CN109765899A - Self-movement robot system - Google Patents
Self-movement robot system Download PDFInfo
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- CN109765899A CN109765899A CN201910105454.8A CN201910105454A CN109765899A CN 109765899 A CN109765899 A CN 109765899A CN 201910105454 A CN201910105454 A CN 201910105454A CN 109765899 A CN109765899 A CN 109765899A
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- self
- boundary line
- charging station
- movement robot
- robot system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The present invention provides a kind of self-movement robot system, including self-movement robot, charging station and define working region and charge tunnel non-close boundary line, the self-movement robot has central axes, self-movement robot is divided into two sides by central axes, border sensor is respectively set in two sides, the charge tunnel connects the charging station and the working region, it is characterized in that, the working region only passes through the charge tunnel and connect with the charging station, wherein, y < x, x is the distance between the border sensor of two sides, y is the width of the charge tunnel, the border sensor is used to sense sideband signal or charging signals that the boundary line issues.The present invention achievees the effect that avoid charging station by changing cabling scenario, at low cost without any other signal, using reliable.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of self-movement robot systems.
Background technique
With science and technology be constantly progressive, various automatic work equipment have begun slowly come into people's lives,
Such as: grass-removing robot.This automatic work equipment has running gear, equipment and automatic control device, so that
Automatic work equipment can be detached from the operation of people, automatically walk and work be executed in a certain range, in automatic work equipment
Energy storage device energy deficiency when, can auto-returned charging station arrangement charge, then proceed to work.
In the prior art, random mow is a major way of grass-removing robot low cost.I.e. robot is in delineation model
It encloses as travelled forward in electron boundary, when encountering barrier or boundary, rotates a random angles, then proceed to transport forward
It moves until and encounters barrier or boundary, then do same treatment, so recycle.But when carrying out grass cutting action, mow
Machine will collide charging station in working region, be easily damaged charging station or grass trimmer.
In consideration of it, it is necessary to provide a kind of improved self-movement robot systems.
Summary of the invention
It is an object of that present invention to provide a kind of self-movement robot systems that the service life is longer.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of self-movement robot systems, including certainly mobile machine
People, charging station and define working region and charge tunnel non-close boundary line, the self-movement robot have axis
Self-movement robot is divided into two sides by line, central axes, and two sides are respectively set border sensor, fill described in the charge tunnel connection
Power station and the working region, the working region only pass through the charge tunnel and connect with the charging station, wherein y < x, x
For the distance between the border sensor of two sides, y is the width of the charge tunnel, and the border sensor is described for sensing
The sideband signal or charging signals that boundary line issues.
As the preferred embodiment of the embodiment of the invention, in working condition, the boundary line issues the boundary
Signal, the border sensor receive the sideband signal, and the self-movement robot avoids the boundary line.
As the preferred embodiment of the embodiment of the invention, in charged state, the boundary line, which issues, is different from institute
State the charging signals of sideband signal, the border sensor receives the charging signals, the self-movement robot along
The boundary line returns to the charging station.
As the preferred embodiment of the embodiment of the invention, y >=2/3*x.
As the preferred embodiment of the embodiment of the invention, the charging station is at least partly by the working region
It is surrounded.
As the preferred embodiment of the embodiment of the invention, the charging station is located at the middle part of the working region,
The boundary line at least bypasses three sides of the charging station.
As the preferred embodiment of the embodiment of the invention, the charging station is located at except the working region.
As the preferred embodiment of the embodiment of the invention, the charge tunnel includes the first segment side being parallel to each other
Boundary line and second segment boundary line have multiple nails, the multiple row between the first segment boundary line and second segment boundary line
The length of nail is equal to the width of the charge tunnel.
As the preferred embodiment of the embodiment of the invention, the both ends of the boundary line of the non-close are all connected to institute
The same side of charging station is stated,
As the preferred embodiment of the embodiment of the invention, the self-movement robot is grass trimmer.
Beneficial effects of the present invention: achieving the effect that avoid charging station by changing cabling scenario, without any other letter
Number, it is at low cost, using reliable, avoid in the grass trimmer course of work and collide charging station, to promote the service life of charging station
Detailed description of the invention
Fig. 1 is the schematic diagram of self-movement robot in the preferred embodiment for the present invention；
Fig. 2 is the schematic wiring diagram of self-movement robot system in first embodiment of the invention；
Fig. 3 is the schematic wiring diagram of self-movement robot system in second embodiment of the invention；
Fig. 4 is the schematic wiring diagram of self-movement robot system in third embodiment of the invention；
Fig. 5 is the schematic wiring diagram of self-movement robot system in four embodiment of the invention.
Specific embodiment
Below with reference to embodiment shown in the drawings, the present invention will be described in detail.But the embodiment is not intended to limit
The present invention, structure that those skilled in the art are made according to the embodiment, method or transformation functionally are wrapped
Containing within the scope of the present invention.
Self-movement robot system of the invention includes self-movement robot, charging station and defines working region and charge
The boundary line of the non-close in channel, self-movement robot can be grass trimmer or automatic cleaner etc., and automatically walk is in work
Make region to be mowed, dust suction work, in specific example of the present invention, is done specifically so that self-movement robot is grass trimmer as an example
It is bright, correspondingly, working region can be lawn.Certainly, self-movement robot is not limited to grass trimmer and dust catcher, or other
Equipment, such as spray appliance, snow removing equipment, supervision equipment are suitble to unattended equipment.
In the specific embodiment of the invention, self-movement robot is grass trimmer, and grass trimmer includes: body, is set to machine
Walking module, boundary detecting module, energy module and control module on body.In addition, grass trimmer further includes operational module,
For executing the specific works task of grass trimmer, operational module includes mowing blade, cutting motor etc., it is also possible to high including mowing
Spend the component of the optimization such as regulating mechanism or adjustment mowing effect.
Walking module is used for band motor mower and walks and turn in working region, usually the wheel by being mounted on grass trimmer
The drive motor composition of group and the walking of driving wheel group.Boundary detecting module is used to detect the opposite position between grass trimmer and boundary line
Relationship is set, specifically may include distance, angle, in boundary line one or more of exterior orientation.The composition of boundary detecting module
Such as can be able to be infrared-type, ultrasonic type, collision detection formula to be a variety of with principle, magnetic inductive etc., sensor and
The setting position of corresponding signal generation apparatus and quantity are also multiplicity.
Energy module is used to provide energy for the work in every of grass trimmer comprising rechargeable battery and charging connection knot
Structure, charging connection structure are usually the charging electrode piece that can be exposed to outside grass trimmer.
Control module electrically connects for controlling grass trimmer automatically walk and work with walking module and boundary detecting module
It connects, is the core component of grass trimmer, the function that it is executed includes the starting work of control operational module or stopping, generating walking path
And walking module is controlled according to walking, judge the electricity of energy module and the charging station automatic butt of instruction grass trimmer return in time is filled
Electricity etc..Control module generally includes single-chip microcontroller and memory and other peripheral circuits.
Above-mentioned grass trimmer further includes the various sensors for incuding the walking states of grass trimmer, such as: toppling over, is liftoff,
Crash sensor etc. does not do specifically repeat herein.
Wherein, the boundary line of its working region of grass trimmer and restriction constitutes self-movement robot system, should be from moving machine
Device people's system further includes charging station.Charging station can be located on the inside of working region or outside and alternating current or other electric energy provide
System connection, returns for grass trimmer and charges.Charging station can emit pulse code signal along boundary line, with the shape near boundary line
At electromagnetic signal, control module can change according to the power of electromagnetic signal near boundary line and it is got by state sensor
Boundary line internal/external signal difference come control drive motor operation, so that grass trimmer be made to turn in time when detecting boundary line
It avoids and smoothly returns to charging station charging, grass trimmer row in a specific embodiment of the invention described below along boundary line
The wire laying mode of charging station is avoided collision when walking.
Such as Fig. 1 and Fig. 2, in the present embodiment, charging station 200 is arranged on 300 side of working region.Grass trimmer 100 includes machine
Body 10, controller 30, a pair of of the driving wheel 21 being arranged on body, a pair of movable motor 25 for respectively driving two driving wheels,
At least one driven wheel 23, cutting assembly 41, the cutting motor 43 for driving cutting assembly 41, boundary line sensor 60 etc..Tool
Body, referring to Fig. 2, there is grass trimmer 10 central axes AR, central axes AR grass trimmer is divided into two sides, respectively left and right side,
The distance between border sensor of left and right side is x.Here left and right side is merely to illustrate grass trimmer along central axes
The different piece of two sides, is not specifically limited.Boundary line sensor, preferred boundary line sensor is respectively set in left and right side
Including about the symmetrically arranged left sensor in body central axes and right sensor.
Boundary line 340 and charging station 200 are electrically connected, i.e. boundary line 340 and charging station 200 is formed together closed circuit,
Boundary line 340 is non-close, defines working region 300 and charge tunnel 400, and working region 300 is only logical by charging
Road 400 is connect with charging station 200.Signal generator in charging station 200 makes boundary line 340 issue signal, boundary line sensor
60 detection signals, controller 30 adjust the posture and walking path of grass trimmer according to signal.Wherein, the letter that boundary line 340 issues
Number it can be sideband signal or charging signals, sideband signal can be the same or different with charging signals.
Such as Fig. 2, currently preferred first embodiment, charging station 200 is at least partly wrapped by working region 300
It encloses, by taking charging station 200 is quadrangle as an example, the marginal portion of charging station 200 from working region 300 extend into working region 300
Interior, charge tunnel 400 is located at the inside of working region 300, and boundary line 340 is at least about 1/3 perimeter for overcharging power station.Formation is filled
The boundary line of electric channel 400 includes the first segment 403 and second segment 405 being parallel to each other, it is preferred that first segment 403 and second segment
405 are all connected to the same side of charging station 200, and the distance of first segment 403 to second segment 405 is the width of charge tunnel 400
Y, wherein y < x, being arranged with this prevents grass trimmer walking by crashing into charging station 200, while best two sections among two sections of lines
Spacing y between line cannot be less than 2/3, y >=2/3*x of the spacing of grass trimmer border sensor 60, that is, prevent on grass trimmer edge
Failure when boundary line recharges power station 200.That is, the width of charge tunnel 400 needs to guarantee when grass trimmer works not
It can reliably be returned when can enter, while return charging.
It is formed in the boundary line of working region 300, the boundary line around a part of charging station 200 has to charging station 200
Have pre-determined distance m, because boundary line 340 formed boundary be it is invisible, the situation that grass trimmer part is located at outside boundary line 340 is also
Allow, under working condition, boundary line 340 issues sideband signal, and border sensor 60 receives sideband signal, and grass trimmer avoids side
Boundary line, and the mode avoided have with it is a variety of, for example first stop, then (backway may along retreating against forward direction straight line
It is zero), to continue to move ahead after then rotating in place an angle again；Or stand fast, it moves in curves along preceding line direction, in robot side
When the direction Xiang Yuyuan reaches random angles, continue directly to move ahead.Especially the latter, it may appear that the feelings being partially located at outside boundary line
Shape, therefore, the distance m close to the boundary line of charging station 200, which needs to meet, is located at the part outside boundary line most greater than grass trimmer
Over long distances.
When grass trimmer detect energy deficiency, that is, send a signal to charging station 200, the signal generator in charging station 200
Boundary line 340 is set to issue the charging signals for being different from sideband signal, grass trimmer returns to charging station 200 along boundary line 340.It is preferred that
, grass trimmer can select the shortest boundary line in path to return charging according to the distance between self-position to charging station 200.
In addition, in order to be routed conveniently, can be used nail 401 help be routed with ensure charge tunnel 400 two sections of lines it
Between spacing y, i.e., there are multiple nails, the length of each nail is equal to the length of y between first segment and second segment.Pass through setting
Nail can be convenient two sections of lines of fixed charge tunnel and guarantee the spacing between two sections of lines.
Such as Fig. 3, currently preferred second embodiment, charging station 200 by working region 300 it is considered that all wrapped
Enclose, charging station 200 is located substantially at the centre of working region 300, by charging station 200 be quadrangle for, boundary line 340 at least about
Three sides in power station 200 are overcharged, the perimeter of the Zhou Changwei charging station for the charging station 200 that preferred boundary line 340 bypasses subtracts
The width y of charge tunnel 400, although the centre of working region 300 is arranged in charging station 200, grass trimmer is based on when work
Sideband signal and avoid boundary line 340, and then avoid charging station 200.In present embodiment, the boundary of charging station 200 is closed on
Line is identical with first embodiment to the distance of charging station 200 and the width setting of charge tunnel 400, and which is not described herein again.
Such as Fig. 4, currently preferred third embodiment, charging station 200 is it is considered that be entirely located in outside working region 300
Side, charge tunnel 400 are located at the outside of the outer profile of working region 300, because of the limitation of the width y of charge tunnel 400, and only
There are boundary line and the charging station 200 of charge tunnel 400 close, grass trimmer will not enter charge tunnel 400 in working condition,
Will not be close to charging station 200, therefore will not collide to the situation of charging station 200.The width setting of charge tunnel is also with the
One embodiment is identical, and which is not described herein again.
Such as Fig. 5, currently preferred 4th embodiment is different from the first embodiment, the both ends of boundary line 340
The adjacent two sides of charging station 200 are connected to, grass trimmer is equally also possible to prevent in working condition and collides charging station 200.
According to above embodiment, charging station part is surrounded by setting boundary line, and form working region to charging
The width of charge tunnel is rationally arranged in the charge tunnel stood, so as to avoid charging station is collided in the grass trimmer course of work, with
Promote the service life of charging station.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of self-movement robot system, including self-movement robot, charging station and define working region and charge tunnel
Non-close boundary line, the self-movement robot have central axes, self-movement robot is divided into two sides, two sides by central axes
Border sensor is respectively set, the charge tunnel connects the charging station and the working region, which is characterized in that the work
Make region and only pass through the charge tunnel to connect with the charging station, wherein y < x, x are between the border sensor of two sides
Distance, y are the width of the charge tunnel, and the border sensor is used to sense the sideband signal or fill that the boundary line issues
Electric signal.
2. self-movement robot system as described in claim 1, which is characterized in that in working condition, the boundary line is issued
The sideband signal, the border sensor receive the sideband signal, and the self-movement robot avoids the boundary line.
3. self-movement robot system as described in claim 1, which is characterized in that in charged state, the boundary line is issued
Different from the charging signals of the sideband signal, the border sensor receives the charging signals, described from moving machine
Device people returns to the charging station along the boundary line.
4. self-movement robot system as described in claim 1, which is characterized in that y >=2/3*x.
5. self-movement robot system as described in claim 1, which is characterized in that the charging station is at least partly described
Working region is surrounded.
6. self-movement robot system as claimed in claim 5, which is characterized in that the charging station is located at the working region
Middle part, the boundary line at least bypasses three sides of the charging station.
7. self-movement robot system as described in claim 1, which is characterized in that the charging station is located at the working region
Except.
8. self-movement robot system as described in claim 1, which is characterized in that the charge tunnel includes being parallel to each other
First segment boundary line and second segment boundary line have multiple nails, institute between the first segment boundary line and second segment boundary line
The length for stating multiple nails is equal to the width of the charge tunnel.
9. self-movement robot system as described in claim 1, which is characterized in that the both ends of the boundary line of the non-close are equal
It is connected to the same side of the charging station,
10. the self-movement robot system as described in claim 1 to 9, which is characterized in that the self-movement robot is to mow
Machine.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910105454.8A CN109765899A (en) | 2019-02-01 | 2019-02-01 | Self-movement robot system |
| PCT/CN2019/115091 WO2020155717A1 (en) | 2019-02-01 | 2019-11-01 | Autonomous mobile robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910105454.8A CN109765899A (en) | 2019-02-01 | 2019-02-01 | Self-movement robot system |
Publications (1)
| Publication Number | Publication Date |
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| CN109765899A true CN109765899A (en) | 2019-05-17 |
Family
ID=66454775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910105454.8A Pending CN109765899A (en) | 2019-02-01 | 2019-02-01 | Self-movement robot system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109765899A (en) |
| WO (1) | WO2020155717A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110162055A (en) * | 2019-05-30 | 2019-08-23 | 苏州科瓴精密机械科技有限公司 | Automatic working system |
| CN111290388A (en) * | 2020-02-25 | 2020-06-16 | 苏州科瓴精密机械科技有限公司 | Path tracking method, system, robot and readable storage medium |
| WO2020155717A1 (en) * | 2019-02-01 | 2020-08-06 | 苏州科瓴精密机械科技有限公司 | Autonomous mobile robot system |
| WO2021082855A1 (en) * | 2019-10-29 | 2021-05-06 | 苏州宝时得电动工具有限公司 | Autonomous robot and movement control method and device therefor, and storage medium |
| WO2021114988A1 (en) * | 2019-12-11 | 2021-06-17 | 苏州宝时得电动工具有限公司 | Autonomous robot and control method therefor, and computer storage medium |
| CN114489034A (en) * | 2020-11-13 | 2022-05-13 | 苏州科瓴精密机械科技有限公司 | Automatic robot charging method and system, robot and storage medium |
| CN114545914A (en) * | 2020-11-24 | 2022-05-27 | 苏州科瓴精密机械科技有限公司 | Self-moving robot charging system and self-moving robot charging method |
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| CN114545914A (en) * | 2020-11-24 | 2022-05-27 | 苏州科瓴精密机械科技有限公司 | Self-moving robot charging system and self-moving robot charging method |
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| Publication number | Publication date |
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| WO2020155717A1 (en) | 2020-08-06 |
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