CN110320909A - It is a kind of can identification work zone boundary and direction dual-beam virtual fence - Google Patents
It is a kind of can identification work zone boundary and direction dual-beam virtual fence Download PDFInfo
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- CN110320909A CN110320909A CN201910566244.9A CN201910566244A CN110320909A CN 110320909 A CN110320909 A CN 110320909A CN 201910566244 A CN201910566244 A CN 201910566244A CN 110320909 A CN110320909 A CN 110320909A
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- 238000012790 confirmation Methods 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000005611 electricity Effects 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims 1
- 230000003287 optical effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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- 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
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Open one kind can identification work zone boundary and direction dual-beam virtual fence, main wireless transmitter is arranged in outdoor mobile robot, virtual boundary station is arranged in working region vertex, virtual boundary station is arranged from wireless transmitter, infrared transmitter and infrared receiving set, the infrared receiving set at infrared transmitter alignment right side virtual boundary station, the infrared transmitter at infrared receiving set alignment left side virtual boundary station, it further include two grades of toggle switch for operating mode to be arranged: MASTER and SLAVE, the course of work includes: 1, the transmitting first at MASTER virtual boundary station encodes infrared pulse signal, the forwarding of right side SLAVE virtual boundary station；2, MASTER virtual boundary station sends the first boundary confirmation signal after receiving the first coding infrared pulse signal；3, the transmitting second at MASTER virtual boundary station encodes infrared pulse signal, the forwarding of right side SLAVE virtual boundary station；4, MASTER virtual boundary station sends the second boundary confirmation signal after receiving the second coding infrared pulse signal.
Description
Technical field
The present invention relates to it is a kind of can identification work zone boundary and direction dual-beam virtual fence, belong to mobile robot
Control field.
Background technique
The working region of outdoor mobile robot identifies, and is primarily present several ways at present: 1, burying metallic cable, and lead to
Electricity, by magnetic direction come identification work region.Which can effective identification work region, but when ambient boundary is complicated or
In the case that person's area is very big, project amount and cost can all be sharply increased.2, ground carries out color identifier, for example paints, then
It is analyzed and processed using imaging sensor acquisition ground image information, identifies boundary.This mode needs to substantially change work
Environment appearance cannot accept extensively, and periodic maintenance is needed to identify.3, RFID is identified.This mode can only local settings, no
Mark entire scope can be formed.In order to guarantee that robot completes setting task in an outdoor environment, it is necessary to realize working region
Identification guarantees that robot works in defined working region, otherwise may cause danger or damage.
Summary of the invention
The purpose of the invention is to the deficiencies in the prior art, propose it is a kind of can identification work zone boundary and direction it is double
Light beam virtual fence, used technical solution is:
It is a kind of can identification work zone boundary and direction dual-beam virtual fence, the described 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
Switch, the operating mode at two grades of toggle switch setting virtual boundary station: MASTER and SLAVE, described is red
The first infrared receiver window and the second infrared receiver window, the infrared transmitter side is arranged in the side interval of outer receiver
Interval the first infrared transmitting windows of setting and the second infrared transmitting windows；Setting electronic control dress inside the infrared receiving set
It sets, the processor connecting with two grades of toggle switch is arranged in the electronic control unit, connect with the processor
Slave wireless transmitter, the first infrared receiving module of the first infrared receiver window is set, be arranged in described
The first infrared emission of first infrared transmitting windows is arranged in second infrared receiving module of the second infrared receiver window
The second infrared transmission module of second infrared transmitting windows is arranged in module, further includes and the solar battery
The charging circuit of connection, the rechargeable battery connecting with the charging circuit, the rechargeable battery provide electricity for other component
Source；First infrared transmission module and the second infrared transmission module is connect by conducting slip ring with the processor.
Working region is approximately polygon, and the vertex of working region is arranged in the virtual boundary station；Described is virtual
The first infrared receiver window at the virtual boundary station on the first infrared transmitting windows alignment right side of the infrared transmitter of frontier station, institute
The second of the virtual boundary station on the second infrared transmitting windows alignment right side of the infrared transmitter at the virtual boundary station stated is infrared to be connect
Receive window；First infrared receiver window of the infrared receiving set at the virtual boundary station is directed at the red of the virtual boundary station in left side
First infrared transmitting windows of outer transmitter, the second infrared receiver window alignment of the infrared receiving set at the virtual boundary station
Second infrared transmitting windows of the infrared transmitter at the virtual boundary station in left side；The height at the virtual boundary station is lower than described
Outdoor mobile robot；The virtual boundary station being arranged described in one of them is MASTER mode, remaining virtual boundary station is set
It is set to SLAVE mode.
The course of work of the dual-beam virtual fence includes:
First infrared transmission module transmitting, first coding at the virtual boundary station of (3-1), the MASTER mode is infrared
Pulse signal, after first infrared receiving module at the virtual boundary station of right side SLAVE mode receives the first coded pulse signal,
The virtual boundary station of SLAVE mode emits the first coded pulse signal to the right again；
First infrared receiving module at the virtual boundary station of (3-2), the last MASTER mode receives the first coding
After infrared pulse signal, the first boundary confirmation letter is sent from radio receiving transmitting module to the mobile robot by described
Number, otherwise send the first boundary alarm signal；
Second infrared transmission module transmitting, second coding at the virtual boundary station of (3-3), the MASTER mode is infrared
Pulse signal, after second infrared receiving module at the virtual boundary station of right side SLAVE mode receives the second coded pulse signal,
The virtual boundary station of SLAVE mode emits the second coded pulse signal to the right again；
(3-4), the second infrared receiving module that the virtual boundary station of the last MASTER mode connects receive the second volume
After code infrared pulse signal, the second boundary confirmation letter is sent from radio receiving transmitting module to the mobile robot by described
Number, otherwise send the second boundary alarm signal.
The outdoor mobile robot receives the first boundary alarm signal during the work time, then stops working, and after
Certain distance waiting is moved back, the first boundary confirmation signal is received and works on later.
If the outdoor mobile robot receives the first boundary alarm signal and the second boundary alarm signal simultaneously, hold
Row following steps:
(5-1), certain distance is travelled rearwardly, if receiving to obtain the second boundary confirmation signal, keeps the original direction of motion
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, forward
Origin-location is returned to, step 5-2 is executed；
(5-2), certain distance of advancing forward keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, backward
Origin-location is returned to, step 5-3 is executed；
(5-3), certain distance of advancing to the left keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, to the right
Origin-location is returned to, step 5-4 is executed；
(5-4), certain distance of advancing to the right keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, stop
It works and shows fault message.
If the outdoor mobile robot receives the second boundary alarm signal during the work time, stop working simultaneously
Show fault message.
Implementing the positive effect of the present invention is: 1, carrying out working region mark using infrared light, do not influence environment, and only
Several vertex position installation equipment are needed, project amount and cost all substantially reduce；2, virtual fence is arranged using dual-beam, not only
It can also can indicate that working region direction with identification work zone boundary, provide necessity for mobile robot path planning
Information.
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, it is a kind of can identification work zone boundary and direction dual-beam virtual fence, for identifying and indicating
The working region of outdoor mobile robot prevents the outdoor mobile robot beyond working region, cause it is not expectable after
Fruit.In order to realize synchronous and communication, it further includes virtual boundary that main wireless transmitter, which is arranged, in the outdoor mobile robot
It stands, for establishing the dual-beam virtual fence of working region.
The described virtual boundary station setting shell and the ground pin 17 with the cage connection, in the shell setting
Lower two parts, lower part are infrared transmitter 12, and upper part is infrared receiving set 11, and the infrared receiving set 11 can be with
Arbitrary Rotation, it is adjustable to be aligned with the infrared transmitter 12 at other virtual boundary stations.
The top setting solar battery 2 of the infrared receiving set 11 and two grades of toggle switch 7.The solar-electricity
Solar energy can be grabbed and be changed to electric energy by pond 2, provide the energy, can avoid being laid with cable in this way, institute is arranged in two grades of toggle switch 7
The operating mode at the virtual boundary station stated: MASTER and SLAVE.
The first infrared receiver window 13 and the second infrared receiver window is arranged in the side interval of the infrared receiving set 11
14, the first infrared transmitting windows 15 and the second infrared transmitting windows 16 are arranged in the 12 side interval of infrared transmitter.
Electronic control unit is set inside the infrared receiving set 11, the electronic control unit setting with it is described
Two grades of toggle switch 7 connection processor 1, the slave wireless transmitter 6 being connect with the processor 1, be arranged in it is described
First infrared receiving module 9 of the first infrared receiver window 13, second that the second infrared receiver window 14 is arranged in are red
The first infrared transmission module 8 of first infrared transmitting windows 15 is arranged in outer receiving module 10, and described is arranged in
Second infrared transmission module 5 of two infrared transmitting windows 16 further includes the charging circuit 3 connecting with the solar battery 2,
The rechargeable battery 4 connecting with the charging circuit 3, the rechargeable battery 4 provide power supply for other component；Described first
Infrared transmission module 8 and the second infrared transmission module 5 are connect by conducting slip ring with the processor 1, even if described is red
Outer receiver 11, which carries out rotation at any angle, will not influence first infrared transmission module 8 and the second infrared emission mould
The connection of block 5 and the processor 1.Transmitting can be used in first infrared transmission module 8 and the second infrared transmission module 5
The higher Infrared laser emission device of power, and in conjunction with the first infrared receiver window 13 and the second infrared receiver window 14
Optical concentration lens, point light source can be formed.The processor 1 carries out centralized control, it is necessary to using the micro process of low-power consumption
Device, such as the MSP430 series microprocessor of TI company；The slave wireless transmitter 6 at the virtual boundary station and the room
The main wireless transmitter setting of outer mobile robot can establish communication in same frequency range, realize that work is synchronous；The charging
Battery 4 for storing electric energy, charge by fine day when, supplying power for outside when the cloudy rainy day.
Under operating conditions, the centre of working region is arranged in the outdoor mobile robot, and working region is approximately
The vertex of working region is arranged in polygon, the virtual boundary station；The infrared transmitter 12 at the virtual boundary station
The first infrared receiver window 13 at the virtual boundary station on the first infrared transmitting windows 15 alignment right side, the virtual boundary station
The second infrared receiver window 14 at the virtual boundary station on the second infrared transmitting windows 16 alignment right side of infrared transmitter 12；It is described
Virtual boundary station infrared receiving set 11 the first infrared receiver window 13 alignment left side virtual boundary station infrared emission
Second infrared receiver window 14 of the first infrared transmitting windows 15 of machine 12, the infrared receiving set 11 at the virtual boundary station is right
Second infrared transmitting windows 16 of the infrared transmitter 12 at the virtual boundary station in quasi- left side, thus establish with two beam infrared lights
Road is the working region of virtual boundary.The height at the virtual boundary station is lower than the outdoor mobile robot, sets simultaneously
The virtual boundary station set described in one of them is MASTER mode, remaining virtual boundary station is set as SLAVE mode, as two
The relaying of beam infrared light path.
The course of work of the dual-beam virtual fence includes:
First infrared transmission module 8 transmitting, first coding at the virtual boundary station of (3-1), the MASTER mode is infrared
Pulse signal, first infrared receiving module 9 at the virtual boundary station of right side SLAVE mode receive the first coded pulse signal with
Afterwards, then to the right the virtual boundary station of SLAVE mode emits the first coded pulse signal；
First infrared receiving module 9 at the virtual boundary station of (3-2), the last MASTER mode receives the first coding
After infrared pulse signal, the first boundary confirmation letter is sent from radio receiving transmitting module to the mobile robot by described
Number, otherwise send the first boundary alarm signal；
In step 3-1 and 3-2, using the virtual boundary station of the MASTER mode as starting point, the first coding of transmitting is red
Outer pulse signal finally returns that the virtual boundary station of the MASTER mode, forms first closed optical path, for pair
The inside of light beam virtual fence.
Second infrared transmission module 5 transmitting, second coding at the virtual boundary station of (3-3), the MASTER mode is infrared
Pulse signal, second infrared receiving module 10 at the virtual boundary station of right side SLAVE mode receive the second coded pulse signal with
Afterwards, then to the right the virtual boundary station of SLAVE mode emits the second coded pulse signal；
(3-4), the second infrared receiving module 10 that the virtual boundary station of the last MASTER mode connects receive second
After encoding infrared pulse signal, the second boundary confirmation is sent from radio receiving transmitting module to the mobile robot by described
Otherwise signal sends the second boundary alarm signal.
In step 3-3 and 3-4, using the virtual boundary station of the MASTER mode as starting point, the second coding of transmitting is red
Outer pulse signal finally returns that the virtual boundary station of the MASTER mode, forms second closed optical path, for pair
The outside of light beam virtual fence.
The outdoor mobile robot during the work time, if can be stopped into the borderline region of working region
One closed optical path or second closed optical path cause the virtual boundary station of the MASTER mode to issue the alarm of the first boundary
Signal or the second boundary alarm signal.
When the outdoor mobile robot receives the first boundary alarm signal, such case is the outdoor moving machine
Device people encounters the inside of the dual-beam virtual fence, then stops working, and retreats certain distance waiting, receives the first boundary
Confirmation signal works on later.
If the outdoor mobile robot receives the first boundary alarm signal and the second boundary alarm signal simultaneously, this
Kind situation is that the outdoor mobile robot enters the dual-beam virtual fence, then executes following steps:
(5-1), certain distance is travelled rearwardly, if receiving to obtain the second boundary confirmation signal, keeps the original direction of motion
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, forward
Origin-location is returned to, step 5-2 is executed；
(5-2), certain distance of advancing forward keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, backward
Origin-location is returned to, step 5-3 is executed；
(5-3), certain distance of advancing to the left keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, to the right
Origin-location is returned to, step 5-4 is executed；
(5-4), certain distance of advancing to the right keeps the original direction of motion if receiving to obtain the second boundary confirmation signal
Until receiving the first boundary confirmation signal, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, stop
It works and shows fault message.
In step 5-1 into 5-4, the outdoor mobile robot backward, preceding, left and right sound out, job search region
Direction, can also increase it is left front, right before, left back, left front direction.
If the outdoor mobile robot receives the second boundary alarm signal during the work time, stop working simultaneously
Show fault message.Such case is that the outdoor mobile robot has been in the outer of the dual-beam virtual fence
Side only theoretically exists, for example artificially moves the outdoor mobile robot, so only stopping working and showing failure
Information.
In conclusion dual-beam virtual fence is established by the virtual boundary station that working region vertex is arranged in, for outdoor
Mobile robot sets working range, and the direction in identification work region, ensure that the safety of task executes, and when outdoor
Mobile robot enters borderline region, provides the information of path planning.
Claims (6)
1. one kind can identification work zone boundary and direction dual-beam virtual fence, master is arranged in the outdoor mobile robot
Wireless transmitter further includes virtual boundary station, the virtual boundary station setting shell and the ground with the cage connection
Two parts up and down are arranged in pin, the shell, and lower part is infrared transmitter, and upper part is infrared receiving set, described
Infrared receiving set can be with Arbitrary Rotation, the top setting solar battery of the infrared receiving set and two grades of dial-ups be opened
It closes, the operating mode at two grades of toggle switch setting virtual boundary station: MASTER and SLAVE, it is characterised in that:
The first infrared receiver window and the second infrared receiver window, the infrared hair is arranged in the side interval of the infrared receiving set
It penetrates pusher side face interval and the first infrared transmitting windows and the second infrared transmitting windows is set；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
The slave wireless transmitter of reason device connection, the first infrared receiving module that the first infrared receiver window is set, setting
In the second infrared receiving module of the second infrared receiver window, the first of first infrared transmitting windows is set
The second infrared transmission module of second infrared transmitting windows is arranged in infrared transmission module, further include with it is described too
The charging circuit of positive energy battery connection, the rechargeable battery connecting with the charging circuit, the rechargeable battery are other portions
Part provides power supply；First infrared transmission module and the second infrared transmission module passes through conducting slip ring and the processor
Connection.
2. one kind according to claim 1 can identification work zone boundary and direction dual-beam virtual fence, feature
Be: working region is approximately polygon, and the vertex of working region is arranged in the virtual boundary station；The virtual boundary station
Infrared transmitter the first infrared transmitting windows alignment right side virtual boundary station the first infrared receiver window, the void
The second infrared receiver window at the virtual boundary station on the second infrared transmitting windows alignment right side of the infrared transmitter of quasi- frontier station；
The infrared emission at the virtual boundary station in the first infrared receiver window alignment left side of the infrared receiving set at the virtual boundary station
First infrared transmitting windows of machine, the second infrared receiver window alignment left side of the infrared receiving set at the virtual boundary station
Second infrared transmitting windows of the infrared transmitter at virtual boundary station；The height at the virtual boundary station is lower than the outdoor
Mobile robot；The virtual boundary station being arranged described in one of them is MASTER mode, remaining virtual boundary station is set as
SLAVE mode.
3. one kind according to claim 1 to 2 can identification work zone boundary and direction dual-beam virtual fence, it is special
Sign is: the course of work of the dual-beam virtual fence includes:
First infrared transmission module transmitting the first coding infrared pulse at the virtual boundary station of (3-1), the MASTER mode
Signal, after first infrared receiving module at the virtual boundary station of right side SLAVE mode receives the first coded pulse signal, then to
The virtual boundary station of right side SLAVE mode emits the first coded pulse signal；
(3-2), finally, first infrared receiving module at the virtual boundary station of the MASTER mode to receive the first coding infrared
After pulse signal, the first boundary confirmation signal is sent from radio receiving transmitting module to the mobile robot by described, it is no
Then send the first boundary alarm signal；
Second infrared transmission module transmitting the second coding infrared pulse at the virtual boundary station of (3-3), the MASTER mode
Signal, after second infrared receiving module at the virtual boundary station of right side SLAVE mode receives the second coded pulse signal, then to
The virtual boundary station of right side SLAVE mode emits the second coded pulse signal；
It is red that the second infrared receiving module that the virtual boundary station of (3-4), the last MASTER mode connects receives the second coding
After outer pulse signal, the second boundary confirmation signal is sent from radio receiving transmitting module to the mobile robot by described,
Otherwise the second boundary alarm signal is sent.
4. one kind according to claim 1 to 3 can identification work zone boundary and direction dual-beam virtual fence, it is special
Sign is: the outdoor mobile robot receives the first boundary alarm signal during the work time, then stops working, and retreats one
Set a distance waits, and receives the first boundary confirmation signal and works on later.
5. one kind according to claim 1 to 3 can identification work zone boundary and direction dual-beam virtual fence, it is special
Sign is: if the outdoor mobile robot while receiving the first boundary alarm signal and the second boundary alarm signal, executing
Following steps:
(5-1), travel rearwardly certain distance, if receiving to obtain the second boundary confirmation signal, keep the original direction of motion until
The first boundary confirmation signal is received, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, return forward
Origin-location executes step 5-2；
(5-2), certain distance of advancing forward, if receiving to obtain the second boundary confirmation signal, keep the original direction of motion until
The first boundary confirmation signal is received, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, return backward
Origin-location executes step 5-3；
(5-3), certain distance of advancing to the left, if receiving to obtain the second boundary confirmation signal, keep the original direction of motion until
The first boundary confirmation signal is received, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, return to the right
Origin-location executes step 5-4；
(5-4), certain distance of advancing to the right, if receiving to obtain the second boundary confirmation signal, keep the original direction of motion until
The first boundary confirmation signal is received, work is then proceeded by；If the second boundary confirmation signal cannot be received to obtain, stop working
And show fault message.
6. one kind according to claim 1 to 3 can identification work zone boundary and direction dual-beam virtual fence, it is special
Sign is: if the outdoor mobile robot receives the second boundary alarm signal during the work time, stopping working and shows
Show fault message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566244.9A CN110320909A (en) | 2019-06-16 | 2019-06-16 | It is a kind of can identification work zone boundary and direction dual-beam virtual fence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566244.9A CN110320909A (en) | 2019-06-16 | 2019-06-16 | It is a kind of can identification work zone boundary and direction dual-beam virtual fence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110320909A true CN110320909A (en) | 2019-10-11 |
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ID=68121268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910566244.9A Pending CN110320909A (en) | 2019-06-16 | 2019-06-16 | It is a kind of can identification work zone boundary and direction dual-beam virtual fence |
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| CN (1) | CN110320909A (en) |
Citations (2)
| 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 |
| CN109462211A (en) * | 2018-01-05 | 2019-03-12 | 国家电网公司 | Protective device and method for power test high-pressure area |
-
2019
- 2019-06-16 CN CN201910566244.9A patent/CN110320909A/en active Pending
Patent Citations (2)
| 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 |
| CN109462211A (en) * | 2018-01-05 | 2019-03-12 | 国家电网公司 | Protective device and method for power test high-pressure area |
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