CN107542234A - The strong magnets that a kind of combined ground ceramic tile installation uses for robot navigation - Google Patents
The strong magnets that a kind of combined ground ceramic tile installation uses for robot navigation Download PDFInfo
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- CN107542234A CN107542234A CN201610461805.5A CN201610461805A CN107542234A CN 107542234 A CN107542234 A CN 107542234A CN 201610461805 A CN201610461805 A CN 201610461805A CN 107542234 A CN107542234 A CN 107542234A
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- strong magnets
- ceramic tile
- ground
- robot
- installation
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Abstract
The present invention relates to the strong magnets that a kind of installation of combined ground ceramic tile uses for robot navigation, this strong magnets surface is square, length of side 10mm to 30mm, strength magnet gross thickness 8mm to 18mm, laying method is the adjacent laying of four pieces of floor ceramic tiles, every piece of floor ceramic tile dismisses a part for adjacent angular just to reserve the installation site of strong magnets, then floor ceramic tile and strong magnets are fixed to pasted with tile binding material or cement on ground.This floor ceramic tile, which combines the ground that laying is completed with strong magnets, to provide location navigation with reference to magnetic navigation sensor for robot, the magnet for the magnetic navigation sensor perceiving ground ceramic tile that robot is installed using chassis, so as to know whether in working region, and in which kind of working region, then provide corresponding mobile scheme.Strong magnets are easy to construction and installation, are applicable not only to the situation of first paving ground ceramic tile, are also applied for having paved the transformation situation during ceramic tile of ground.
Description
Technical field
The present invention relates to the strong magnets that a kind of installation of combined ground ceramic tile uses for robot navigation, this strong magnets
Surface is square, length of side 10mm to 30mm, and strength magnet gross thickness 8mm to 18mm, laying method is four pieces of floor ceramic tile phases
During neighbour's laying, every piece of floor ceramic tile dismisses a part for adjacent angular just to reserve the installation site of strong magnets, then uses porcelain
Brick bonding agent or cement, which fix floor ceramic tile and strong magnets, to be pasted on ground.This floor ceramic tile combines with strong magnets
Location navigation can be provided with reference to magnetic navigation sensor for robot by laying the ground completed, and robot utilizes the magnetic conductance of chassis installation
Navigate the magnet of sensor senses floor ceramic tile, so as to know whether in working region, and in which kind of working region, then provides
Corresponding mobile scheme.Strong magnets are easy to construction and installation, are applicable not only to the situation of first paving ground ceramic tile, are also suitable
Transformation situation when ground ceramic tile has been paved.
Background technology
Strong magnets, refer to ndfeb magnet.It compared to ferrite lattice, aluminium nickel cobalt, SmCo magnetic property greatly
Other several magnet are surmounted, ndfeb magnet can adsorb 640 times of weight of weight itself, so neodymium iron boron is often out of trade
Personage is referred to as strong magnets.
Strong magnets can be processed to variously-shaped, the Powerful magnetic nail of most common such as cylindrical shape.
The strong magnets surface that the present invention uses is square, length of side 10mm to 30mm, thickness 8mm to 18mm.
Strong magnets are installed to ground, for being used during robot status navigation.
The content of the invention
The floor ceramic tile sold on Vehicles Collected from Market is not embedded to install any magnet, therefore, can not be used as machine
The instrument of device people's area navigation.The special magnetic nail of robot needs the construction that specially holed on ground, and quantities is big, is only suitable for first
Used when in engineering construction, the Space, Place finished of having been constructed for ground, the mode that can not just install magnet is robot
Navigation is provided.
The invention provides a kind of method that strong magnets are fixedly mounted on ground, when the adjacent laying of four pieces of floor ceramic tiles
When, every piece of floor ceramic tile dismisses a part for adjacent angular just to reserve the installation site of strong magnets, is then bonded with ceramic tile
Agent or cement, which fix floor ceramic tile and strong magnets, to be pasted on ground.
The beneficial effects of the invention are as follows the location navigation for service robot to provide a kind of straightforward procedure and product, by ground
Furring tile, which combines the ground that laying is completed with strong magnets, to provide location navigation with reference to magnetic navigation sensor for robot, strength
Magnet is easy to construction and installation, is applicable not only to the situation of first paving ground ceramic tile, is also applied for having paved ground magnetic
Transformation situation during brick.The strong magnets installed in this way, have attractive in appearance, firm, good with house fitting-up whole style
The features such as arranging in pairs or groups well, it is adapted to the interior space and square, road, the people such as house, hotel, office, reception hall, club, factory
Between the outdoor room such as trade, station, airport, harbour.
Brief description of the drawings
Patent of the present invention is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the minimum dimension and full-size schematic diagram of strong magnets.
Fig. 2 is the several ways schematic diagram of strong magnets magnetizing direction.
Fig. 3 is the schematic diagram of strong magnets magnet technique.
Fig. 4 is the design diagram of strong magnets and ground tile paving.
Fig. 5 is hall sensor component deployment schematic diagram.
Fig. 6 is magnet surface processing method.
Fig. 7 is floor ceramic tile and the mapping table of strong magnets.
The minimum dimension of 1. magnet in figure, the full-size of 2. magnet, 3. radial magnetizings, the 4. thickness N that magnetizes is extremely upward, and 5.
Thickness magnetizes, and S is extremely upward, and 6. outermost layer abrasion-proof ceramic coats, 7. surfaces are handled through nickel, copper, chromium, 8. neodymium-iron-boron iron materials
Material bonds compressing, 9. floor ceramic tiles, 10. one jiaos cut away, 11. strong magnets, 12. floor ceramic tile edges, 13. signals
Line, 14. robot shells edges, 15. hall sensor components, 16. chassis wheels, 17. robotic movement systems, 18. is the next
Machine control system.
Embodiment
Such as accompanying drawing 1, strong magnets surface is square, length of side 10mm to 30mm, thickness 8mm to 18mm.According to ground porcelain
Brick size is different, and the preferred dimension of strong magnets is also different therewith.Floor ceramic tile and the mapping table of strong magnets such as accompanying drawing
7。
Such as accompanying drawing 2, the magnetizing direction of the strong magnets used for ease of identification, the present invention plants three kinds altogether：Radial magnetizing, thickness
Degree magnetize N extremely upwards, the thickness S that magnetizes it is extremely upward.Insertion is mounted with that the floor ceramic tile of different magnetizing direction strong magnets can single
Laying, can also mix laying.When carrying out the installation of strong magnets ground construction, one in three kinds of magnetizing directions of installation may be selected
Kind.The bottom mark magnetizing direction of strong magnets, is NS, N, S respectively, represent radial magnetizing [3], the thickness N that magnetizes it is extremely upward
[4], thickness magnetizes S extremely upwards [5].The embedded floor ceramic tile for being mounted with magnetizing direction strong magnets, is provided not for robot
Same working region：
1. radial magnetizing [3], representing passage or working region border, robot should not stop in this region, should be moved near
Working region；
2. thickness magnetizes, N extremely upwards [4], represents robot work region；
3. thickness magnetizes, S extremely upwards [5], represents robot work region, and the N poles that can be magnetized with thickness work up region progress
Distinguish.
Such as accompanying drawing 3, this strong magnets are produced, magnet main body part bonds compacting by the neodymium-iron-boron iron material of cuboid
It is molded [8], surface is handled [7] through nickel, copper, chromium, and according to circumstances adds abrasion-proof ceramic coat [6], wear-resisting pottery in outermost layer
Porcelain coating has a variety of colors, is used with the ground ceramic tile for being adapted to different.It is meanwhile various in order to strong magnets can be adapted to be installed to
The floor ceramic tile of color, material, the present invention can use different magnet surface handling process to be adapted to effect with best surface to obtain
Fruit, such as accompanying drawing 6.
Such as accompanying drawing 4, during installation, first ground ceramic tile [9] is cut, during the adjacent laying of four pieces of floor ceramic tiles, every piece
Floor ceramic tile dismisses the part of adjacent angular [10] just to reserve the installation site of strong magnets [11], line of cut and ceramic tile phase
Adjacent side line is in 1350Angle.During continuous laying, each corner of every block of ground ceramic tile is regularly cut ceaselessly to reserve by force
The installation site of power magnet.During first paving ground ceramic tile, first every block of ceramic tile of well cutting, then with strong magnets split it is good after,
Floor ceramic tile and strong magnets are fixed with tile binding material or cement and pasted on ground.
Floor ceramic tile ground is being paved, it is necessary to when installing strong magnets additional, will first be delimited with ceramic tile cutter needs
The ceramic tile for cutting away position is cut away, and is then cleared up and is dug the locus needed for strong magnets installation, inject appropriate ceramic tile
Bonding agent or cement, strong magnets are fitted into the locus and press guarantee planarization, wait tile binding material or cement
Parch and complete installation.
Such as Fig. 5, the robot being used in combination with the strong magnets of ground deployment perceives strong magnets by Hall sensor.
Press specific interval angles in robot chassis（Such as 300Interval angles）Multiple hall sensor components [15], these components are installed
There is the fixed strong point with chassis, and have signal wire [13] and be mounted with the identification of robot zone position and the robot of behavioral system
[17] lower computer control system [18] is attached.Each hall sensor component is from robot shell edge [14]（Shell
Bottom boundary）Distance can not be too big, preferably in 2cm, to reduce due to hall sensor component deployed position and robot bottom
Disk position deviation causes the appearance chance of erroneous judgement of the robot to working region.Hall sensor component deployed position is wanted and chassis
Wheel [16] staggers, and avoids influencing each other.
After floor ceramic tile and strong magnets collectively form navigation ground, so that it may set working region and non-active area.
Working region：There is the ground that the ground ceramic tile of strong magnets forms by all corners to link together, be working region.
It is non-active area beyond the external boundary of working region.
Robot and working region position relationship decision method, are calculated by installed in the robot zone position of robot body
Put identification to carry out with behavioral system, robot can determine whether to be in work using one or more schemes therein at any time
Make in region, or how to enter working region.
Summarized by accompanying drawing 7, the robot chassis size of strong magnets can be installed and used（Circular base plate diameter or square chassis
Diagonally）From 120mm to 700mm, the basic service robot for covering main flow, and suitable for part industrial robot such as AGV etc..
Claims (8)
1. the present invention relates to the strong magnets that a kind of installation of combined ground ceramic tile uses for robot navigation, this strong magnets table
Face is square, length of side 10mm to 30mm, and strength magnet gross thickness 8mm to 18mm, laying method is that four pieces of floor ceramic tiles are adjacent
During laying, every piece of floor ceramic tile dismisses a part for adjacent angular just to reserve the installation site of strong magnets, then uses ceramic tile
Bonding agent or cement, which fix floor ceramic tile and strong magnets, to be pasted on ground;This floor ceramic tile combines paving with strong magnets
If the ground completed can combine magnetic navigation sensor and provide location navigation for robot, robot utilizes the magnetic navigation of chassis installation
The magnet of sensor senses floor ceramic tile, so as to know whether in working region, and in which kind of working region, then provide phase
The mobile scheme answered;Strong magnets are easy to construction and installation, are applicable not only to the situation of first paving ground ceramic tile, are also applied for
The transformation situation during ceramic tile of ground is paved;
The strong magnets installed in this way, there is attractive in appearance, the firm and house fitting-up whole style well spy such as collocation
Point, be adapted to house, hotel, office, reception hall, club, the interior space such as factory and square, road, pavement, station,
Between the outdoor room such as airport, harbour.
2. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：Strong magnets surface
It is square, length of side 10mm to 30mm, strength magnet gross thickness 8mm to 18mm.
3. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：What the present invention used
The magnetizing direction of strong magnets plants three kinds altogether：Radial magnetizing, thickness magnetize N extremely upwards, the thickness S that magnetizes it is extremely upward；Carrying out by force
When power magnet ground construction is installed, one kind in three kinds of magnetizing directions of installation may be selected.
4. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：Laying method is four
During the adjacent laying of block floor ceramic tile, every piece of floor ceramic tile dismisses the part of adjacent angular just to reserve the installation position of strong magnets
Put, line of cut sideline adjacent with ceramic tile is in 1350Angle, then with tile binding material or cement by floor ceramic tile and strong magnets
Fixation is pasted on ground, and during continuous laying, each corner of every block of ground ceramic tile is regularly cut strong ceaselessly to reserve
The installation site of power magnet.
5. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：According to floor ceramic tile
Size is different, and the preferred dimension of strong magnets is also different therewith, the applicable floor ceramic tile of the present invention include 100mm*100mm,
150mm*150mm、 200mm*200mm、300mm*300mm、330mm*330mm、400mm*400mm、450mm*450mm、
9 kinds of sizes such as 500mm*500mm, 600m*600.
6. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：It can install and use strong
The robot chassis size of power magnet（Circular base plate diameter or square chassis are diagonal）From 120mm to 700mm, main flow is covered substantially
Service robot, and suitable for part industrial robot such as AGV etc..
7. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：When floor ceramic tile and
After strong magnets collectively form navigation ground, so that it may set working region and non-active area；Working region：By all connections
There is the ground that the ground ceramic tile of strong magnets is formed corner together, and is working region；Beyond the external boundary of working region,
For non-active area.
8. the present invention relates to the strong magnets that a kind of installation of ground uses for robot navigation, it is characterized in that：This floor ceramic tile
The ground that laying is completed is combined with strong magnets to provide location navigation with reference to magnetic navigation sensor for robot, and robot utilizes
The magnet of the magnetic navigation sensor perceiving ground ceramic tile of chassis installation, so as to know whether in working region, and in which kind of work
Make region, then provide corresponding mobile scheme.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610461805.5A CN107542234A (en) | 2016-06-23 | 2016-06-23 | The strong magnets that a kind of combined ground ceramic tile installation uses for robot navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610461805.5A CN107542234A (en) | 2016-06-23 | 2016-06-23 | The strong magnets that a kind of combined ground ceramic tile installation uses for robot navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107542234A true CN107542234A (en) | 2018-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610461805.5A Pending CN107542234A (en) | 2016-06-23 | 2016-06-23 | The strong magnets that a kind of combined ground ceramic tile installation uses for robot navigation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114182914A (en) * | 2021-12-17 | 2022-03-15 | 佛山市东鹏陶瓷发展有限公司 | Detachable tile paving process |
-
2016
- 2016-06-23 CN CN201610461805.5A patent/CN107542234A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114182914A (en) * | 2021-12-17 | 2022-03-15 | 佛山市东鹏陶瓷发展有限公司 | Detachable tile paving process |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180105 |
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| WD01 | Invention patent application deemed withdrawn after publication |