CN108972535A - Autonomous system, autonomous mobile apparatus and virtual wall component - Google Patents
Autonomous system, autonomous mobile apparatus and virtual wall component Download PDFInfo
- Publication number
- CN108972535A CN108972535A CN201710400728.7A CN201710400728A CN108972535A CN 108972535 A CN108972535 A CN 108972535A CN 201710400728 A CN201710400728 A CN 201710400728A CN 108972535 A CN108972535 A CN 108972535A
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- China
- Prior art keywords
- mobile apparatus
- autonomous mobile
- virtual wall
- wall component
- autonomous
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
It includes autonomous mobile apparatus and virtual wall component that the disclosure, which provides a kind of autonomous system, autonomous mobile apparatus and virtual wall component, the autonomous system,；Radio frequency generator and antenna are equipped in the autonomous mobile apparatus, which can generate radiofrequency signal when the autonomous mobile apparatus is independently advanced, and emit the radiofrequency signal by the antenna；It is additionally provided with controller in the autonomous mobile apparatus, which controls the autonomous mobile apparatus and change direction of travel when the antenna receives block signal；Passive RF label is equipped in the virtual wall component, when the spacing distance between the autonomous mobile apparatus and the virtual wall component is less than pre-determined distance, the passive RF label can by the radiofrequency signal excitation and emit the block signal so that the autonomous mobile apparatus change direction of travel.The disclosure can reduce the loss of virtual wall component, prolong its service life by using passive RF label in virtual wall component.
Description
Technical field
This disclosure relates to robotic technology field more particularly to a kind of autonomous system, autonomous mobile apparatus and void
Quasi- wall component.
Background technique
Under normal operation, autonomous mobile apparatus effective avoiding barrier can smoothly walk in open area, with
Task is completed, and when user wishes to limit the motion range of autonomous mobile apparatus in open area, it needs autonomous
Setting virtual wall component is using as moving boundaries in open area locating for mobile device, so that when autonomous mobile apparatus senses
When the virtual wall component, it will be considered that front there are barriers to changing direction of travel, avoid crossing moving boundaries.
Summary of the invention
In view of this, the disclosure provides a kind of autonomous system, autonomous mobile apparatus and virtual wall component, to solve
Deficiency in the related technology.
According to the first aspect of the embodiments of the present disclosure, a kind of autonomous system is provided, comprising:
Autonomous mobile apparatus and virtual wall component；
Radio frequency generator and antenna are equipped in the autonomous mobile apparatus, the radio frequency generator can be described autonomous
Radiofrequency signal is generated when mobile device is independently advanced, and the radiofrequency signal is emitted by the antenna；The autonomous is set
It is additionally provided with controller in standby, the controller controls the autonomous mobile apparatus and change when the antenna receives block signal
Become direction of travel；
Passive RF label is equipped in the virtual wall component, when the autonomous mobile apparatus and the virtual wall component it
Between spacing distance be less than pre-determined distance when, the passive RF label can by the radiofrequency signal excitation and emit the resistance
Signal is kept off, so that the autonomous mobile apparatus changes direction of travel.
Optionally, the autonomous mobile apparatus further includes walking component, and the walking component is based on according to the controller
The traveling instruction that the block signal issues, drives the autonomous mobile apparatus to turn to or retreat, far from the virtual wall group
Part.
Optionally, the virtual wall component may be disposed in the travel plane of the autonomous mobile apparatus, or perpendicular to
The travel plane and be arranged.
Optionally, the autonomous mobile apparatus includes: automatic cleaning robot.
According to the second aspect of an embodiment of the present disclosure, a kind of autonomous mobile apparatus is provided, comprising:
Radio frequency generator, the radio frequency generator can generate radio frequency letter when the autonomous mobile apparatus is independently advanced
Number, the radiofrequency signal can spacing distance between the autonomous mobile apparatus and virtual wall component when being less than pre-determined distance,
The passive RF label in virtual wall component is motivated, the passive RF label transmitting block signal is made；
Antenna, the antenna is for emitting the radiofrequency signal, and the reception block signal；
Controller, the controller are used for when the antenna receives the block signal, control the autonomous
Equipment changes direction of travel.
It optionally, further include walking component in the autonomous mobile apparatus, the walking component is according to the controller base
In the traveling instruction that the block signal issues, the autonomous mobile apparatus is driven to turn to or retreat, far from the virtual wall
Component.
Optionally, the autonomous mobile apparatus includes: automatic cleaning robot.
According to the third aspect of an embodiment of the present disclosure, a kind of virtual wall component is provided, comprising:
Be equipped with passive RF label in the virtual wall component, the passive RF label can the virtual wall component with
When spacing distance between autonomous mobile apparatus is less than pre-determined distance, in response to the radiofrequency signal of autonomous mobile apparatus sending
Excitation and emit block signal so that the autonomous mobile apparatus change direction of travel.
Optionally, the virtual wall component includes several strap-like objects, is respectively equipped in each strap-like objects described passive
RF tag.
Optionally, the virtual wall component may be disposed in the travel plane of the autonomous mobile apparatus, or perpendicular to
The travel plane and be arranged.
As can be seen from the above embodiments, the disclosure is by being arranged passive RF label in virtual wall component, so that virtual wall
When spacing distance between component and autonomous mobile apparatus is close enough, which can emit block signal, can mention
Autonomous mobile apparatus of waking up changes direction of travel effectively set to the moving boundaries of autonomous mobile apparatus far from virtual wall component
It is fixed.Wherein, by using passive RF label, external environment (such as temperature, humidity) can be reduced, virtual wall component is caused
Influence and loss；Meanwhile for active radio frequency label, the structure complexity and dimension of virtual wall component can also be reduced
Accomplish this.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of autonomous system shown according to an exemplary embodiment.
Fig. 2 is a kind of one of the top view of autonomous systematic difference scene shown according to an exemplary embodiment.
Fig. 3 is the two of the top view of a kind of autonomous systematic difference scene shown according to an exemplary embodiment.
Fig. 4 is another autonomous systematic difference scene figure shown according to an exemplary embodiment.
Fig. 5 be another autonomous systematic difference scene shown according to an exemplary embodiment main view it
One.
Fig. 6 be another autonomous systematic difference scene shown according to an exemplary embodiment main view it
Two.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent system and method for some aspects be described in detail in claims, the disclosure.
It is only to be not intended to be limiting the disclosure merely for for the purpose of describing particular embodiments in the term that the disclosure uses.
The "an" of the singular used in disclosure and the accompanying claims book, " described " and "the" are also intended to including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the disclosure
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where disclosure range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
In the related art, the granted patent etc. for being CN205181264U for example, see notification number, can be by void
Several metalliferous strap-like objects of setting in quasi- wall component, and the virtual wall component can be attached at the traveling of autonomous mobile apparatus
In plane；Metal electrode is set on autonomous clean robot, which is connected with capacitance sensor, capacitance sensor
It is then further connect with the control chip of autonomous mobile apparatus, so that autonomous clean robot is detecting virtual wall group
It turns to or retreats when part.
But the metal being arranged in virtual wall component is easily lost, and especially in a humid environment, gets rusty easily, corrodes, into
It may cause to one step the barrier action failure of virtual wall component.
It is improved regarding to the issue above in the related technology.For example, see disclosing for Publication No. CN103251354A
Patent, granted patent that notification number is CN203436291U etc., propose the virtual wall group based on active radio frequency technology
Part by virtual wall component active and continues to emit radiofrequency signal, so that autonomous mobile apparatus is between virtual wall component
Spacing distance it is sufficiently small when can sense the radiofrequency signal, and evade virtual wall component according to the radiofrequency signal received.
However, the active radio frequency label being arranged in virtual wall component needs the external world to be additionally provided power supply, so that virtual wall group
The service life of part is limited, and it is high to will lead to the complex structural designs of virtual wall component, maintenance cost.
Therefore, the disclosure proposes a kind of autonomous system, autonomous mobile apparatus and virtual wall component, above-mentioned to solve
Deficiency in technical solution.
Fig. 1 is a kind of schematic diagram of autonomous system shown according to an exemplary embodiment, as shown in Figure 1, independently
Mobile system 100 may include autonomous mobile apparatus 1 and virtual wall component 2, which can be used as autonomous and set
Standby 1 moving boundaries, are defined with the motion range to autonomous mobile apparatus 1, prevent it from entering non-active area, give user
Cause unnecessary influence.
Wherein, autonomous mobile apparatus 1 may include radio frequency generator 11, antenna 12 and controller 13, and radio frequency occurs
Device 11 can generate radiofrequency signal during the movement of autonomous mobile apparatus 1, and antenna 12 then can be by the emission of radio frequency signals
To space locating for autonomous mobile apparatus 1, and the antenna 12 can also receive virtual wall component 2 and motivate by radiofrequency signal
The block signal emitted afterwards, makes controller 13 when antenna 12 receives block signal, controls the autonomous mobile apparatus 1 change
Direction of travel (such as walking component 14 by controlling the autonomous mobile apparatus 1, change the direction of travel of mobile device 1), with
Evade virtual wall component 2.Correspondingly, (such as RFID (the Radio of passive RF label 21 can be set in virtual wall component 2
Frequency Identification, radio frequency identification) passive label etc., the disclosure is limited not to this), this is passive to penetrate
Frequency marking label 21 can emit block signal in response to above-mentioned radiofrequency signal.
It in the above-described embodiments, can be to autonomous mobile apparatus 1 by the passive RF label 21 being arranged in virtual wall component 2
Moving boundaries effectively set；Wherein, since the transmitting range of radiofrequency signal is limited, so that autonomous mobile apparatus 1 and void
When spacing distance between quasi- wall component 2 needs to be less than the transmitting range, passive RF label 21 can be motivated and be emitted
Block signal, thus by autonomous mobile apparatus 1 maintain limit range in execute task, prevent autonomous mobile apparatus 1 into
Noise etc. is caused to user in row non-active area.
It is virtual equipped with metal structure compared in the related technology when virtual wall component 2 is using passive RF label 21
Wall component can reduce external environment (such as temperature, humidity etc.) to influence caused by virtual wall component 2 and be lost；Meanwhile it comparing
For active radio frequency label, since passive RF label 21 does not need special electric energy Supply Structure, it can also reduce virtual
The structure complexity and maintenance cost of wall component 2；Also, since passive RF label 21 is only in virtual wall component 2 and autonomous shifting
When spacing distance between dynamic equipment 1 is close enough, launch block signal, just so as to weaken locating for autonomous mobile apparatus 1
Radiation intensity in space can not only reduce interference and influence on ambient electronics, also help user health.
Based on may include one or more strap-like objects 22, each band in above-mentioned each embodiment, in virtual wall component 2
Passive RF label 21 can be respectively set in shape object；For example, strap-like objects 22 may include as illustrated in Fig. 2-Fig. 3
Strap-like objects 221 and strap-like objects 222, and passive RF label 211,212 etc. built in strap-like objects 221, strap-like objects 222
Built-in passive RF label 213,214 etc..
In the present embodiment, virtual wall component 2 can be set according to the restriction autonomous of application scenarios in different ways
Standby 1 moving boundaries.Below with reference to different application scenarios, virtual wall component 2 is introduced to the borders of autonomous mobile apparatus 1
Scheme.
In one embodiment, virtual wall component 2 can be set in the travel plane of autonomous mobile apparatus 1, be conducive to mention
Virtual wall component 2 is risen to the adaptability of different scenes, increases the application range of virtual wall component 2.For example, if user
It needs that moving boundaries are arranged at A-A, B-B, strap-like objects 221 and strap-like objects 222 can be respectively placed in the A-A and B-
At B, to the left side moving boundaries of autonomous mobile apparatus 1 are defined at the A-A, the movement side adjacent with left side moving boundaries
Boundary is at B-B.Virtual wall component 2 can be attached in the travel plane at A-A or at B-B, virtual to avoid this
Wall component 2 shifts since user touches unintentionally, wind, autonomous mobile apparatus 1 are hit etc.；Wherein, virtual wall component 2
Separable attaching mode can be used, so that the virtual wall component 2 can be recycled.The row of autonomous mobile apparatus 1
It is related to its practical operative scenario into plane, it is assumed that the operative scenario of autonomous mobile apparatus 1 is in user family, and corresponding advance is put down
Face can be indoor ground, then virtual wall component 2 can be set on ground, to form the movement of the autonomous mobile apparatus 1
Boundary.
As shown in Fig. 2, can be formed corresponding when the radiation radius for the radiofrequency signal that autonomous mobile apparatus 1 emits is R1
Radiation areas M1 (since radiofrequency signal is emitted by antenna 12, the center of circle of radiation areas M1 should be the setting position of antenna 12,
It is assumed herein that the setting position is at the center of autonomous mobile apparatus 1), it is assumed that the central point and passive RF mark of radiation areas M1
Spacing distance between label 211,212,213,214 etc. is L1, then the radiation areas M1 of radiofrequency signal will not as L1 > R1
Covering each passive RF label 21 in virtual wall component 2, then passive RF label 21 can not emit block signal, so from
Main mobile device 1 can continue close to virtual wall component 2.
It is assumed that autonomous mobile apparatus 1 continues to advance towards virtual wall component 2, until L1≤R1；Such as shown in Fig. 3, when penetrating
When the radiation areas M1 of frequency signal covers passive RF label 211 and passive RF label 212 in virtual wall component 2, nothing
Source RF tag 211 and passive RF label 212 can emit block signal (due to not radiated under the excitation of radiofrequency signal
Region M1 covering, passive RF label 213 and passive RF label 214 will not emit block signal).So, work as autonomous
When equipment 1 receives the block signal that passive RF label 211 and passive RF label 212 are launched, autonomous mobile apparatus 1 can
To turn to or retreat, far from the virtual wall component 2；Or autonomous mobile apparatus 1 can advance along virtual wall component 2 (by
In negatively correlated to block signal receiving intensity and spacing distance between the two, opposite position between the two can be determined therefrom that
Set relationship；In other words, by maintaining autonomous mobile apparatus 1 can be made along 2 row of virtual wall component the receiving intensity of block signal
Walk), it equally can be avoided and cross virtual wall component 2；Alternatively, can also use other control modes, the disclosure not to this into
Row limitation.
In another embodiment, virtual wall component 2 may be substantially perpendicular to the travel plane setting of autonomous mobile apparatus 1,
So that the setting of virtual wall component 2 is not influenced by the clean level of travel plane or humidity etc., while can also prevent
Only user tramples, and is conducive to extend the service life of virtual wall component 2.As shown in Figure 4, it is assumed that the traveling of autonomous mobile apparatus 1
Plane is that ground and user need using position shown in doorframe 3 as the moving boundaries of autonomous mobile apparatus 1, can will be virtual
Wall component 2 is set on doorframe 3 or near doorframe 3, such as strap-like objects 223,224 etc. can be set in doorframe 3
Strap-like objects 225~228 etc. can also be set on the metope adjacent with doorframe 3 by side, and the disclosure is not to this progress
Limitation.For strap-like objects 223,224, the technical solution of the disclosure is described in detail shown in Fig. 4 below:
As shown in figure 5, can be formed corresponding when the radiation radius for the radiofrequency signal that autonomous mobile apparatus 1 emits is R2
Radiation areas M2 (since radiofrequency signal is emitted by antenna 12, the center of circle of radiation areas M2 should be located at the setting position of antenna 12
Set, it is herein assumed that the setting position of antenna is located at the center of autonomous mobile apparatus 1), it is assumed that the central point of autonomous mobile apparatus 1
Spacing distance between each passive RF label 21 in virtual wall component 2 is L2, then as L2 > R2, radiofrequency signal
Radiation areas M2 will not cover each passive RF label 21, so that passive RF label 21 can not launch block signal,
Autonomous mobile apparatus 1 can continue close to virtual wall component 2.
It is assumed that autonomous mobile apparatus 1 continues to advance towards virtual wall component 2, until L2≤R2；Such as shown in Fig. 6, when penetrating
When the radiation areas M2 of frequency signal covers the part passive RF label 21 in virtual wall component 2, the capped nothing in the part
Source RF tag 21 (such as the passive RF label 21 built in strap-like objects 224) can launch resistance under the excitation of radiofrequency signal
Signal is kept off, to remind autonomous mobile apparatus 1 to change direction of travel, far from virtual wall component 2.
Technical solution based on the disclosure, autonomous mobile apparatus 1 can be clean robot, walking robot etc., this public affairs
It opens and is limited not to this.For example, the passive RF mark when autonomous mobile apparatus is sweeping robot, in virtual wall component 2
Label 21 can emit block signal under the excitation for the radiofrequency signal that sweeping robot emits, thus to the movement side of sweeping robot
Boundary is effectively limited, and sweeping robot is swept in restriction range.
For system embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.System embodiment described above is only schematical, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize disclosure scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
The foregoing is merely the preferred embodiments of the disclosure, not to limit the disclosure, all essences in the disclosure
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of disclosure protection.
Claims (10)
1. a kind of autonomous system characterized by comprising autonomous mobile apparatus and virtual wall component；
Radio frequency generator and antenna are equipped in the autonomous mobile apparatus, the radio frequency generator can be in the autonomous
Equipment autonomously generates radiofrequency signal when advancing, and emits the radiofrequency signal by the antenna；In the autonomous mobile apparatus
It is additionally provided with controller, the controller controls the autonomous mobile apparatus and change row when the antenna receives block signal
Into direction；
Passive RF label is equipped in the virtual wall component, when between the autonomous mobile apparatus and the virtual wall component
When spacing distance is less than pre-determined distance, the passive RF label can by the radiofrequency signal excitation and emit blockings letter
Number, so that the autonomous mobile apparatus changes direction of travel.
2. autonomous system according to claim 1, which is characterized in that the autonomous mobile apparatus further includes walking group
Part, the walking component are instructed according to the controller based on the traveling that the block signal issues, and the autonomous is driven
Equipment is turned to or is retreated, far from the virtual wall component.
3. autonomous system according to claim 1, which is characterized in that the virtual wall component may be disposed at it is described from
In the travel plane of main mobile device, or it is arranged perpendicular to the travel plane.
4. autonomous system according to claim 1, which is characterized in that the autonomous mobile apparatus includes: automatic clear
Clean robot.
5. a kind of autonomous mobile apparatus characterized by comprising
Radio frequency generator, the radio frequency generator can generate radiofrequency signal when the autonomous mobile apparatus is independently advanced,
The radiofrequency signal can spacing distance between the autonomous mobile apparatus and virtual wall component when being less than pre-determined distance, excitation
Passive RF label in virtual wall component makes the passive RF label transmitting block signal；
Antenna, the antenna is for emitting the radiofrequency signal, and the reception block signal；
Controller, the controller are used for when the antenna receives the block signal, control the autonomous mobile apparatus
Change direction of travel.
6. autonomous mobile apparatus according to claim 5, which is characterized in that further include walking in the autonomous mobile apparatus
Component, the walking component are instructed according to the controller based on the traveling that the block signal issues, and the autonomous shifting is driven
Dynamic equipment is turned to or is retreated, far from the virtual wall component.
7. autonomous mobile apparatus according to claim 5 or 6, which is characterized in that the autonomous mobile apparatus includes: automatic
Clean robot.
8. a kind of virtual wall component, which is characterized in that be equipped with passive RF label, the passive RF in the virtual wall component
Label can the spacing distance between the virtual wall component and autonomous mobile apparatus be less than pre-determined distance when, in response to it is described from
The excitation for the radiofrequency signal that main mobile device issues and emit block signal so that the autonomous mobile apparatus changes traveling side
To.
9. virtual wall component according to claim 8, which is characterized in that the virtual wall component includes several ribbons
Body is respectively equipped with the passive RF label in each strap-like objects.
10. virtual wall component according to claim 8, which is characterized in that the virtual wall component may be disposed at it is described from
In the travel plane of main mobile device, or it is arranged perpendicular to the travel plane.
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| CN201710400728.7A CN108972535A (en) | 2017-05-31 | 2017-05-31 | Autonomous system, autonomous mobile apparatus and virtual wall component |
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