CN112859837A - Guide mechanism, base station, and robot system - Google Patents
Guide mechanism, base station, and robot system Download PDFInfo
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- CN112859837A CN112859837A CN202011632007.7A CN202011632007A CN112859837A CN 112859837 A CN112859837 A CN 112859837A CN 202011632007 A CN202011632007 A CN 202011632007A CN 112859837 A CN112859837 A CN 112859837A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 230000009471 action Effects 0.000 claims abstract description 12
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 description 15
- 210000001503 joint Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 2
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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
- G05D1/0231—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
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- G05D1/0276—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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Abstract
The embodiment of the application provides a guide mechanism, a base station and a robot system. Wherein, guide mechanism includes: a bracket having a guide channel extending in the first direction; the guide assembly is arranged on the bracket and is provided with a movable end; when the robot travels to the inlet of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force. According to the technical scheme, when the robot navigates to the entrance of the guide channel of the guide mechanism, if the traveling direction of the robot is deviated, the movable end in the guide mechanism can act to provide reverse side thrust for the robot, so that the robot returns to the right direction (i.e. faces to the first direction), and the problem that multiple times of adjustment is needed due to inaccurate positioning in the prior art is solved. In addition, the technical scheme provided by the embodiment of the application has the advantages of simple structure and stable work.
Description
Technical Field
The application relates to the technical field of robots, in particular to a guide mechanism, a base station and a robot system.
Background
The robot automatically returns to charge, automatically adds drainage, cleans and the like and needs to return to the base station for carrying out. The base station may provide corresponding services for the robot, such as charging, adding water, draining, cleaning the mop assembly, dumping ash, etc. After the robot moves to the position near the base station, the robot needs to have more accurate alignment precision.
The existing robot usually adopts a laser navigator to realize navigation and alignment functions. But the accurate positioning direction and position are difficult to achieve, the entering angle and the left and right horizontal deviation need to be adjusted for many times, and the use experience is influenced.
Disclosure of Invention
In view of the problems in the prior art, embodiments of the present application provide a guiding mechanism, a base station, and a robot system.
In one embodiment of the present application, a guide mechanism is provided. The guide mechanism is used for guiding the robot to travel along a first direction, and specifically, the guide mechanism includes:
a bracket having a guide channel extending in the first direction;
the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the inlet of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
In another embodiment of the present application, a base station is provided. The base station includes:
a station body having a parking area where the robot is parked;
a guide mechanism for guiding the robot to travel in a first direction to enter the docking area;
wherein, the guide mechanism comprises a bracket and a guide component; the bracket has a guide channel extending in the first direction; the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the entrance of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
In yet another embodiment of the present application, a robotic system is provided. The robot system comprises a base station and a robot; wherein the base station comprises:
a station body having a parking area where the robot is parked; and
a guide mechanism for guiding the robot to travel in a first direction to enter the docking area;
wherein, the guide mechanism comprises a bracket and a guide component; the bracket has a guide channel extending in the first direction; the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the entrance of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
According to the technical scheme, when the robot navigates to the entrance of the guide channel of the guide mechanism, if the traveling direction of the robot is deviated, the movable end in the guide mechanism can act to provide reverse side thrust for the robot, so that the robot returns to the right direction (i.e. faces to the first direction), and the problem that multiple times of adjustment is needed due to inaccurate positioning in the prior art is solved. In addition, the technical scheme provided by the embodiment of the application has the advantages of simple structure and stable work.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic isometric view of a guide mechanism provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic top view of a guide mechanism provided in an embodiment of the present application;
FIG. 3a is a schematic view of a robot entering a guide channel in a second direction;
fig. 3b is a schematic view of a stage in the process of guiding the robot from the second direction to the first direction by the guiding mechanism;
fig. 3c is a schematic diagram of the robot after being guided to the traveling pose in the first direction by the guide mechanism;
FIG. 3d is a schematic view of the robot entering the guiding channel in a parallel entry manner but biased to the position of the second holder;
FIG. 4 is a schematic structural diagram illustrating one implementation of a guide assembly according to an embodiment of the present application;
FIG. 5 is a schematic view of a connection structure of a torsion spring in the guide assembly according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a first fixing frame with three guide assemblies mounted thereon;
fig. 7 is a schematic structural diagram of a base station according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of the robot shown in fig. 7 after being guided by a guide mechanism of a base station to be docked with the base station.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different components, end portions, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When the existing robot needs to be charged, such as a cleaning robot, a service robot, etc., the existing robot can navigate to a charging seat through a navigation system of the existing robot and adopt an accurate posture to be in butt joint with the charging seat. For a small robot, such as a sweeping robot, the accuracy of the recharge navigation positioning is ideal through a navigation system of the robot. However, for medium and large robots (such as cleaning machines), the backfill navigation positioning of the existing navigation system (such as laser navigation hardware and algorithm) is difficult to achieve high precision. Therefore, the automation of the traditional medium and large robot is difficult to realize.
Therefore, the following embodiments are provided to solve the problems that the conventional navigation system has poor accuracy in recharging navigation and positioning and needs to be adjusted for many times.
A guide mechanism as shown in fig. 1 and 2 may be provided at the entrance of the base station. Specifically, referring to fig. 1 and 2, the guide mechanism may guide the robot to travel in the first direction a. The first direction can be understood as a direction facing the base station inlet, so that the robot can move to the base station in an accurate alignment manner and is in butt joint with the base station conveniently. The guide mechanism comprises a bracket 1 and a guide assembly 2. Wherein the holder 1 has a guide channel 101 extending in said first direction a. The guide assembly 2 is arranged on the support 1 and has a movable end 21. Figures 3a, 3b and 3c show a schematic view of the guiding mechanism during use. When the robot 3 travels to the entrance of the guide channel 101 in the second direction a, the movable end 21 acts to apply a force to the robot 3, so that the robot 3 adaptively adjusts the posture of entering the guide channel 101 under the action of the force.
The movable end of the guiding component 2 may be a retractable acting component, and the acting component may be controlled by a controller to act, for example, the movable end is provided with a sensor, when the sensor senses the contact of the robot, the sensor sends sensing information to the controller, and after receiving the sensing information, the controller sends an action command to the acting component to apply a lateral thrust to the robot, so that the robot turns until the robot is in a traveling posture along the first direction. Alternatively, the guiding assembly 2 in the present embodiment can be implemented by a mechanical structure without the participation of a sensor and a controller, which will be described in detail below.
Referring to fig. 1 to 3b, the present embodiment provides a plurality of guide assemblies 2 in the guide mechanism. For example, the bracket 1 is provided with a plurality of guide assemblies 2, and the guide assemblies 2 are sequentially arranged along the first direction a. As shown in fig. 1 to 2, three guide assemblies 2 are provided on the bracket 1. The three guide assemblies 2 sequentially work to gradually adjust the traveling posture of the robot 3 to the traveling posture toward the first direction a.
In order to reduce the friction between the robot and the movable end of the guide assembly 2 and to avoid scratching the housing of the robot, a roller 22 may be provided at the movable end 21, as shown in fig. 1.
The stand 1 in this embodiment may include a first mount 11 and a second mount 12. The guide channel 101 is arranged between the first fixing frame 11 and the second fixing frame 12; the guide assembly 2 is arranged on the first fixing frame 11, and the guide wheel 13 is arranged on the second fixing frame 12. The guide wheels 13 are arranged on the second fixing frame 12 to reduce friction between the robot and the second fixing frame 12 and prevent the outer shell of the robot from being scratched.
Referring to the embodiment shown in fig. 1 to 2, the first fixing frame 11 may also be provided with a guide wheel 13; the guide wheels 13 are located at the ends of the guide channels 101. Of course, in practical implementation, a plurality of guide wheels 13 may be disposed on the first fixing frame 11 according to actual design requirements; the axle of the downstream guide wheel 13 is offset into the guide channel 101 compared to the upstream guide wheel 13. For example, in the embodiment shown in fig. 2, two guide wheels 13 are provided on the first fixing frame 11. The two guide wheels 13 are arranged in the order of the first direction a in fig. 2, and are located downstream of the three guide assemblies 2. The wheel of the downstream guide wheel 13 (i.e. at the extreme end of the guide channel 101) is offset axially into the guide channel 101 by a distance d compared to the guide wheel 13 at the upstream. The specific value of the offset distance d is not specifically limited in this embodiment, and may be taken according to actual design requirements.
Similarly, the second fixing frame 12 is provided with a plurality of guiding wheels 13, wherein the wheel axle of the guiding wheel at the end of the guiding channel 101 is offset towards the inside of the guiding channel 101. The number of the guide wheels provided on the second holder 12 may be equal to the sum of the number of the guide wheels and the guide members provided on the first holder 11.
The following describes a specific implementation structure of the guide assembly.
In one implementation, as shown in fig. 4, the guide assembly 2 includes a spring 23 and a rotating member 24. One end of the spring 23 is pressed against or connected with the bracket 1. The rotating part 24 is provided with the movable end 21, and the rotating part 24 is rotatably connected with the bracket 1. The other end of the spring 23 is linked with the movable end 21; the robot 3 travels in the second direction to contact the movable end, and by pushing the movable end 21 to rotate the rotating member 24, the spring 23 deforms to generate a reaction force acting on the robot 3 through the movable end 21.
Further, the rotating member 24 includes a rotating lever 241; the rotating shaft 242 of the rotating rod 241 is connected to the bracket 1 through a connecting piece; the movable end 21 is located at an end of the rotating lever 241. Referring to fig. 2, the rotating rod 241 forms an obtuse angle θ with the first direction a. The obtuse angle theta can be 130-170. The connecting piece can be a screw or the like, so that the rotating shaft of the rotating rod is connected to the bracket 1.
For example, in the structure shown in fig. 4, the rotating rod 241 includes a first rod 2411 and a second rod 2412; the first rod 2411 and the second rod 2412 are arranged along the axial direction of the rotating shaft 242; a connecting rib 243 is arranged between the first rod and the second rod 2412 of 2411. Such a first rod 2411 and a second rod 2422 disposed in the axial direction of the rotation shaft 242 may also be referred to as a double-deck rotation lever. The spring 23 may be a torsion spring, and the torsion spring is sleeved on the rotating shaft 242 and located between the first rod 2411 and the second rod 2412; the torsion spring has two protruding ends, a first protruding end 231 and a second protruding end 232; the first protruding end 231 abuts against the bracket 1. The second protruding end 232 is connected to the double-layered rotating rod, and more particularly, the second protruding end 232 may be connected to the connecting rib 243.
Alternatively, two connecting ribs 243 may be disposed between the two layers of rotating rods, which are a first connecting rib 2431 near the rotating shaft 242 and a second connecting rib 2432 far from the rotating shaft 242, respectively, as shown in fig. 4. The first connecting rib 2431 is provided with a groove 200; the other end of the torsion spring passes through the groove on the first connecting rib 2431 to the second connecting rib 2432 and is fixed on the second connecting rib 2432, so that the torsion spring has a pre-tightening force. As shown in fig. 5, a clamping groove 2433 is formed on the second connecting rib 2432; the other end of the torsion spring is bent and clamped into the clamping groove 2433, so that the torsion spring is connected with the second connecting rib 2432. Specifically, the second protruding end 232 of the torsion spring may be an L-shaped protruding end, and during assembly, the short edge of the L-shaped protruding end is clamped on the clamping groove 2433 of the second connecting rib 2432.
It is also necessary to supplement that at the ends of the double-layered turning bars, not shown in fig. 4, there can be rollers, which can be located between the double-layered turning bars and, in the contact position, wear-resistant pads 4 as shown in fig. 4. Fig. 5 shows the roller 22 and illustrates an assembly structure of the second protruding end 232 of the torsion spring.
Referring to fig. 4, the rotating rod 241 is provided with a protruding structure 245; a limiting groove 14 is arranged at a corresponding position on the bracket 1; the protruding structure 245 is located in the limiting groove 14 to limit the rotation angle of the rotation lever 241. The protruding structure 245 may be a hook as shown in fig. 4.
Further, as shown in fig. 4, an avoiding gap is formed on the rotating rod 241. For example, the avoidance gap is arranged on the first rod and the second rod which rotate. The purpose of this avoidance gap arrangement is to avoid structures on adjacent guide assemblies, for example. Of course, the turning lever 241 may not be provided with the escape notch in the case where the installation space allows no interference.
In another way of realisation, the guide assembly 2 comprises an elastic turning bar, which can be made of elastic material, without the corresponding figures in the description. The outer contour structure of the elastic rotating rod can be similar to that of the rotating rod, and the elastic rotating rod is made of elastic materials, has certain elasticity and does not need to be provided with a spring. The elastic rotating rod is rotatably connected to the bracket 1. The resilient turning bar extends from the holder 1 in a third direction c towards the entrance of the guide channel. Referring to fig. 2, the third direction c forms an obtuse angle θ with the first direction a. The obtuse angle theta can be 130-170. Of course, the elastic rotating rod can also be realized by adopting the torsion spring and the double-layer rotating rod structure in the above realization mode.
Fig. 6 shows a schematic structural view of three guide assemblies 2 mounted on the first fixing frame. As can be seen from the structure of the dotted line part in the figure, the second protruding end of the torsion spring bypasses the groove of the first connecting rib to the clamping groove of the second connecting rib and is clamped in the clamping groove. The first extending end of the torsion spring is abutted against the first fixing frame.
In summary, according to the technical scheme provided by the embodiment of the application, the offset error of positioning and navigation can be corrected by using the guide mechanism; and then the auxiliary robot enters the base station by adopting an accurate advancing posture and is in butt joint with the base station. The structure of the elastic rotating rod or the spring and the rotating part in the embodiment can solve the problem that multiple times of adjustment are needed due to inaccurate positioning in the prior art; the roller and the guide wheel can reduce the friction between the robot and the two sides, and are favorable for guiding action.
Referring to fig. 3a to 3c, the working principle of the guiding mechanism provided by the embodiment of the present application is as follows:
after the robot 3 navigates to the entrance of the guiding channel 101, if the robot 3 enters in the second direction b as shown in fig. 3a, the movable end 21 of the double-layer rotating rod at the entrance of the guiding channel 101 is pushed by the robot 3, the double-layer rotating rod rotates counterclockwise along the view angle shown in fig. 3a, the rotating torque of the torsion spring is increased to provide a reverse side thrust to the robot 3, so that the robot 3 is steered to the traveling posture along the fourth direction b' as shown in fig. 3 b. The robot 3 continues to move, the movable end of the double-layer rotating rod arranged at the second position in the sequence in the figure 3b is pushed by the robot 3, the double-layer rotating rod arranged at the second position rotates anticlockwise along the view angle shown in the figure 3b, the rotating torque force of the torsion spring is increased, and reverse side thrust is provided for the robot, so that the robot turns; and then the robot 3 is aligned to the traveling posture along the first direction a by the double-layer rotating rods arranged at the third position in the sequence, as shown in fig. 3 c.
In practical applications, there is a case that when the body of the robot enters in parallel but the left side of the robot is shifted more (as shown in fig. 3 d), the guiding wheels on the second fixing frame 12 are fixed, and the robot receives a side thrust from the second fixing frame 12 so that the robot rotates to the right side due to inertia, thereby achieving the traveling posture shown in fig. 3 a. The subsequent steps are the same as the above-mentioned steps, and are not described in detail here.
Summarizing the technical solutions provided by the embodiments of the present application have the following effects and advantages:
1. the technical scheme provided by the embodiment of the application solves the problem that the recharging positioning of the medium-large cleaning machine is not accurate;
2. the technical scheme provided by the embodiment of the application has the advantages that the structure is simple and stable, and the modular structure is favorable for customizing requirements;
3. the structure of elasticity bull stick or spring and rotating part among the technical scheme that this application embodiment provided utilizes the mode of dialling the direction to guide, has improved the direction and has just returned the precision.
The guiding mechanism provided by the above embodiments may be arranged at the entrance of the base station. The base station can provide various services for the robot, such as charging, cleaning components, dumping ash, storing water, draining sewage and the like. Specifically, as shown in fig. 7 and 8, the base station includes a station body 7 and a guide mechanism 1. The station body 7 has a parking area 71 for the robot 3 to park; the guiding means 1 are used to guide the robot 3 to travel in the first direction a to enter said parking area 71. The guide mechanism comprises a bracket 1 and a guide assembly 2; the bracket 1 has a guide channel extending in the first direction a; the guide assembly 2 is arranged on the bracket 1 and is provided with a movable end; when the robot 3 travels to the entrance of the guide channel along the second direction, the movable end acts to apply a force to the robot 3, so that the robot 3 adaptively adjusts the posture of entering the guide channel under the action of the force.
As shown in the figure, the bracket includes a first fixing frame 11 and a second fixing frame 12, wherein the guide channel is between the first fixing frame 11 and the second fixing frame 12; the guide assembly 2 is arranged on the first fixing frame 11, and the guide wheel is arranged on the second fixing frame 12; the first fixing frame 11 is further provided with a guide wheel, and the guide wheel is located at the tail end of the guide channel.
Here, it should be noted that: the guiding mechanism in this embodiment is implemented by using the structure provided in the above embodiment, and further details about the guiding mechanism are described above and are not described herein again.
In addition, the application also provides a system, namely a robot system. The robot system comprises the base station and the robot. At the entrance of the base station there is a guiding mechanism, the contents of which can be referred to above.
The robot in this embodiment may be a sweeping robot, a sweeping-sweeping integrated robot, a cleaning machine, a service robot (such as a guiding robot in a hotel, a restaurant, a shopping mall, etc.), and the like, which is not particularly limited in this embodiment.
The following description will explain the technical solutions provided in the embodiments of the present application with reference to specific application scenarios.
Scene one
And the cleaning robot cleans the ground in the commercial place according to the planned route. During the cleaning process, the cleaning robot is determined to be in a low-power state or to be grey to be poured through detection, and the cleaning robot moves to the base station according to the navigation path determined by the navigation system. A guide mechanism is arranged at an entrance of the base station, and the cleaning robot positions the traveling direction by using laser navigation hardware and an algorithm of the cleaning robot and then travels according to the positioned traveling direction. When the cleaning robot advances to the entrance of the guide channel, because of the deviation between the robot positioning direction and the guide direction of the guide channel, the cleaning robot can trigger the movable end on the guide mechanism to act, the movable end acts to apply force to the robot, so that the robot can enter the posture of the guide channel through the adjustment of the adaptability under the action of force, so that the cleaning robot can smoothly enter the base station and complete the butt joint with the base station
Scene two
The service robot detects that the service robot is in a low-power state in the working process, and the service robot travels to the base station according to the navigation path determined by the navigation system of the service robot. The entrance of the base station is provided with a guide mechanism. The guide mechanism includes a torsion spring and a rotating member. The service robot positions the traveling direction by using the laser navigation hardware and the algorithm of the service robot, and then travels according to the positioned traveling direction. If the service robot moves to the entrance of the guide channel, the service robot will resist the rotation of the rotating part because of the deviation between the robot positioning direction and the guide direction of the guide channel, the rotating torque of the torsion spring is increased, the reverse thrust is provided for the service robot, and the service robot turns. The service type robot continues to move to the deep position of the guide channel, one or more guide mechanisms arranged behind the service type robot apply lateral thrust to the service type robot continuously until the service type robot returns to the right position, and the service type robot can move to the base station along the first direction after returning to the right position and complete butt joint with the base station, so that charging is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (16)
1. A guide mechanism for guiding a robot to travel in a first direction, the guide mechanism comprising:
a bracket having a guide channel extending in the first direction;
the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the inlet of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
2. The guide mechanism of claim 1, wherein the guide assembly comprises:
one end of the spring is propped against or connected with the bracket;
the rotating part is provided with the movable end and is in rotating connection with the bracket;
the other end of the spring is linked with the movable end; the robot advances along the second direction with the expansion end contact to make through promoting the expansion end makes the rotating member rotates, spring deformation produces through the expansion end acts on the reaction force of robot.
3. The guide mechanism of claim 2, wherein the rotating member comprises a rotating lever;
the rotating shaft of the rotating rod is connected to the bracket through a connecting piece;
the movable end is positioned at the end part of the rotating rod;
the dwang with the contained angle of first direction is the obtuse angle.
4. The guide mechanism of claim 3, wherein the rotating rod is provided with a projecting structure;
a limiting groove is formed in the corresponding position on the bracket;
the extending structure is located in the limiting groove to limit the rotating angle of the rotating rod.
5. The guide mechanism of claim 3, wherein the turning rod comprises a first rod and a second rod;
the first rod and the second rod are arranged along the axial direction of the rotating shaft;
and a connecting rib is arranged between the first rod and the second rod.
6. The guide mechanism of claim 5, wherein the spring is a torsion spring that is sleeved on the rotating shaft between the first rod and the second rod;
the torsion spring is provided with two extending ends which are respectively a first extending end and a second extending end;
the first extending end is abutted against the bracket;
the second protruding end is connected to the connecting rib.
7. The guide mechanism of claim 6, wherein the connecting rib is provided with a slot;
the end part of the second extending end is bent and clamped into the clamping groove, so that connection with the connecting plate is achieved.
8. Guide mechanism according to any one of claims 1 to 7, wherein the movable end is provided with a roller.
9. The guide mechanism as claimed in any one of claims 1 to 7, wherein a plurality of the guide assemblies are provided on the carriage, the plurality of guide assemblies being arranged in series along the first direction.
10. The guide mechanism of any one of claims 1-7, wherein the bracket comprises a first mount and a second mount, wherein,
the guide channel is arranged between the first fixing frame and the second fixing frame;
the first fixing frame is provided with the guide assembly, and the second fixing frame is provided with the guide wheel.
11. The guide mechanism of claim 10, wherein the first mount is provided with a guide wheel;
the guide wheel is located at the end of the guide channel.
12. The guide mechanism of claim 10, wherein the first mount has a plurality of guide wheels thereon;
the axle of the downstream guide wheel is offset into the guide channel compared to the upstream guide wheel.
13. The guide mechanism of claim 11, wherein the second fixture has a plurality of guide wheels, wherein the guide wheels at the ends of the guide channels have their axles offset into the guide channels.
14. A base station, comprising:
a station body having a parking area for the robot to park;
a guide mechanism for guiding the robot to travel in a first direction to enter the docking area;
wherein, the guide mechanism comprises a bracket and a guide component; the bracket has a guide channel extending in the first direction; the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the entrance of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
15. The base station of claim 14, wherein the support comprises a first mount and a second mount, wherein,
the guide channel is arranged between the first fixing frame and the second fixing frame;
the first fixing frame is provided with the guide assembly, and the second fixing frame is provided with a guide wheel;
the first fixing frame is further provided with a guide wheel, and the guide wheel is located at the tail end of the guide channel.
16. A robot system is characterized by comprising a base station and a robot; wherein the base station comprises:
a station body having a parking area where the robot is parked; and
a guide mechanism for guiding the robot to travel in a first direction to enter the docking area;
wherein, the guide mechanism comprises a bracket and a guide component; the bracket has a guide channel extending in the first direction; the guide assembly is arranged on the bracket and is provided with a movable end;
when the robot travels to the entrance of the guide channel along the second direction, the movable end acts to apply force to the robot, so that the robot can adaptively adjust the posture of entering the guide channel under the action of the force.
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