CN107095622B - A dock station and clean robot for docking clean robot - Google Patents
A dock station and clean robot for docking clean robot Download PDFInfo
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- CN107095622B CN107095622B CN201610093316.9A CN201610093316A CN107095622B CN 107095622 B CN107095622 B CN 107095622B CN 201610093316 A CN201610093316 A CN 201610093316A CN 107095622 B CN107095622 B CN 107095622B
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- 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
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- 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
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- 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 docking station for docking a cleaning robot, which belongs to the field of cleaning appliances and solves the problem that the cleaning robot cannot be docked due to the existence of a signal-free area in front of the docking station in the prior art. The invention is mainly used for the butt joint charging or unloading of garbage of the cleaning robot. In addition, the invention also provides a cleaning robot which is in butt joint with the docking station.
Description
Technical Field
The invention relates to a cleaning appliance, in particular to a docking station for docking a cleaning robot and the cleaning robot docked with the docking station.
Background
The cleaning robot can move in a predetermined range area without the operation of a user, and performs cleaning operation while moving, such as sucking dust, paper dust, and the like on a floor, and when the cleaning robot has insufficient power or the cleaning robot has enough accumulated garbage, or when the user uses a remote controller to give an instruction to dock the cleaning robot, the cleaning robot moves to a docking station to dock the cleaning robot for charging or unloading the garbage. Therefore, how to control the cleaning robot to be accurately docked with the docking station is a problem to be effectively solved.
In the prior art, the docking station uses three transmitting units to transmit the docking guide signal, the first transmitting unit transmits the first docking guide signal to the first direction, the second transmitting unit transmits the second docking guide signal to the second direction, and the third transmitting unit transmits the third docking guide signal to the front side of the docking station, as shown in fig. 1, the first docking guide area includes a first short-distance docking guide area (L area) and a first long-distance docking guide area (W1 area), the second docking guide area includes a second short-distance docking guide area (R area) and a second long-distance docking guide area (W2 area), the first docking guide area and the second docking guide area do not overlap each other, and an area without signal is formed therebetween, the third transmitting unit transmits the third docking guide signal to the area without signal to form the docking area (P area), when the cleaning robot enters the docking area (P), the cleaning robot linearly travels along the docking area (P), and when the cleaning robot is not located in the docking area (P), the cleaning robot is guided to linearly travel along the docking area (R area) and the docking area, for example, the docking area and the long-distance docking guide area (W2 area and the docking area of the docking station and the docking station are guided along the L and the docking area (R2 area, and the docking area. Because the signal receiving direction of the cleaning robot is not perpendicular to the walking direction, the cleaning robot has no way to ensure that the cleaning robot walks along the boundary of the short-distance docking guide area and the long-distance docking guide area, when the cleaning robot receives a signal, the cleaning robot walks along the current direction, because the signal receiving direction is not perpendicular to the walking direction, the cleaning robot can walk outside (or inside) the boundary line of the short-distance docking guide area and the long-distance docking guide area, if the boundary line is outside (far away from the docking station), the cleaning robot only receives the signal of the long-distance docking guide area at the moment, the direction of the cleaning robot needs to be readjusted and the cleaning robot advances towards the docking station, and when the signal of the short-distance docking guide area is received, the cleaning robot needs to readjust the direction and walks along the boundary of the short-distance docking guide area and the long-distance docking guide area; the above processes are repeated until the butt joint area is entered, so that the walking track of the cleaning robot is similar to a saw-tooth shape. And because a no-signal area exists between the first docking guide area and the second docking guide area, if a plurality of no-signal areas exist, the cleaning robot cannot judge whether the no-signal areas are the no-signal areas between the first docking guide area and the second docking guide area, which may cause the walking time of the cleaning robot before docking to be prolonged and affect the docking efficiency.
Disclosure of Invention
The invention aims to provide a docking station for a docking cleaning robot, which improves the docking efficiency of the cleaning robot.
In order to achieve the purpose, the invention adopts the following technical scheme: a docking station for a docking cleaning robot comprises a base body, a first signal emitter, a second signal emitter, a third signal emitter and a fourth signal emitter, wherein the first signal emitter, the second signal emitter, the third signal emitter and the fourth signal emitter are arranged on the base body;
the first signal emitter is used for emitting a butt joint signal along a first direction, the area covered by the butt joint signal is a butt joint area, and the cleaning robot walks towards the first signal emitter along the butt joint area;
the second signal emitter is used for alternately emitting a close-distance guard signal for preventing the cleaning robot from impacting the docking station in the cleaning work and a close-distance guide signal for guiding the cleaning robot to enter the docking area, the area covered by the close-distance guide signal is a close-distance guide area, the close-distance guide area is provided with an arc boundary, one part of the arc boundary is positioned in the docking area, and the arc boundary is used for guiding the cleaning robot to walk to the docking area along the arc boundary;
the third signal transmitter is used for transmitting a left remote guide signal, the area covered by the left remote guide signal is a left remote guide area, the fourth signal transmitter is used for transmitting a right remote guide signal, the area covered by the right remote guide signal is a right remote guide area, and the radius of the left remote guide area and the radius of the right remote guide area are both larger than the radius of the close guide area.
Preferably, the left remote guidance area and the right remote guidance area overlap to form a remote overlapping guidance area. The docking area and the overlapping guide area are overlapped, so that a signal-free area can be avoided in an area outside the docking area, and the cleaning robot can receive signals of the docking station in a working range.
In a further preferred embodiment, the part of the arc boundary located in the left long-distance guidance area is a left boundary, and the cleaning robot which detects only the left long-distance guidance signal or simultaneously detects the left long-distance guidance signal and the short-distance guidance signal travels towards the left boundary; the part of the arc-shaped boundary, which is positioned in the right remote guide area, is a right boundary, and the cleaning robot which only detects the right remote guide signal or simultaneously detects the right remote guide signal and the close guide signal walks towards the right boundary.
In a further preferred embodiment, the docking signal, the short-distance guiding signal, the left long-distance guiding signal, and the right long-distance guiding signal are infrared signals or ultrasonic signals.
According to a further preferred scheme, the second signal emitter comprises a transparent body, the transparent body is cylindrical, the lower end of the transparent body is fixed to the top of the base body, the outer circumferential surface of the transparent body is exposed out of the base body, an upper concave cavity is formed in the lower end of the transparent body, an upward concave spherical groove is formed in the center of the top wall of the upper concave cavity, a concave reflecting groove is formed in the top of the transparent body, the inner wall of the reflecting groove is a revolution surface, the generatrix of the revolution surface is a parabola, the focus of the parabola is overlapped with the sphere center of the spherical groove, a signal source is arranged in the upper concave cavity, and the signal source is located in the sphere center of the spherical groove.
In a further preferred scheme, a cover body is arranged at the top of the transparent body.
In addition, the invention also provides a cleaning robot, which is in butt joint with the docking station in any technical scheme and comprises a shell, a control system and a traveling mechanism, wherein the control system and the traveling mechanism are arranged on the shell, the control system is used for controlling the cleaning robot to work, the traveling mechanism comprises a steering device, a first signal receiver and a second signal receiver are arranged at the front end of the shell, a third signal receiver is arranged at the left end angle of the front end of the shell, a fourth signal receiver is arranged at the right end angle of the front end of the shell, and the first signal receiver, the second signal receiver, the third signal receiver and the fourth signal receiver are all connected with the control system and used for receiving all signals transmitted by the docking station.
Preferably, the signal receiving direction of the third signal receiver is perpendicular to the tangential direction of the traveling mechanism, and the signal receiving direction of the fourth signal receiver is perpendicular to the tangential direction of the traveling mechanism.
Preferably, the walking process of the cleaning robot in docking with the docking station is as follows:
1) If the cleaning robot is located in the left long-distance guide area and outside the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to travel linearly along the strongest direction of the signal, when the cleaning robot reaches the left boundary of the short-distance guide area, the cleaning robot can travel rightwards along the left boundary of the short-distance guide area, and the third signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
2) If the cleaning robot is located in the right long-distance guide area and outside the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to travel linearly along the strongest direction of the signal, when the cleaning robot reaches the right boundary of the short-distance guide area, the cleaning robot can travel leftwards along the right boundary of the short-distance guide area, and the fourth signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
3) If the cleaning robot is located in the left long-distance guide area and the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to linearly travel along the direction opposite to the strongest direction of the signal, when the cleaning robot reaches the left boundary of the short-distance guide area, the cleaning robot travels rightwards along the left boundary of the short-distance guide area, and the third signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
4) If the cleaning robot is located in the left long-distance guide area and the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to linearly travel along the direction opposite to the strongest direction of the signal, when the right side boundary of the short-distance guide area is reached, the cleaning robot travels leftwards along the right side boundary of the short-distance guide area, and the fourth signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
5) When the cleaning robot walks along the arc-shaped boundary of the close-distance guide area and enters the docking area, the cleaning robot walks towards the direction of the docking signal and can be docked with the docking station;
6) If the cleaning robot is in the docking area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ to determine the strongest direction of the signals, and if the cleaning robot only receives the docking signals and the close-range guiding signals, the cleaning robot can dock with the docking station by walking along the direction of the docking signals; if the cleaning robot receives the docking signal, the left remote guide signal and the right remote guide signal at the same time, the cleaning robot walks along the direction of the docking signal until only the docking signal and the short distance guide signal are received, and the cleaning robot can dock with the docking station after walking continuously; if the cleaning robot receives the docking signal and the left remote guide signal at the same time and does not receive the right remote guide signal, the cleaning robot indicates that the path of the cleaning robot deviates, and moves rightwards at the moment until the docking signal, the left remote guide signal and the right remote guide signal are received at the same time, then the cleaning robot walks along the direction of the docking signal until only the docking signal and the short distance guide signal are received, and the cleaning robot can dock with the docking station after walking continuously; if the cleaning robot receives the docking signal and the right remote guide signal at the same time and does not receive the left remote guide signal, the cleaning robot indicates that the path of the cleaning robot deviates, and moves leftwards at the moment until the cleaning robot receives the docking signal, the left remote guide signal and the right remote guide signal at the same time, then walks along the direction of the docking signal until only the docking signal and the short distance guide signal are received, and can dock with the docking station after walking continuously;
7) If the cleaning robot is outside the left remote guide area and the right remote guide area, or the left remote guide signal or the right remote guide signal cannot be received for some reasons, the cleaning robot rotates 180 degrees leftwards and rightwards respectively in situ, if no signal is received, the cleaning robot advances for a certain distance along the current direction, the cleaning robot continues to search for the signal while walking, if no signal is received after the cleaning robot is in place, the cleaning robot continues to advance for the distance along the current direction, the cleaning robot repeats the process for N times, if no signal is received, the cleaning robot continues to advance along the current direction until an obstacle is touched, then the cleaning robot enters a welt walking mode, so that the cleaning robot can find the docking station positioned at the wall foot more quickly, if the cleaning robot enters the left remote guide area, the cleaning robot walks according to the process described in 1) and finally docks with the docking station, and if the cleaning robot enters the right remote guide area, the cleaning robot walks according to the process described in 2) and finally docks with the docking station.
After the technical scheme is adopted, the invention has the following advantages: the second signal emitter is utilized to alternately emit the near guard signal and the near guide signal at the same time, the number of the signal emitters can be reduced, the coverage area emitting the near guide signal can be formed into an arc boundary at the same time, the cleaning robot can walk along the arc boundary of the near guide signal area, the cleaning robot can continuously and stably receive the near guide signal emitted by the docking station in the walking process, the cleaning robot can be ensured to walk along the arc boundary in turn, the cleaning robot can receive the left remote guide signal or the right remote guide signal and can judge the left side or the right side of the docking station at the moment, the cleaning robot can walk to the arc boundary at the nearest position and then walk along the arc boundary to enter the docking signal area to be finally docked with the docking station, in addition, the cleaning robot can always receive the signal emitted by the docking station, the condition that the cleaning robot searches for the signal cannot occur, therefore, the time interval from the receiving of the docking instruction by the cleaning robot to the docking station is reduced, and the docking efficiency of the cleaning robot is greatly improved.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a signal transmission coverage area of a docking station in the prior art;
FIG. 2 is a schematic structural diagram of a docking station according to one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a coverage area of a signal transmitted by a docking station according to an embodiment of the present invention;
FIG. 4 is an enlarged view of the invention at I in FIG. 3;
fig. 5 is a schematic structural diagram of a second signal transmitter according to a first embodiment of the present invention;
fig. 6 is a schematic structural view (left side) of a cleaning robot according to a second embodiment of the present invention;
fig. 7 is a schematic structural view (right side) of a cleaning robot according to a second embodiment of the present invention.
Detailed Description
The first embodiment is as follows:
the invention firstly provides a docking station for docking a cleaning robot, as shown in fig. 2, comprising a base body 1, wherein the base body 1 is fixed on a basement, the front end of the base body 1 is provided with a docking platform 11 extending forwards, and the cleaning robot can walk on the docking platform 11 when in docking. A first signal emitter 101, a second signal emitter 102, a third signal emitter 103 and a fourth signal emitter 104 are provided on the base body 1, as seen in connection with fig. 3, wherein:
the first signal emitter 101 is located in the middle of the front end face of the base body 1 and used for emitting a docking signal along the front of the docking station, an area covered by the docking signal is a docking area P, and the cleaning robot walks along the docking area P and finally docks with the docking station;
the second signal transmitter 102 is located in the middle of the top surface of the base 1 and is used for alternately transmitting a close guard signal for preventing the cleaning robot from impacting a docking station in cleaning work and a close-distance guide signal for guiding the cleaning robot to enter a docking area P, the area covered by the close guard signal is a close guard area, the area covered by the close-distance guide signal is a close-distance guide area, the close guard area S1 and the close-distance guide area S2 are semicircular, and the coverage radius of the close guard area S1 is smaller than that of the close-distance guide area S2; the second signal transmitter 102 alternately transmits the close guard signal and the close range guide signal at a higher frequency, so that the cleaning robot can continuously receive the close guard signal and the close range guide signal. Because the close guarding area S1 is semicircular, the close distance guiding area S2 formed by utilizing the close distance guiding signal sent by the second signal transmitter 102 is also semicircular, so that an arc-shaped boundary C1 is formed in the close distance guiding area S2, the arc-shaped boundary C1 is used for guiding the cleaning robot to walk to the docking area P along the arc-shaped boundary C1, and the cleaning robot can continuously and stably receive the close distance guiding signal sent by the docking station in the walking process;
the third signal emitter 103 is positioned on the front end face of the base body 1, is positioned on the left side of the first signal emitter 101, and is used for emitting a left long-distance guiding signal, and the area covered by the left long-distance guiding signal is a left long-distance guiding area L; the fourth signal transmitter 104 is located on the front end face of the base body 1 and on the right side of the first signal transmitter 101, and is used for transmitting a right remote guidance signal, and the area covered by the right remote guidance signal is a right remote guidance area R. The coverage radius of the left and right remote guide areas L and R is larger than that of the close guide area S2, and in the present embodiment, the left and right remote guide areas L and R are overlapped directly in front of the docking station to form an overlapped guide area W. The left remote guidance area L and the right remote guidance area R can substantially cover the area of the room to be cleaned by the cleaning robot.
The part of the arc boundary, which is positioned in the left long-distance guide area, is a left boundary, and the cleaning robot which only detects the left long-distance guide signal or simultaneously detects the left long-distance guide signal and the short-distance guide signal walks towards the left boundary; the part of the arc-shaped boundary, which is located in the right long-distance guide area, is a right boundary, and the cleaning robot which only detects the right long-distance guide signal or simultaneously detects the right long-distance guide signal and the short-distance guide signal walks towards the right boundary, wherein the specific walking process is shown in the second embodiment.
Since there is a certain distance between the installation positions of the third signal transmitter 103 and the fourth signal transmitter 104, as shown in fig. 4, in the position in front of the docking station, the left remote guidance area L and the right remote guidance area R cannot overlap, and only the docking signal, the close guidance signal, and the close guidance signal can cover this area (hatched portion) between the right boundary m of the left remote guidance area L and the left boundary n of the right remote guidance area R.
The left and right directions in the present invention are referred to as the left and right sides when the cleaning robot is facing the docking signal, and therefore, the left and right directions in fig. 3 are left and right. The third signal emitter 103 and the fourth signal emitter 104 may be interchanged in position.
In this embodiment, since the base 1 is fixed to a basement, only the near guard area S1 and the short distance guide area S2 need to be semicircular, and in order to realize that the near guard area S1 and the short distance guide area S2 are both semicircular, as shown in fig. 5, the second signal transmitter 102 includes a transparent body 21, the transparent body 21 is cylindrical, a lower end of the transparent body 21 is fixed to the top of the base 1, an outer circumferential surface of the transparent body 21 is exposed out of the base 1, an upper concave cavity 22 is formed at a lower end of the transparent body 21, an upward concave spherical groove 23 is formed in the center of the top wall of the upper concave cavity 22, a downward concave reflection groove 24 is formed at the top of the transparent body 21, an inner wall of the reflection groove 24 is a revolution curved surface, a generatrix of the revolution curved surface is a parabola y, a focus of the parabola y coincides with a spherical center of the spherical groove 23, a signal source 3 is arranged in the upper concave cavity 22, and the signal source 3 is located at the center of the spherical groove 23. The top of the transparent body 21 is provided with a cover 25, so that the revolution surface can realize total reflection, the near distance signal and the near distance guide signal can be reflected out horizontally, and dust and impurities can be prevented from entering the reflection groove 24. The second signal transmitter 102 may be configured to transmit signals 360 degrees, so that the docking station is also suitable for being installed in a central location of a room or other locations not close to a wall.
In this embodiment, the docking signal, the near guard signal, the near guidance signal, the left long guidance signal, and the right long guidance signal are infrared signals, but ultrasonic signals are also applicable.
Example two:
the invention also provides a cleaning robot 8 which can be docked with the docking station in the above embodiment, as shown in fig. 6 and 7, the cleaning robot 8 comprises a housing 81, and a control system and a traveling mechanism which are arranged on the housing 81, the control system is used for controlling the cleaning robot 8 to work, the traveling mechanism comprises a steering device and traveling wheels 82, and the traveling wheels 82 can also be replaced by crawler belts or arranged together with the crawler belts. A cleaning robot 8 capable of realizing a cleaning function is already commercially available and belongs to the prior art. In this embodiment, the front end of the housing 81 is provided with a first signal receiver 801 and a second signal receiver 802, the left end corner of the front end of the housing 81 is provided with a third signal receiver 803, the right end corner of the front end of the housing 81 is provided with a fourth signal receiver 804, and the first signal receiver 801, the second signal receiver 802, the third signal receiver 803 and the fourth signal receiver 804 are all connected with the control system and used for receiving all signals transmitted by the docking station.
In order to enable the cleaning robot 8 to receive a near-guard signal in all directions, the structure of the second signal receiver 802 is the same as that of the second signal emitter 102, the lower end of the transparent body of the second signal receiver 802 is connected with the shell 81, the outer circumferential surface of the transparent body of the second signal receiver 802 is exposed out of the shell 81, and a receiving end is arranged in an upper concave cavity of the second signal receiver 802 and located in the center of a spherical groove. Meanwhile, the second signal receiver 802 can also receive the close-range guiding signal in an all-around manner, so that the cleaning robot 8 can conveniently and stably receive the close-range guiding signal sent by the docking station while walking along the arc-shaped boundary C1 of the close-range guiding area S2. In order to ensure that the cleaning robot 8 travels along the arc-shaped boundary C1 of the short-distance guide area S2, that is, to ensure that the travel path of the cleaning robot 8 is in an arc shape, the signal receiving direction of the third signal receiver 803 is perpendicular to the tangential direction of the travel mechanism, and the signal receiving direction of the fourth signal receiver 804 is perpendicular to the tangential direction of the travel mechanism. The third signal receiver 803 and the fourth signal receiver 804 may be interchanged in position.
Next, a control process of docking the cleaning robot 8 will be described.
1) If the cleaning robot 8 is located in the left long-distance guide area L and outside the short-distance guide area S2, the cleaning robot 8 rotates 180 degrees left and right in situ, determines the strongest direction of the signal, can determine the position of the docking station, and then drives the traveling mechanism to travel linearly in the strongest direction of the signal, when the left boundary of the short-distance guide area S2 is reached, the cleaning robot 8 travels rightward along the left boundary of the short-distance guide area S2, so that the third signal receiver 803 keeps aligned with the docking station until the cleaning robot moves to the docking area P;
2) If the cleaning robot 8 is located in the right long-distance guide area R and outside the short-distance guide area S2, the cleaning robot 8 rotates 180 degrees left and right in situ, determines the strongest direction of the signal, determines the position of the docking station, and then drives the traveling mechanism to travel linearly along the strongest direction of the signal, and when the right boundary of the short-distance guide area S2 is reached, the cleaning robot 8 travels left along the right boundary of the short-distance guide area S2, so that the fourth signal receiver 804 is kept aligned with the docking station until the cleaning robot moves to the docking area P;
3) If the cleaning robot 8 is located in the left long-distance guide area L and located in the short-distance guide area S2, the cleaning robot 8 rotates 180 degrees left and right in situ, determines the strongest direction of the signal, can determine the position of the docking station, and then drives the traveling mechanism to travel linearly in the direction opposite to the strongest direction of the signal, when the left boundary of the short-distance guide area S2 is reached, the cleaning robot 8 travels rightward along the left boundary of the short-distance guide area S2, so that the third signal receiver 803 is aligned with the docking station until the cleaning robot moves to the docking area P;
4) If the cleaning robot 8 is located in the left long-distance guide area L and located in the short-distance guide area S2, the cleaning robot 8 rotates 180 degrees left and right in situ, determines the strongest direction of the signal, can determine the position of the docking station, and then drives the traveling mechanism to travel linearly in the direction opposite to the strongest direction of the signal, when the right boundary of the short-distance guide area S2 is reached, the cleaning robot 8 travels leftwards along the right boundary of the short-distance guide area S2, so that the fourth signal receiver 804 is kept aligned with the docking station until the cleaning robot moves to the docking area P;
5) After the cleaning robot 8 travels along the arc-shaped boundary of the close-distance guide area S2 and enters the docking area P, the cleaning robot 8 travels towards the direction of the docking signal and can be docked with the docking station;
6) If the cleaning robot 8 is located in the docking area P, the cleaning robot 8 rotates 180 degrees left and right in situ, and determines the strongest direction of the signal, if the cleaning robot 8 only receives the docking signal and the close-range guiding signal, the cleaning robot can dock with the docking station by walking along the direction of the docking signal; if the cleaning robot 8 receives the docking signal, the left remote guide signal and the right remote guide signal at the same time, the cleaning robot walks in the direction of the docking signal until only the docking signal and the close guide signal are received, and the cleaning robot continues to walk to dock with the docking station; if the cleaning robot 8 receives the docking signal and the left remote guidance signal at the same time and does not receive the right remote guidance signal, it indicates that the path of the cleaning robot 8 deviates, at this time, the cleaning robot 8 moves rightward until the docking signal, the left remote guidance signal and the right remote guidance signal are received at the same time, then walks in the direction of the docking signal until only the docking signal and the short guidance signal are received, and can dock with the docking station by continuing to walk; if the cleaning robot 8 receives the docking signal and the right remote guide signal at the same time and does not receive the left remote guide signal, it indicates that the path of the cleaning robot 8 deviates, at this time, the cleaning robot 8 moves leftwards until receiving the docking signal, the left remote guide signal and the right remote guide signal at the same time, then walks in the direction of the docking signal until only the docking signal and the short distance guide signal are received, and can dock with the docking station after walking continuously;
7) If the cleaning robot 8 is outside the left remote guide area L and the right remote guide area R, or if the left remote guide signal or the right remote guide signal is not received for some reason, the cleaning robot 8 rotates 180 ° left and right, if no signal is received, it advances a certain distance S in the current direction, and continues to search for a signal while walking, if no signal is received after walking in place, it continues to advance the distance S in the current direction, and after repeating N times, the distance S and the number of repetitions N may be set by, for example, S is set to 30cm or 50cm, and N is set to 6 or 8 or 10, and if no signal is received, it continues to advance in the current direction until an obstacle is hit, and then it enters a close-up walking mode, so that a docking station located at a wall foot can be found more quickly, if it enters the left remote guide area L, it walks according to the description process of 1), and finally docks with the docking station, and if it enters the right remote guide area R, it describes the process according to 2), and finally docks with the docking station.
Other embodiments of the present invention than the preferred embodiments described above, and those skilled in the art can make various changes and modifications according to the present invention without departing from the spirit of the present invention, should fall within the scope of the present invention defined in the claims.
Claims (7)
1. The utility model provides a docking station for docking cleaning robot, includes the base member and locates first signal transmitter, second signal transmitter, third signal transmitter and the fourth signal transmitter of base member which characterized in that:
the first signal emitter is used for emitting a butt joint signal along a first direction, the area covered by the butt joint signal is a butt joint area, and the cleaning robot walks towards the first signal emitter along the butt joint area;
the second signal emitter is used for alternately emitting a close-distance guard signal for preventing the cleaning robot from impacting a docking station in cleaning work and a close-distance guide signal for guiding the cleaning robot to enter a docking area, the area covered by the close-distance guide signal is a close-distance guide area, the close-distance guide area is provided with an arc boundary, one part of the arc boundary is positioned in the docking area, the arc boundary is used for guiding the cleaning robot to walk to the docking area along the arc boundary, the area covered by the close-distance guard signal is a close-distance guard area, and the close-distance guard area S1 and the close-distance guide area S2 are both semicircular;
the third signal transmitter is used for transmitting a left remote guide signal, the area covered by the left remote guide signal is a left remote guide area, the fourth signal transmitter is used for transmitting a right remote guide signal, the area covered by the right remote guide signal is a right remote guide area, the radius of the left remote guide area and the radius of the right remote guide area are both larger than the radius of the short remote guide area, and the left remote guide area and the right remote guide area are overlapped to form a remote overlapped guide area.
2. The docking station of claim 1, wherein the portion of the arcuate boundary located in the left remote guidance zone is a left boundary, and the cleaning robot that detects only the left remote guidance signal or both the left remote guidance signal and the near guidance signal walks toward the left boundary; the part of the arc-shaped boundary, which is located in the right remote guidance area, is a right boundary, and the cleaning robot which only detects the right remote guidance signal or simultaneously detects the right remote guidance signal and the short guidance signal walks towards the right boundary.
3. The docking station of claim 1, wherein the docking signal, the close-range guided signal, the left-side far-range guided signal, and the right-side far-range guided signal are infrared signals or ultrasonic signals.
4. The docking station of claim 1, wherein the second signal emitter comprises a transparent body, the transparent body is cylindrical, the lower end of the transparent body is fixed on the top of the base, the outer circumferential surface of the transparent body is exposed out of the base, the lower end of the transparent body is provided with an upper concave cavity, the center of the top wall of the upper concave cavity is provided with an upward concave spherical groove, the top of the transparent body is provided with a lower concave reflecting groove, the inner wall of the reflecting groove is a revolution surface, the generatrix of the revolution surface is a parabola, the focus of the parabola is coincident with the spherical center of the spherical groove, the upper concave cavity is provided with a signal source, and the signal source is located at the spherical center of the spherical groove.
5. The docking station of claim 4, wherein the top of the transparent body is provided with a cover.
6. A cleaning robot, dock with the docking station of any of claims 1 to 5, including the casing and locate control system and running gear of the casing, control system is used for controlling cleaning robot work, the running gear includes steering device, characterized by: the front end of the shell is provided with a first signal receiver and a second signal receiver, a third signal receiver is arranged at the left end corner of the front end of the shell, a fourth signal receiver is arranged at the right end corner of the front end of the shell, the first signal receiver, the second signal receiver, the third signal receiver and the fourth signal receiver are all connected with a control system and used for receiving all signals transmitted by the docking station, and the walking process of the cleaning robot in docking with the docking station is as follows:
1) If the cleaning robot is located in the left long-distance guide area and outside the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to travel linearly along the strongest direction of the signal, when the cleaning robot reaches the left boundary of the short-distance guide area, the cleaning robot can travel rightwards along the left boundary of the short-distance guide area, and the third signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
2) If the cleaning robot is located in the right long-distance guide area and outside the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to travel linearly along the strongest direction of the signal, when the cleaning robot reaches the right boundary of the short-distance guide area, the cleaning robot can travel leftwards along the right boundary of the short-distance guide area, and the fourth signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
3) If the cleaning robot is located in the left long-distance guide area and the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to linearly travel along the direction opposite to the strongest direction of the signal, when the cleaning robot reaches the left boundary of the short-distance guide area, the cleaning robot travels rightwards along the left boundary of the short-distance guide area, and the third signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
4) If the cleaning robot is located in the right long-distance guide area and the short-distance guide area, the cleaning robot rotates 180 degrees leftwards and rightwards in situ, the strongest direction of the signal is determined, the position of the docking station can be judged, then the traveling mechanism is driven to linearly travel along the direction opposite to the strongest direction of the signal, when the right boundary of the short-distance guide area is reached, the cleaning robot travels leftwards along the right boundary of the short-distance guide area, and the fourth signal receiver is aligned with the docking station until the cleaning robot moves to the docking area;
5) When the cleaning robot walks along the arc-shaped boundary of the close-distance guide area to enter the docking area, the cleaning robot walks towards the direction of the docking signal and can be docked with the docking station;
6) If the cleaning robot is positioned in the docking area, the cleaning robot rotates 180 degrees to the left and right in situ, the strongest direction of the signal is determined, and if the cleaning robot only receives the docking signal and the close-range guiding signal, the cleaning robot can dock with the docking station by walking along the direction of the docking signal; if the cleaning robot receives the docking signal, the left remote guide signal and the right remote guide signal at the same time, the cleaning robot walks along the direction of the docking signal until only the docking signal and the close guide signal are received, and the cleaning robot can dock with the docking station by walking continuously; if the cleaning robot receives the docking signal and the left remote guide signal at the same time and does not receive the right remote guide signal, the cleaning robot indicates that the path of the cleaning robot deviates, and moves rightwards at the moment until the docking signal, the left remote guide signal and the right remote guide signal are received at the same time, then the cleaning robot walks along the direction of the docking signal until only the docking signal and the short distance guide signal are received, and the cleaning robot can dock with the docking station after walking continuously; if the cleaning robot receives the docking signal and the right remote guide signal at the same time and does not receive the left remote guide signal, the path of the cleaning robot deviates, and the cleaning robot moves leftwards at the moment until the docking signal, the left remote guide signal and the right remote guide signal are received at the same time, then walks in the direction of the docking signal until only the docking signal and the short distance guide signal are received, and can dock with the docking station after walking continuously;
7) If the cleaning robot is outside the left remote guide area and the right remote guide area, or the left remote guide signal or the right remote guide signal cannot be received for some reasons, the cleaning robot rotates 180 degrees leftwards and rightwards respectively in situ, if no signal is received, the cleaning robot advances for a certain distance along the current direction, the cleaning robot continues to search for the signal while walking, if no signal is received after the cleaning robot is in place, the cleaning robot continues to advance for the distance along the current direction, the cleaning robot repeats the process for N times, if no signal is received, the cleaning robot continues to advance along the current direction until an obstacle is touched, then the cleaning robot enters a welt walking mode, so that the cleaning robot can find the docking station positioned at the wall foot more quickly, if the cleaning robot enters the left remote guide area, the cleaning robot walks according to the process described in 1) and finally docks with the docking station, and if the cleaning robot enters the right remote guide area, the cleaning robot walks according to the process described in 2) and finally docks with the docking station.
7. The cleaning robot as claimed in claim 6, wherein the signal receiving direction of the third signal receiver is perpendicular to the tangential direction of the traveling mechanism, and the signal receiving direction of the fourth signal receiver is perpendicular to the tangential direction of the traveling mechanism.
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| 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 |
| SE542915C2 (en) * | 2019-01-08 | 2020-09-15 | Husqvarna Ab | A robotic lawnmover, and methods of navigating and defining a work area for the same |
| 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 |
| 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 |
| CN216454804U (en) * | 2021-02-08 | 2022-05-10 | 美智纵横科技有限责任公司 | Base station and cleaning robot system |
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