CN110262500A - The infrared virtual boundary limited for outdoor mobile robot working region - Google Patents
The infrared virtual boundary limited for outdoor mobile robot working region Download PDFInfo
- Publication number
- CN110262500A CN110262500A CN201910566242.XA CN201910566242A CN110262500A CN 110262500 A CN110262500 A CN 110262500A CN 201910566242 A CN201910566242 A CN 201910566242A CN 110262500 A CN110262500 A CN 110262500A
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- infrared
- virtual boundary
- mobile robot
- station
- outdoor mobile
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- 238000012790 confirmation Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/181—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems
- G08B13/183—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems by interruption of a radiation beam or barrier
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This patent discloses the infrared virtual boundaries limited for outdoor mobile robot working region, main wireless transmitter is arranged in outdoor mobile robot, the centre of working region is set, virtual boundary station is arranged in the vertex of working region, the virtual boundary station is arranged from wireless transmitter, infrared transmitter and infrared receiving set, the infrared receiving set at the virtual boundary station on infrared transmitter alignment right side, the infrared transmitter at the virtual boundary station in infrared receiving set alignment left side, it further include the operating mode that two grades of toggle switch are used to be arranged virtual boundary station: MASTER and SLAVE, the course of work includes: (1) outdoor mobile robot transmitter trigger signal, it starts to work；(2) the virtual boundary station of MASTER mode starts infrared virtual boundary；(3) virtual boundary of MASTER mode is to mobile robot launch envelop confirmation signal in the normal situation of signal, and outdoor mobile robot works on, return step 2.
Description
Technical field
The present invention relates to a kind of infrared virtual boundaries limited for outdoor mobile robot working region, belong to moving machine
Device people's control field.
Background technique
Outdoor mobile robot is to complete setting task in an outdoor environment, and working environment is often fixed, but
It is extremely complex, and is dynamic change.For example illumination can be with weather and time change, this comes to imaging sensor imaging belt
Challenge, for another example, distribution of obstacles situation may also dynamic change, personnel walk about, and it is difficult that this to avoidance and environment builds image strip.
In order to guarantee the completion of task, even if under complex environment, it is necessary to realize the identification of working region, guarantee that mobile robot is being advised
Fixed working region work, otherwise may cause danger or damage, such as grass-removing robot, crusing robot.But at present
Visual imaging will receive the influence of ambient lighting, it cannot be guaranteed that obtaining the image for meeting processing requirement；Image recognition technology simultaneously
Also it is difficult to deal with the situation complicated and changeable in actual environment.
Summary of the invention
The purpose of the invention is to the deficiencies in the prior art, propose a kind of for outdoor mobile robot working region limit
Fixed infrared virtual boundary, used technical solution is:
For the infrared virtual boundary that outdoor mobile robot working region limits, the outdoor mobile robot setting
Main wireless transmitter further includes virtual boundary station, the described virtual boundary station setting shell and with the cage connection
Two parts up and down are arranged in ground pin, the shell, and lower part is infrared transmitter, and upper part is infrared receiving set, institute
The infrared receiving set stated can be with Arbitrary Rotation；The top setting solar battery of the infrared receiving set and two grades of dial-ups
Infrared receiver window is arranged in switch, side, the operating mode at two grades of toggle switch setting virtual boundary station:
Infrared transmitting windows are arranged in MASTER and SLAVE, the infrared transmitter side；Setting electricity inside the infrared receiving set
Sub- control device, the processor connecting with two grades of toggle switch is arranged in the electronic control unit, with the place
Slave wireless transmitter, the infrared receiving module, infrared transmission module for managing device connection further include connecting with the solar battery
The charging circuit connect, the rechargeable battery being connect with the charging circuit, the power circuit being connect with the rechargeable battery, institute
The power circuit stated provides power supply for other component；The infrared receiving module is arranged in infrared receiver window, and described is red
The infrared transmitting windows are arranged in outer transmitting module, are connect by conducting slip ring with the processor.
The main wireless transmitter of the outdoor mobile robot and the slave wireless receiving and dispatching at the virtual boundary station fill
It installs in same frequency range, communication can be established.
The centre of working region is arranged in the outdoor mobile robot, and the working region is approximately polygon,
The vertex of the working region is arranged in the virtual boundary station；The infrared transmitter at the virtual boundary station it is infrared
The infrared receiving set at the virtual boundary station on launch window alignment right side, the infrared of infrared receiving set at the virtual boundary station connect
The infrared transmitter at the virtual boundary station in window alignment left side is received, the height at the virtual boundary station is lower than the outdoor shifting
Mobile robot；It is MASTER mode that virtual boundary station described in one of them, which is arranged, be responsible for the infrared virtual boundary of starting and with institute
The outdoor mobile robot stated is communicated, remaining virtual boundary station is set as SLAVE mode, as infrared virtual boundary
Relaying.
The course of work of the infrared virtual boundary includes:
(1), the outdoor mobile robot transmitter trigger signal, and start to work；
(2) the virtual boundary station of the MASTER mode described in emits coded infra-red signals pulse, the void of right side SLAVE mode
After quasi- frontier station receives encoded signal pulse, the virtual boundary station of SLAVE mode emits encoded signal pulse to the right；
(3), after the virtual boundary station of the last MASTER mode receives coded infra-red signals pulse, by described
Slave radio receiving transmitting module to the mobile robot launch envelop confirmation signal.If the outdoor mobile robot knot
Beam work, emits end signal, then the virtual boundary station of the MASTER mode stops working after receiving end signal,
Into standby mode, otherwise the outdoor mobile robot works on, and return step 2.
The outdoor mobile robot does not receive boundary confirmation signal within the set time, then retreats certain distance etc.
It to boundary confirmation signal, if receiving boundary confirmation signal, works on, otherwise stops working into standby mode.
Implementing the positive effect of the present invention is: 1, using solar powered, avoidable laying cable；2, infrared signal interval
Transmitting, can lower power consumption；3, the vertex position only in working region installs equipment, and project amount is small, and forms closed area, limit
The working range of mobile robot is determined.
Detailed description of the invention
Fig. 1 is the outside drawing at virtual boundary station；
Fig. 2 is the functional block diagram of electronic control unit；
Fig. 3 is scheme of installation.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described:
Referring to Fig.1-3, the infrared virtual boundary limited for outdoor mobile robot working region, for limiting outdoor shifting
The working region of mobile robot prevents the outdoor mobile robot beyond working region, and causing can not anticipated consequence.In order to
Realize synchronous and communication, main wireless transmitter is arranged in the outdoor mobile robot.It further include virtual boundary station, for building
The infrared virtual boundary of vertical working region.
The described virtual boundary station setting shell and the ground pin 14 with the cage connection, in the shell setting
Lower two parts, lower part are infrared transmitter 13, and upper part is infrared receiving set 12, and the infrared receiving set 12 can be with
Arbitrary Rotation, it is adjustable to be aligned with the infrared transmitter 13.
The top setting solar battery 2 of the infrared receiving set 12 and two grades of toggle switch 7, side setting is infrared to be connect
Receive window 10.The solar battery 2, which can grab solar energy, is changed to electric energy, provides the energy, can avoid being laid with cable, institute in this way
The operating mode at the virtual boundary station: MASTER and SLAVE is arranged in the two grades of toggle switch 7 stated.
Infrared transmitting windows 11 are arranged in 13 side of infrared transmitter.
Electronic control unit is set inside the infrared receiving set 12, the electronic control unit setting with it is described
The processor 1 of two grades of toggle switch 7 connection, slave wireless transmitter 6, the infrared receiving module being connect with the processor 1
9, infrared transmission module 8 further include the charging circuit 3 connecting with the solar battery 2, are connected with the charging circuit 3
The rechargeable battery 4 connect, the power circuit 5 connecting with the rechargeable battery 4, the power circuit 5 provide for other component
Power supply.The processor 1 carries out centralized control, it is necessary to using the MSP430 system of the microprocessor of low-power consumption, such as TI company
Column microprocessor；The slave wireless transmitter 6 at the virtual boundary station is wirelessly received with the master of the outdoor mobile robot
Transmitting apparatus setting can establish communication in same frequency range, realize that work is synchronous；The rechargeable battery 4 is for storing electric energy, fine day
When charge, supplying power for outside when the cloudy rainy day.
The infrared receiver window 10 is arranged in the infrared receiving module 9, and the infrared transmission module 8 is arranged
In the infrared transmitting windows 11, it is connect by conducting slip ring with the processor 1, even if the infrared receiving set 12
The connection of the infrared transmission module 8 and the processor 1 will not be influenced by carrying out rotation at any angle.
Under operating conditions, the centre of working region, the working region is arranged in the outdoor mobile robot
It is approximately polygon, the vertex of the working region is arranged in the virtual boundary station；The virtual boundary station it is red
The infrared receiving set 12 at the virtual boundary station on the alignment of infrared transmitting windows 11 right side of outer transmitter 13, the virtual boundary station
Infrared receiving set 12 infrared receiver window 10 alignment left side virtual boundary station infrared transmitter 13, in this way, just establish
Using infrared light path as the working region of virtual boundary.The height at the virtual boundary station is lower than the mobile machine in outdoor
People, while it is MASTER mode that the virtual boundary station described in one of them, which is arranged, be responsible for the infrared virtual boundary of starting and with it is described
Outdoor mobile robot communicated, remaining virtual boundary station is set as SLAVE mode, as in infrared virtual boundary
After.
The course of work of the infrared virtual boundary includes:
(1) the outdoor mobile robot transmitter trigger signal described in, and start to work；
Before the outdoor mobile robot is started to work, the virtual boundary station is in standby, can
With power saving, lower power consumption.
(2) the virtual boundary station of the MASTER mode described in emits coded infra-red signals pulse, the void of right side SLAVE mode
After quasi- frontier station receives encoded signal pulse, the virtual boundary station of SLAVE mode emits encoded signal pulse to the right；
Using the virtual boundary station of the MASTER mode as starting point, emits coded infra-red signals pulse, finally return that institute
The virtual boundary station for the MASTER mode stated forms a loop.And coded infra-red signals pulse is also intermittent transmission,
Also reduce power consumption.
(3) after the virtual boundary station of the last MASTER mode receives coded infra-red signals pulse, by described
Slave radio receiving transmitting module to the mobile robot launch envelop confirmation signal.If the outdoor mobile robot knot
Beam work, emits end signal, then the virtual boundary station of the MASTER mode stops working after receiving end signal,
Into standby mode, otherwise the outdoor mobile robot works on, and return step 2.
It, can launch envelop confirmation letter after the virtual boundary station of the MASTER mode receives coded infra-red signals pulse
Number, it notifies the infrared virtual bound state of the mobile robot good, can work normally；Conversely, the outdoor is mobile
Robot does not receive boundary confirmation signal within the set time, then retreats certain distance and wait boundary confirmation signal, if received
It to boundary confirmation signal, then works on, otherwise stops working into standby mode.Such case is usually the moving machine
Device people reaches infrared virtual boundary, has blocked infrared light path, has needed to return to working region, it is also possible to which pet or pedestrian hide
Gear and virtual boundary station damage, such case needs to wait failure or blocks exclusion, then works.
In conclusion infrared virtual boundary is established by the virtual boundary station that working region vertex is arranged in, for outdoor
Mobile robot sets working range, ensure that the safety of task executes, and the program can avoid using solar powered
Be laid with cable, infrared signal at work between intermittent transmission, reduce power consumption to greatest extent.
Claims (5)
1. for the infrared virtual boundary that outdoor mobile robot working region limits, master is arranged in the outdoor mobile robot
Wireless transmitter, it is characterised in that: further include virtual boundary station, the described virtual boundary station setting shell and with it is described outer
Two parts up and down are arranged in the ground pin of shell connection, the shell, and lower part is infrared transmitter, and upper part is infrared connects
Receipts machine, the infrared receiving set can be with Arbitrary Rotations；The infrared receiving set top setting solar battery and
Infrared receiver window, the work at two grades of toggle switch setting virtual boundary station is arranged in two grades of toggle switch, side
Operation mode: infrared transmitting windows are arranged in MASTER and SLAVE, the infrared transmitter side；In the infrared receiving set
Electronic control unit is arranged in portion, and the processor connecting with two grades of toggle switch is arranged in the electronic control unit, with
Slave wireless transmitter, the infrared receiving module, infrared transmission module of the described processor connection further include and the sun
The charging circuit of energy battery connection, the rechargeable battery being connect with the charging circuit, the electricity being connect with the rechargeable battery
Source circuit, the power circuit provide power supply for other component；Described infrared connect is arranged in the infrared receiving module
Window is received, the infrared transmission module is arranged in the infrared transmitting windows, passes through conducting slip ring and the processor
Connection.
2. the infrared virtual boundary according to claim 1 limited for outdoor mobile robot working region, feature
Be: the main wireless transmitter of the outdoor mobile robot and the slave wireless transmitter at the virtual boundary station are arranged
In same frequency range, communication can be established.
3. the infrared virtual boundary according to claim 1 limited for outdoor mobile robot working region, feature
Be: the centre of working region is arranged in the outdoor mobile robot, and the working region is approximately polygon, described
The vertex of the working region is arranged in virtual boundary station；The infrared emission window of the infrared transmitter at the virtual boundary station
The infrared receiving set at the virtual boundary station on mouth alignment right side, the infrared receiver window of the infrared receiving set at the virtual boundary station
It is directed at the infrared transmitter at the virtual boundary station in left side, the height at the virtual boundary station is lower than the mobile machine in outdoor
People；It is MASTER mode that virtual boundary station described in one of them, which is arranged, be responsible for the infrared virtual boundary of starting and with the room
Outer mobile robot is communicated, remaining virtual boundary station is set as SLAVE mode, the relaying as infrared virtual boundary.
4. the infrared virtual boundary according to claim 1 to 3 limited for outdoor mobile robot working region, special
Sign is: the course of work of the infrared virtual boundary includes:
(1), the outdoor mobile robot transmitter trigger signal, and start to work；
(2) the virtual boundary station of the MASTER mode described in emits coded infra-red signals pulse, the fictitious line of right side SLAVE mode
After boundary station receives encoded signal pulse, the virtual boundary station of SLAVE mode emits encoded signal pulse to the right；
(3), after the virtual boundary station of the MASTER mode receives coded infra-red signals pulse, by it is described from
Radio receiving transmitting module is to the mobile robot launch envelop confirmation signal.If the outdoor mobile robot finishes
Work emits end signal, then the virtual boundary station of the MASTER mode stops working after receiving end signal, enters
Standby mode, otherwise the outdoor mobile robot works on, and return step 2.
5. the infrared virtual boundary according to claim 4 limited for outdoor mobile robot working region, feature
Be: the outdoor mobile robot does not receive boundary confirmation signal within the set time, then retreats certain distance and wait side
Boundary's confirmation signal works on if receiving boundary confirmation signal, otherwise stops working into standby mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566242.XA CN110262500A (en) | 2019-06-16 | 2019-06-16 | The infrared virtual boundary limited for outdoor mobile robot working region |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910566242.XA CN110262500A (en) | 2019-06-16 | 2019-06-16 | The infrared virtual boundary limited for outdoor mobile robot working region |
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| CN110262500A true CN110262500A (en) | 2019-09-20 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160291596A1 (en) * | 2015-04-01 | 2016-10-06 | Bobsweep Inc. | System and method for establishing virtual boundaries for robotic devices |
| CN106974592A (en) * | 2016-11-11 | 2017-07-25 | 广东探金电子科技有限公司 | A kind of intelligent floor-mopping robot system |
| CN109462211A (en) * | 2018-01-05 | 2019-03-12 | 国家电网公司 | Protective device and method for power test high-pressure area |
| CN109472959A (en) * | 2018-01-05 | 2019-03-15 | 嘉兴市恒创电力设备有限公司 | Mutually switch the power test high pressure field protective device of realization by multiband |
| CN210270619U (en) * | 2019-06-16 | 2020-04-07 | 宁波祈禧智能科技股份有限公司 | Infrared virtual boundary for outdoor mobile robot work area definition |
-
2019
- 2019-06-16 CN CN201910566242.XA patent/CN110262500A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160291596A1 (en) * | 2015-04-01 | 2016-10-06 | Bobsweep Inc. | System and method for establishing virtual boundaries for robotic devices |
| CN106974592A (en) * | 2016-11-11 | 2017-07-25 | 广东探金电子科技有限公司 | A kind of intelligent floor-mopping robot system |
| CN109462211A (en) * | 2018-01-05 | 2019-03-12 | 国家电网公司 | Protective device and method for power test high-pressure area |
| CN109472959A (en) * | 2018-01-05 | 2019-03-15 | 嘉兴市恒创电力设备有限公司 | Mutually switch the power test high pressure field protective device of realization by multiband |
| CN210270619U (en) * | 2019-06-16 | 2020-04-07 | 宁波祈禧智能科技股份有限公司 | Infrared virtual boundary for outdoor mobile robot work area definition |
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