the 4th signal projector 104, see with reference to Fig. 3, wherein：
First signal projector 101 be located at the front end face of matrix 1 centre position, for along Docking station just before
Signal is docked in side's transmitting, and the region of docking signal covering is docking region P, sweeping robot edge docking region P
Walk and finally docked with Docking station；
Secondary signal transmitter 102 is located at the centre position of the top surface of matrix 1, prevents from cleaning for alternate emission
Robot hits nearly signal and the guiding sweeping robot defended of Docking station into docking region P in cleaning works
Closely targeting signal, closely defend the region of signal covering closely to defend region, closely targeting signal is covered
Region is closely guiding area, closely defends region S1 and closely guiding area S2 is semicircle, closely defend
Region S1 covering radius is less than closely guiding area S2 covering radius；Secondary signal transmitter 102
Alternate emission closely defends signal and the frequency of closely targeting signal is higher, therefore sweeping robot can continuously connect
Receipts closely defend signal and closely targeting signal.Because the nearly region S1 that defends is semicircle, therefore utilize secondary signal
The closely guiding area S2 that transmitter 102 sends closely targeting signal formation is also semicircular, so that
It is used to guide sweeping robot along arc in closely guiding area S2 formation arc border C1, arc border C1
Shape border C1 runs to docking region P, and sweeping robot can be received continuously and stably in the process of walking
The closely targeting signal sent to Docking station；
3rd signal projector 103 is located at the front end face of matrix 1, and positioned at the first signal projector 101
Left side, for launching the remote targeting signal in left side, the region of the remote targeting signal covering in left side is left side
Remote guiding area L；4th signal projector 104 is located at the front end face of matrix 1, and positioned at the first signal
The right side of transmitter 101, for launching the remote targeting signal in right side, the remote targeting signal covering in right side
Region be the remote guiding area R in right side.The remote guiding area L in left side and the remote guiding area in right side
R covering radius is more than closely guiding area S2 covering radius, and in the present embodiment, left side is remote
Guiding area L and the remote guiding area R in right side overlap to form overlapping guiding area immediately ahead of Docking station
W.The remote guiding area L in left side and the remote guiding area R in right side can cover sweeping robot institute substantially
The room area to be swept.
The part that arc border is located at the remote guiding area in left side is left border, only detects left side long distance
From targeting signal or it is detected simultaneously by the remote targeting signal in left side and the closely sweeping machine of targeting signal
People walks towards left border；The part that the arc border is located at the remote guiding area in right side is right edge
Boundary, only detects the remote targeting signal in right side or is detected simultaneously by the remote targeting signal in right side and low coverage
Sweeping robot from targeting signal is walked towards right side boundary, and specific walking process is shown in embodiment two.
It is certain due to existing between the 3rd signal projector 103 and the installation site of the 4th signal projector 104
Distance, so as shown in figure 4, position in face of Docking station, the remote guiding area L in left side and right side
Remote guiding area R can not be overlapping, the remote guiding area L in left side right margin m and right side long distance
There was only docking signal, closely defend letter in this region (dash area) between left margin n from guiding area R
Number and closely targeting signal can be covered.
Need illustratively, the left and right orientation being previously mentioned in the present invention, is faced with sweeping robot front
Left and right side when docking signal is reference, so a left side in figure 3 is a left side, the right side is the right side.3rd signal is sent out
The signal projector 104 of emitter 103 and the 4th can be with transposition.
In the present embodiment, because matrix 1 is fixed on foundation, so only needing to closely defend region S1 and closely lead
To region S2 semicirculars in shape, in order to realize it is near defend region S1 and closely guiding area S2 is semicircle,
As shown in figure 5, secondary signal transmitter 102 includes transparent bodies 21, transparent bodies 21 are cylinder, thoroughly
The lower end of bright body 21 is fixed on the top of matrix 1, and the outer circumference surface of transparent bodies 21 exposes matrix 1, thoroughly
The lower end of bright body 21 is provided with fovea superior cavity 22, is provided with what is be recessed upwards at the roof center of fovea superior cavity 22
Ball recess 23, the top of transparent bodies 21 is provided with recessed reflection recess 24, the inwall of reflection recess 24
For surface of revolution, the bus of surface of revolution is parabola y, parabola y focus and the ball of ball recess 23
The heart is overlapped, and signal source 3 is provided with fovea superior cavity 22, and signal source 3 is located at the centre of sphere of ball recess 23.It is transparent
The top of body 21 is provided with cover body 25, and one can make surface of revolution realize total reflection, nearly defends signal and near
Gone out apart from the whole horizontal reflections of targeting signal, two can prevent dust, debris from entering reflection recess 24.
And the said structure that secondary signal transmitter 102 is used, it is possible to achieve 360 degree of transmission signals, therefore docking
Station also be adapted for installed in room center or other lean on wall position.
In the present embodiment, docking signal, closely defend signal, closely targeting signal, left side are oriented to letter at a distance
Number, the remote targeting signal in right side use infrared signal, in addition, equally may be used using ultrasonic signal
OK.
Embodiment two：
, can be with the Docking station progress pair in above-described embodiment present invention simultaneously provides a kind of sweeping robot 8
Connect, see Fig. 6 and Fig. 7, sweeping robot 8 includes housing 81 and the control system located at housing 81 and walking
Mechanism, control system is used to control sweeping robot 8 to work, and walking mechanism includes transfer and road wheel
82, road wheel 82 can also be substituted with crawler belt or set jointly with crawler belt.The clear of cleaning function can be realized
Sweep robot 8 commercially on sale, belong to prior art.In the present embodiment, the front end of housing 81
Provided with the first signal receiver 801 and secondary signal receiver 802, set at the left-hand end angle of the front end of housing 81
There is the 3rd signal receiver 803, the 4th signal receiver 804 be provided with the right-hand end angle of the front end of housing 81,
First signal receiver 801, secondary signal receiver 802, the 3rd signal receiver 803 and the 4th signal connect
Receive device 804 and all signals for receiving Docking station transmitting are connected and be used for control system.
Closely signal, the knot of secondary signal receiver 802 are defended in order to which sweeping robot 8 comprehensive can be received
Structure is identical with the structure of secondary signal transmitter 102, the lower end of the transparent bodies of secondary signal receiver 802
It is connected with housing 81, the outer circumference surface of the transparent bodies of secondary signal receiver 802 exposes housing 81, second
Receiving terminal is provided with the fovea superior cavity of signal receiver 802, receiving terminal is located at the centre of sphere of ball recess.With this
Meanwhile, secondary signal receiver 802 comprehensive can also receive closely targeting signal, facilitate scavenging machine
Device people 8, can be continuously and stably while the arc border C1 walkings along closely guiding area S2
Receive the closely targeting signal that Docking station is sent.In addition, in order to ensure sweeping robot 8 is along closely
Guiding area S2 arc border C1 walkings, that is, the track route for ensuring sweeping robot 8 is arc, the
The receiving side signal of three signal receivers 803 is to tangential perpendicular with the direction of travel of walking mechanism, and the 4th
The receiving side signal of signal receiver 804 is to tangential perpendicular with the direction of travel of walking mechanism.3rd letter
Number signal receiver 804 of receiver 803 and the 4th can be with transposition.
Illustrate the control process that sweeping robot 8 is docked below.
If 1) sweeping robot 8 is in the remote guiding area L in left side and positioned at closely guiding area S2
Outside, the first original place of sweeping robot 8 respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, can
To judge orientation where Docking station, most strong direction straight line moving of the walking mechanism along signal is then driven, when
When reaching closely guiding area S2 left border, sweeping robot 8 can be along closely guiding area S2
Left border walk to the right, the 3rd signal receiver 803 is kept alignment Docking station, until being moved to pair
Meet region P；
If 2) sweeping robot 8 is in the remote guiding area R in right side and positioned at closely guiding area S2
Outside, the first original place of sweeping robot 8 respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, can
To judge orientation where Docking station, most strong direction straight line moving of the walking mechanism along signal is then driven, when
When reaching closely guiding area S2 right side boundary, sweeping robot 8 can be along closely guiding area S2
Right side boundary walk to the left, the 4th signal receiver 804 is kept alignment Docking station, until being moved to pair
Meet region P；
If 3) sweeping robot 8 is in the remote guiding area L in left side and positioned at closely guiding area S2
Within, the first original place of sweeping robot 8 respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, can
To judge orientation where Docking station, opposite direction straight line of the walking mechanism along the most strong direction of signal is then driven
Walking, when reaching closely guiding area S2 left border, the meeting of sweeping robot 8 edge is closely oriented to
Region S2 left border is walked to the right, the 3rd signal receiver 803 is kept alignment Docking station, Zhi Daoyi
Move to docking region P；
If 4) sweeping robot 8 is in the remote guiding area L in left side and positioned at closely guiding area S2
Within, the first original place of sweeping robot 8 respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, can
To judge orientation where Docking station, opposite direction straight line of the walking mechanism along the most strong direction of signal is then driven
Walking, when reaching closely guiding area S2 right side boundary, the meeting of sweeping robot 8 edge is closely oriented to
Region S2 right side boundary is walked to the left, the 4th signal receiver 804 is kept alignment Docking station, Zhi Daoyi
Move to docking region P；
5) the arc border walking when sweeping robot 8 along closely guiding area S2 enters docking region P
Afterwards, sweeping robot 8 can be docked towards the direction walking of signal with Docking station；
If 6) sweeping robot 8 is within docking region P, the first original place of sweeping robot 8 is to the left and to the right
Each 180 ° of rotation, determines the most strong direction of signal, if sweeping robot 8 only receives docking signal and low coverage
From targeting signal, then it can be docked along the direction walking of docking signal with Docking station；If sweeping robot 8
Docking signal, the remote targeting signal of the remote targeting signal in left side and right side are received simultaneously, then along docking letter
Number direction walking, until only receiving docking signal and closely targeting signal, walk on can with it is right
Go to the station to meet somebody docking；If sweeping robot 8 receives docking signal and the remote targeting signal in left side simultaneously, do not have
The remote targeting signal in right side is received, then illustrates that the route of sweeping robot 8 deviates, now sweeping robot 8
Move right, letter is oriented at a distance until receiving docking signal, the remote targeting signal in left side and right side simultaneously
Number, then along the direction walking of docking signal, until only receiving docking signal and closely targeting signal,
Walking on can dock with Docking station；If sweeping robot 8 receives docking signal and right side long distance simultaneously
From targeting signal, the remote targeting signal in left side is not received, then illustrates that the route of sweeping robot 8 deviates,
Now sweeping robot 8 is moved to the left, until simultaneously receive docking signal, the remote targeting signal in left side and
The remote targeting signal in right side, then along docking signal direction walking, until only receive docking signal and
Closely targeting signal, walking on can dock with Docking station；
If 7) sweeping robot 8 be in the remote guiding area L in the left side and remote guiding area R in right side it
Outside, or for some reason fail to receive the remote targeting signal in left side or the remote targeting signal in right side,
Then the first original place of sweeping robot 8 to the left and each 180 ° of rotation to the right, if not receiving any signal, along current
Direction advance certain distance S, continues search for signal while walking, appoints if still not received after walking in place
What signal, then continue, along front direction forward travel distance S is worked as, so to repeat after n times, apart from S and number of repetition N
Can be by setting, such as S is set as 30cm or 50cm, N is set to 6 or 8 or 10 etc., if not yet
Signal is received, then is advanced up to always along when front direction untill encountering barrier, subsequently into welt walking mould
Formula, so can quickly find the Docking station positioned at foundation, if into the remote guiding area L in left side,
According to 1) description process walking, finally docked with Docking station, if into the remote guiding area R in right side,
According to 2) description process walking, finally docked with Docking station.
In addition to above preferred embodiment, the present invention also has other embodiments, and those skilled in the art can be with
It is variously modified and is deformed according to the present invention, without departing from the spirit of the present invention, the present invention all should be belonged to
Scope as defined in the claims.
Claims (9)
1. a kind of Docking station for being used to dock sweeping robot, including matrix and the first signal located at matrix
Transmitter, secondary signal transmitter, the 3rd signal projector and the 4th signal projector, it is characterised in that：
First signal projector be used in the first direction transmitting docking signal, docking signal covering region for pair
Region is connect, sweeping robot is walked along docking region towards the first signal projector；
Secondary signal transmitter, which is used for alternate emission, prevents sweeping robot from hitting Docking station in cleaning works
Nearly signal and the guiding sweeping robot defended enters the closely targeting signal for docking region, closely targeting signal
The region of covering is closely guiding area, and closely guiding area has arc border, and arc border has one
Part is located in docking region, and for guiding sweeping robot, arcuately border runs to docking area on arc border
Domain；
3rd signal projector is used to launch the remote targeting signal in left side, the remote targeting signal covering in left side
Region be the remote guiding area in left side, the 4th signal projector is used to launch the remote targeting signal in right side,
The region of the remote targeting signal covering in right side is the remote guiding area in right side, the remote guiding area in left side
The radius of the remote guiding area of radius and right side be all higher than the radius of closely guiding area.
2. Docking station according to claim 1, it is characterised in that：The remote guiding area in left side
Remote overlapping guiding area is overlapped to form with the remote guiding area in right side.
3. Docking station according to claim 1 or 2, it is characterised in that：The arc border is located at a left side
The part of the remote guiding area in side is left border, only detects the remote targeting signal in left side or simultaneously
Detect the remote targeting signal in left side and closely the sweeping robot of targeting signal towards left border row
Walk；The part that the arc border is located at the remote guiding area in right side is right side boundary, only detects right side
Remote targeting signal is detected simultaneously by the remote targeting signal in right side and the closely cleaning of targeting signal
Robot walks towards right side boundary.
4. Docking station according to claim 1 or 2, it is characterised in that：The docking signal, low coverage
It is infrared signal or ultrasound from targeting signal, the remote targeting signal in left side, the remote targeting signal in right side
Ripple signal.
5. Docking station according to claim 1 or 2, it is characterised in that：The secondary signal transmitter
Including transparent bodies, transparent bodies are cylinder, and the lower end of transparent bodies is fixed on the top of matrix, transparent
The outer circumference surface of body exposes matrix, and the lower end of transparent bodies is provided with fovea superior cavity, in the roof of fovea superior cavity
Center is provided with the ball recess being recessed upwards, and the top of transparent bodies is provided with recessed reflection recess, reflective concave
The inwall of groove is surface of revolution, and the bus of surface of revolution is parabola, parabolical focus and ball recess
The centre of sphere is overlapped, and signal source is provided with fovea superior cavity, and signal source is located at the centre of sphere of ball recess.
6. Docking station according to claim 5, it is characterised in that：The top of the transparent bodies is provided with
Cover body.
7. a kind of sweeping robot, is docked with any described Docking station of claim 1 to 6, including
Housing and the control system and walking mechanism located at housing, control system are used to control sweeping robot to work,
Walking mechanism includes transfer, it is characterised in that：The front end of the housing provided with the first signal receiver and
Secondary signal receiver, is provided with the 3rd signal receiver, in housing forward end at the left-hand end angle of housing forward end
Right-hand end angle is provided with the 4th signal receiver, the first signal receiver, secondary signal receiver, the 3rd signal
Receiver and the 4th signal receiver are connected and are used for all letters for receiving Docking station transmitting with control system
Number.
8. sweeping robot according to claim 7, it is characterised in that：3rd signal receiver
Receiving side signal to tangential perpendicular with the direction of travel of walking mechanism, the signal of the 4th signal receiver
Receive direction and walking mechanism direction of travel it is tangential perpendicular.
9. sweeping robot according to claim 7, it is characterised in that the sweeping robot with it is right
The walking process docked of going to the station to meet somebody is as follows：
If 1) sweeping robot is in the remote guiding area in left side and outside closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives most strong direction straight line moving of the walking mechanism along signal, when arrival low coverage
From guiding area left border when, sweeping robot can be along the left border of closely guiding area to right lateral
Walk, the 3rd signal receiver is kept alignment Docking station, until being moved to docking region；
If 2) sweeping robot is in the remote guiding area in right side and outside closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives most strong direction straight line moving of the walking mechanism along signal, when arrival low coverage
From guiding area right side boundary when, sweeping robot can be along the right side boundary of closely guiding area to left lateral
Walk, the 4th signal receiver is kept alignment Docking station, until being moved to docking region；
If 3) sweeping robot is in the remote guiding area in left side and within closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives opposite direction straight line moving of the walking mechanism along the most strong direction of signal, when
When reaching the closely left border of guiding area, left side of the sweeping robot meeting along closely guiding area
Boundary walks to the right, the 3rd signal receiver is kept alignment Docking station, until being moved to docking region；
If 4) sweeping robot is in the remote guiding area in left side and within closely guiding area,
Sweeping robot elder generation original place respectively rotates 180 ° to the left and to the right, determines the most strong direction of signal, it can be determined that go out
Orientation where Docking station, then drives opposite direction straight line moving of the walking mechanism along the most strong direction of signal, when
When reaching the closely right side boundary of guiding area, right edge of the sweeping robot meeting along closely guiding area
Boundary walks to the left, the 4th signal receiver is kept alignment Docking station, until being moved to docking region；
5) after the arc border walking when sweeping robot along closely guiding area enters docking region, clearly
The direction walking that robot is swept towards signal can be docked with Docking station；
If 6) sweeping robot is within docking region, sweeping robot elder generation original place respectively rotates to the left and to the right
180 °, the most strong direction of signal is determined, if sweeping robot only receives docking signal and is closely oriented to letter
Number, then it can be docked along the direction walking of docking signal with Docking station；If sweeping robot is received pair simultaneously
Signal, the remote targeting signal of the remote targeting signal in left side and right side are connect, then along the direction row of docking signal
Walk, until only receiving docking signal and closely targeting signal, walking on can dock with Docking station；
If sweeping robot receives docking signal and the remote targeting signal in left side simultaneously, right side long distance is not received
From targeting signal, then illustrate that sweeping robot route deviates, now sweeping robot moves right, Zhi Daotong
When receive docking signal, the remote targeting signal of the remote targeting signal in left side and right side, then along docking letter
Number direction walking, until only receiving docking signal and closely targeting signal, walk on can with it is right
Go to the station to meet somebody docking；If sweeping robot receives docking signal and the remote targeting signal in right side simultaneously, do not receive
To the remote targeting signal in left side, then illustrate that sweeping robot route deviates, now sweeping robot is to moving to left
It is dynamic, until receiving docking signal, the remote targeting signal of the remote targeting signal in left side and right side simultaneously, so
Afterwards along the direction walking of docking signal, until only receiving docking signal and closely targeting signal, continue to go
Walking can dock with Docking station；
7) if sweeping robot is in outside the remote guiding area of the remote guiding area in left side and right side, or
Person fails to receive the remote targeting signal in left side or the remote targeting signal in right side for some reason, then clearly
Sweep the first original place of robot and respectively rotate 180 ° to the left and to the right, if not receiving any signal, along when before front direction
Enter certain distance, signal is continued search for while walking, if still not receiving any signal after walking in place,
Then continuation is so repeated after n times along front direction forward travel distance is worked as, if not receiving signal yet, and edge is worked as always
Front direction is advanced up to untill encountering barrier, subsequently into welt walking mode, so can quickly be looked for
To the Docking station positioned at foundation, if into the remote guiding area in left side, according to 1) description process walking,
Finally docked with Docking station, if into the remote guiding area in right side, being walked according to 2) description process, most
Docked eventually with Docking station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610093316.9A CN107095622B (en) | 2016-02-19 | 2016-02-19 | A dock station and clean robot for docking clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610093316.9A CN107095622B (en) | 2016-02-19 | 2016-02-19 | A dock station and clean robot for docking clean robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107095622A true CN107095622A (en) | 2017-08-29 |
| CN107095622B CN107095622B (en) | 2023-01-03 |
Family
ID=59658714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610093316.9A Active CN107095622B (en) | 2016-02-19 | 2016-02-19 | A dock station and clean robot for docking clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107095622B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108037759A (en) * | 2017-12-05 | 2018-05-15 | 福玛特机器人科技股份有限公司 | Sweeping robot recharges system and recharges paths planning method |
| CN108427422A (en) * | 2018-04-28 | 2018-08-21 | 湖南超能机器人技术有限公司 | The motion control method that robot charging system, robot are docked with charging pile |
| CN108490934A (en) * | 2018-03-14 | 2018-09-04 | 湖南超能机器人技术有限公司 | Control method immediately ahead of robot charging system and robot motion to charging pile |
| CN109758042A (en) * | 2019-01-31 | 2019-05-17 | 莱克电气股份有限公司 | Clean robot is guided to return cradle method, storage medium, electronic equipment |
| CN111630465A (en) * | 2017-11-22 | 2020-09-04 | 轨迹机器人公司 | Docking positioning of robot charger |
| CN112198879A (en) * | 2020-10-09 | 2021-01-08 | 小狗电器互联网科技（北京）股份有限公司 | Robot positioning return method, system, device, computer and storage medium |
| CN112748724A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Control method after receiving charging seat guardrail signal, chip and robot |
| CN113272753A (en) * | 2019-01-08 | 2021-08-17 | 胡斯华纳有限公司 | Robot tool, method of navigating and defining a work area of a robot tool |
| CN114052565A (en) * | 2021-11-01 | 2022-02-18 | 深圳市云鼠科技开发有限公司 | Cleaning robot charging and docking method and device and cleaning device |
| CN114762579A (en) * | 2021-01-11 | 2022-07-19 | 宁波方太厨具有限公司 | Cleaning robot return base station control method and system |
| WO2022166341A1 (en) * | 2021-02-08 | 2022-08-11 | 美智纵横科技有限责任公司 | Base station and cleaning robot system |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050156562A1 (en) * | 2004-01-21 | 2005-07-21 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| KR100769910B1 (en) * | 2006-09-11 | 2007-10-24 | 엘지전자 주식회사 | Moving robot and operating method for same |
| CN201469183U (en) * | 2009-06-25 | 2010-05-19 | 泰怡凯电器(苏州)有限公司 | Ground processing system |
| CN101972129A (en) * | 2009-06-19 | 2011-02-16 | 三星电子株式会社 | Cleaning robot guidance system including a cleaning robot and a docking station and method of controlling the cleaning robot |
| CN202821217U (en) * | 2012-10-09 | 2013-03-27 | 上海锍铧机电设备有限公司 | Sweeper capable of automatically charging under guide of pilot signals |
| US20130261867A1 (en) * | 2012-03-30 | 2013-10-03 | Scott Thomas Burnett | System and method for implementing force field deterrent for robot |
| CN103576678A (en) * | 2012-07-20 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Automatic return system and method for controlling automatic walking equipment to return to stopping station |
| CN103948354A (en) * | 2014-05-05 | 2014-07-30 | 苏州爱普电器有限公司 | Ground cleaning robot and control method thereof |
| CN205612410U (en) * | 2016-02-19 | 2016-10-05 | 松下家电研究开发（杭州）有限公司 | A to going to station to meet somebody and clean machine people for docking machine people cleans |
-
2016
- 2016-02-19 CN CN201610093316.9A patent/CN107095622B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050156562A1 (en) * | 2004-01-21 | 2005-07-21 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| KR100769910B1 (en) * | 2006-09-11 | 2007-10-24 | 엘지전자 주식회사 | Moving robot and operating method for same |
| CN101972129A (en) * | 2009-06-19 | 2011-02-16 | 三星电子株式会社 | Cleaning robot guidance system including a cleaning robot and a docking station and method of controlling the cleaning robot |
| CN201469183U (en) * | 2009-06-25 | 2010-05-19 | 泰怡凯电器(苏州)有限公司 | Ground processing system |
| US20130261867A1 (en) * | 2012-03-30 | 2013-10-03 | Scott Thomas Burnett | System and method for implementing force field deterrent for robot |
| CN103576678A (en) * | 2012-07-20 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Automatic return system and method for controlling automatic walking equipment to return to stopping station |
| CN202821217U (en) * | 2012-10-09 | 2013-03-27 | 上海锍铧机电设备有限公司 | Sweeper capable of automatically charging under guide of pilot signals |
| CN103948354A (en) * | 2014-05-05 | 2014-07-30 | 苏州爱普电器有限公司 | Ground cleaning robot and control method thereof |
| CN205612410U (en) * | 2016-02-19 | 2016-10-05 | 松下家电研究开发（杭州）有限公司 | A to going to station to meet somebody and clean machine people for docking machine people cleans |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111630465A (en) * | 2017-11-22 | 2020-09-04 | 轨迹机器人公司 | Docking positioning of robot charger |
| CN108037759A (en) * | 2017-12-05 | 2018-05-15 | 福玛特机器人科技股份有限公司 | Sweeping robot recharges system and recharges paths planning method |
| CN108490934A (en) * | 2018-03-14 | 2018-09-04 | 湖南超能机器人技术有限公司 | Control method immediately ahead of robot charging system and robot motion to charging pile |
| CN108427422A (en) * | 2018-04-28 | 2018-08-21 | 湖南超能机器人技术有限公司 | The motion control method that robot charging system, robot are docked with charging pile |
| CN113272753A (en) * | 2019-01-08 | 2021-08-17 | 胡斯华纳有限公司 | Robot tool, method of navigating and defining a work area of a robot tool |
| CN109758042A (en) * | 2019-01-31 | 2019-05-17 | 莱克电气股份有限公司 | Clean robot is guided to return cradle method, storage medium, electronic equipment |
| CN109758042B (en) * | 2019-01-31 | 2021-10-22 | 莱克电气股份有限公司 | Method for guiding cleaning robot to return to charging seat, storage medium and electronic equipment |
| CN112748724A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Control method after receiving charging seat guardrail signal, chip and robot |
| CN112198879A (en) * | 2020-10-09 | 2021-01-08 | 小狗电器互联网科技（北京）股份有限公司 | Robot positioning return method, system, device, computer and storage medium |
| CN114762579A (en) * | 2021-01-11 | 2022-07-19 | 宁波方太厨具有限公司 | Cleaning robot return base station control method and system |
| CN114762579B (en) * | 2021-01-11 | 2023-07-25 | 宁波方太厨具有限公司 | Control method and system for cleaning robot to return to base station |
| WO2022166341A1 (en) * | 2021-02-08 | 2022-08-11 | 美智纵横科技有限责任公司 | Base station and cleaning robot system |
| CN114052565A (en) * | 2021-11-01 | 2022-02-18 | 深圳市云鼠科技开发有限公司 | Cleaning robot charging and docking method and device and cleaning device |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107095622B (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107095622A (en) | A kind of Docking station and sweeping robot for being used to dock sweeping robot | |
| CN103948354B (en) | A kind of robot for cleaning floor and control method thereof | |
| CN105223951B (en) | Self-movement robot | |
| CN106264358B (en) | Intelligent recharging method of intelligent recharging system | |
| CN105361817A (en) | Automatic docking system of robot | |
| CN103649862B (en) | Self-propelled floor cleaning apparatus | |
| CN101714000B (en) | Route planning method of automatic dust collector | |
| US20180000300A1 (en) | Robot cleaner | |
| CN100355385C (en) | Robot cleaner and method of control thereof | |
| CN201469183U (en) | Ground processing system | |
| JP5642814B2 (en) | Autonomous coverage robot navigation system | |
| CN103576678A (en) | Automatic return system and method for controlling automatic walking equipment to return to stopping station | |
| CN103941307B (en) | A kind of clean robot and the method for controlling its avoiding obstacles | |
| CN103941306B (en) | Cleaning robot and method for controlling same to avoid obstacle | |
| JP5255448B2 (en) | Autonomous coverage robot navigation system | |
| CN205612410U (en) | A to going to station to meet somebody and clean machine people for docking machine people cleans | |
| TWI597038B (en) | Cleaning robot and charging system | |
| CN105511473A (en) | Robot charging base and method for guiding robot to return and be chargedto charging | |
| CN103941735A (en) | Floor cleaning robot and method for controlling robot to avoid obstacle | |
| US20130098401A1 (en) | Robot cleaner and control method for the same | |
| CN100999078A (en) | Automatic charging method of robot and its automatic charging device | |
| CN101375781A (en) | Ground processing system and method for contacting joint of ground processing equipment and charging stand | |
| WO2020087699A1 (en) | Path sweeping method and system for cleaning robot, and chip | |
| CN102981148A (en) | Positioning system and method thereof | |
| CN206434287U (en) | Sweeper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210428 Address after: 310018 No.2, Songqiao street, Hangzhou Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Applicant after: PANASONIC HOME APPLIANCES (CHINA) Co.,Ltd. Address before: Sonjo economic and Technological Development Zone Hangzhou city Zhejiang province 310018 Street No. 6 Building 3 -A Applicant before: PANASONIC HOME APPLIANCES R&D CENTER (HANGZHOU) Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |