CN115399684A - Mobile robot, base station and system of mobile robot - Google Patents
Mobile robot, base station and system of mobile robot Download PDFInfo
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- CN115399684A CN115399684A CN202110593008.3A CN202110593008A CN115399684A CN 115399684 A CN115399684 A CN 115399684A CN 202110593008 A CN202110593008 A CN 202110593008A CN 115399684 A CN115399684 A CN 115399684A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention provides a mobile robot, a base station and a system of the mobile robot, wherein the base station comprises a base station body, a first signal emitter and a convex lens, wherein the first signal emitter and the convex lens are arranged on the base station body; the first signal emitter emits a guide signal towards a first direction outside the body to guide the mobile robot to return to the base station, and the first signal emitter is provided with a signal emission source. Because convex lens are located first signal transmitter is towards one side of first direction to make guide signal assemble, consequently, after first signal transmitter launches guide signal, through convex lens refraction, can make guide signal assemble, guide signal coverage after assembling is narrower than before not adding convex lens, after mobile robot receives the guide signal after assembling, can move to the basic station in narrower within range, make mobile robot gesture adjustment range less in narrower signal coverage, easily realize the accurate butt joint with the basic station.
Description
Technical Field
The embodiment of the invention relates to the technical field of mobile robots, in particular to a mobile robot, a base station and a system of the mobile robot.
Background
With the technological progress and the improvement of living standards, mobile robots with different functions increasingly enter families of people, such as cleaning robots, accompanying mobile robots and the like, so that the life of people is more comfortable and convenient.
The mobile robot refers to a smart device that autonomously performs a preset task in a set work area, and currently, the mobile robot generally includes, but is not limited to, a cleaning robot (e.g., a smart sweeper, a smart floor cleaner, a window cleaning robot), a companion mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial patrol smart device (e.g., a power patrol robot, a smart forklift, etc.), a security robot (e.g., a home or commercial smart guard robot), and the like.
The mobile robot works by depending on a battery of the mobile robot, the electric quantity of the mobile robot is reduced after the mobile robot works for a period of time, and the mobile robot needs to automatically move to a base station for charging; for some cleaning robots, a base station can charge the mobile robot, and an emptying station is also arranged for sucking dust and garbage in a dust box of the cleaning robot into the emptying station through a vacuum system when the cleaning robot is charged, so that the frequency of cleaning the dust box by a user is reduced; for some floor mopping robots, the base station can also be provided with a device for automatically cleaning the mop cloth, so that the mop cloth of the floor mopping robot is automatically cleaned, and the labor amount of a user for cleaning the mop cloth is reduced. Generally, the base station may continuously send out a guiding signal after being powered on, and the receiver of the mobile robot returns to the base station under the guidance of the guiding signal after receiving the guiding signal.
However, in the prior art, the coverage area of the pilot signal is usually a conical or sector area centered on the base station, and the farther away from the base station, the larger the range in which the pilot signal can be received; when the mobile robot needs to return to the base station, if the mobile robot is far away from the base station, the mobile robot can receive the guide signal in a wide range, the coverage area of the guide signal is rapidly narrowed in the process of approaching the base station, and when the mobile robot approaches the base station, the contact point of the mobile robot and the base station is inaccurate due to the fact that no space is adjusted, so that the mobile robot cannot be successfully docked with the base station.
Disclosure of Invention
The embodiment of the invention provides a mobile robot, a base station of the mobile robot and a system of the mobile robot, and aims to solve the problem that in the prior art, due to guidance signal divergence, the butt joint of the mobile robot and the base station is not accurate, and the butt joint of the mobile robot and the base station fails.
A first aspect of an embodiment of the present invention provides a base station of a mobile robot, including:
the base station comprises a base station body, a first signal transmitter and a convex lens, wherein the first signal transmitter and the convex lens are arranged on the base station body;
the first signal emitter emits a guide signal towards a first direction out of the body so as to guide the mobile robot to return to the base station;
the first signal transmitter has a signal transmission source;
the convex lens is positioned on one side of the first signal emitter facing to the first direction and enables the guide signals to converge.
Optionally, the signal emission source is located at a focal point of the convex lens;
the convex lens refracts the pilot signal emitted by the first signal emitter into a parallel pilot signal.
Optionally, the base station is a charging pile, an emptying station, a power exchanging station and/or an automatic cleaning device.
A second aspect of an embodiment of the present invention provides a mobile robot including a motion unit and a receiver;
the motion unit is used for driving the mobile robot to operate;
the receiver is configured to receive a pilot signal transmitted by the base station according to the first aspect of the embodiment of the present invention; and back to the base station under the direction of the pilot signal.
Optionally, the receiver is at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
A third aspect of an embodiment of the present invention provides a mobile robot system including: a base station and a mobile robot;
the base station comprises a base station body, a first signal transmitter and a convex lens, wherein the first signal transmitter and the convex lens are arranged on the base station body; the first signal emitter emits a guide signal towards a first direction out of the body so as to guide the mobile robot to return to the base station; the first signal transmitter has a signal transmission source; the convex lens is positioned on one side of the first signal transmitter facing to the first direction and enables the guide signals to converge;
the mobile robot comprises a motion unit and a receiver; the motion unit is used for driving the mobile robot to operate; the receiver is used for receiving a pilot signal transmitted by the base station; and back to the base station under the direction of the pilot signal.
Optionally, the signal emission source is located at a focal point of the convex lens;
the convex lens arranged on the base station refracts the guide signal emitted by the first signal emitter into a parallel guide signal.
Optionally, the receiver is at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
The embodiment of the invention provides a mobile robot, a base station and a system of the mobile robot, wherein the base station comprises a base station body, a first signal emitter and a convex lens, wherein the first signal emitter and the convex lens are arranged on the base station body; the first signal emitter emits a guide signal towards a first direction outside the body to guide the mobile robot to return to the base station, and the first signal emitter is provided with a signal emission source. Because the convex lens is positioned on one side of the first signal transmitter facing the first direction and enables the guide signal to converge, after the first signal transmitter transmits the guide signal, the guide signal can be converged through refraction of the convex lens, the coverage range of the converged guide signal is narrower than that of the guide signal when the convex lens is not added, and after the mobile robot receives the converged guide signal at a position far away from the base station, the mobile robot can operate towards the base station in a narrow range from a position far away from the base station, so that the mobile robot has enough distance to adjust the operation direction of the mobile robot, and accurate butt joint with the base station is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a pilot signal coverage in the prior art;
fig. 2a is a schematic structural diagram of a base station of a mobile robot according to an exemplary embodiment of the present invention;
FIG. 2b is a schematic optical path diagram of a signal transmitter of a base station in accordance with an exemplary embodiment of the present invention;
fig. 3a is a schematic view illustrating a coverage area of a pilot signal transmitted by a base station according to an exemplary embodiment of the present invention;
FIG. 3b is a schematic optical path diagram of a signal transmitter of a base station in accordance with an exemplary embodiment of the present invention;
FIG. 3c is a schematic optical path diagram of a signal transmitter of a base station in accordance with an exemplary embodiment of the present invention;
FIG. 4a is a schematic diagram illustrating the operation of a mobile robot to a base station in accordance with an exemplary embodiment of the present invention;
FIG. 4b is a schematic diagram illustrating the operation of a mobile robot to a base station in accordance with another exemplary embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a coverage area of a pilot signal transmitted by a base station in accordance with an exemplary embodiment of the present invention;
fig. 6 is a schematic structural view of a mobile robot according to an exemplary embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mobile robot system according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With the technological progress and the improvement of living standards, mobile robots with different functions increasingly enter families of people, such as cleaning robots, accompanying mobile robots and the like, so that the lives of people are more comfortable and convenient. The base station is a necessary auxiliary equipment for current mobile robots, as the mobile robot needs to run onto the base station for charging, emptying of refuse (for some cleaning robots) and/or cleaning of mops (for some floor mopping robots) for normal use of the mobile robot. Generally, the base station may continuously send out a guiding signal (e.g., an infrared guiding signal) after being powered on, and the receiver of the mobile robot returns to the base station under the guidance of the guiding signal after receiving the guiding signal. The pilot signal has various forms and shapes, and the directional pilot signal which is emitted from the front of the base station near the horizontal center and is perpendicular to the front of the base station is generally referred to as a Z signal, as shown in fig. 2a and 3 a. In practical applications, the coverage area of the guiding signal is usually a conical or fan-shaped area centered on the base station, as shown in fig. 1, so the farther the mobile robot is from the base station, the larger the range or width of the guiding signal can be received; when the mobile robot needs to return to the base station, if the mobile robot is far away from the base station, the mobile robot can receive the guide signal in a wide range, so that the range of adjusting the running direction of the mobile robot is large when the mobile robot is far away from the base station, and when the mobile robot is close to the base station, because the coverage area of the guide signal is narrowed, the space for adjusting the posture of the mobile robot is reduced, for example, when the mobile robot in fig. 1 runs to a position P1 and is close to the base station, there is not enough space to adjust the docking interface of the mobile robot to be difficult to align with the base station, and the posture cannot be adjusted in time, so that the docking of the mobile robot and the base station is inaccurate, and the docking failure of the mobile robot and the base station is caused.
Fig. 2a is a schematic diagram illustrating a structure of a base station according to an exemplary embodiment of the present invention; fig. 2b is a schematic optical path diagram of the signal transmitter of the base station shown in this embodiment.
As shown in fig. 2a and 2b, in the present embodiment, a convex lens 23 is additionally arranged on a base station 21 of a mobile robot, a signal emission source O of a first signal emitter 22 installed on the base station 21 emits a guidance signal in a first direction L outside a base station body, the convex lens 23 is arranged on one side of the first signal emitter facing the first direction L, so that the guidance signal emitted by the first signal emitter 22 can be converged after being refracted by the convex lens, and the coverage area of the guidance signal, that is, the range of the guidance signal received by a receiver, is reduced.
In this embodiment, because the convex lens is located on one side of the first signal emitter facing the first direction, and the guiding signal is converged, after the first signal emitter emits the guiding signal, the guiding signal can be converged through refraction of the convex lens, and the coverage area of the converged guiding signal is narrower than that of the guiding signal without increasing the convex lens. Since the directional Z signal, i.e. the pilot signal, in the present embodiment is emitted from the front surface of the base station near the horizontal center and is perpendicular to the front surface of the base station, the first direction L is also substantially perpendicular to the front surface of the base station and substantially coincides with the left-right symmetry line of the base station, as shown in fig. 2a and 2 b.
In one possible embodiment, the signal emission source may be a point emission source located at the focal point of the convex lens; the convex lens refracts the guide signal emitted by the first signal emitter into a parallel guide signal (the parallel guide signal also belongs to a convergent guide signal). The present embodiment will be described in detail with reference to fig. 3a and 3 b.
Fig. 3a is a schematic diagram illustrating a structure of a base station according to another exemplary embodiment of the present invention; fig. 3b is a schematic optical path diagram of the signal transmitter of the base station shown in this embodiment.
As shown in fig. 3a and fig. 3b, the structure of the base station provided in this embodiment mainly includes: a base station body 21 on which a first radiator 22 and a convex lens 23 are provided; wherein the point emission source O of the first emitter is located at the focal point F of the convex lens; the convex lens 23 refracts the first guide signal emitted from the point emission source O of the first emitter into a parallel guide signal to make the mobile robot approach the base station according to the parallel guide signal.
Note that the focal point of the convex lens means: the light parallel to the main optical axis is refracted by the convex lens and then converged at a certain point of the main optical axis, which is also the point with the smallest and brightest light spot and is called the focal point of the convex lens. Therefore, the light emitted from the point light source O disposed at the focal point F passes through the convex lens to form parallel light. Since the guide signal is usually infrared, which is one of electromagnetic waves, i.e., light, the guide signal also has the above-mentioned properties of light.
Specifically, in the present embodiment, when the first signal emitter and the convex lens are arranged, the convex lens is placed on one side of the first signal emitter facing the first direction L, which is the direction in which the guiding signal is emitted (i.e. the direction indicated by the arrow L in fig. 3a or 3b is the first direction), and it is ensured that the point emission source O of the first signal emitter is located just at the focal point F of the convex lens (e.g. point F in fig. 3a or 3 b), so that the guiding signal emitted from the point emission source O of the focal point F of the convex lens to the first direction L is refracted by the convex lens 23 to form a parallel guiding signal, whose coverage area is a narrow circular spot area, as shown by the solid line area in fig. 3a or 3b, and when the receiver of the mobile robot receives the parallel guiding signal, the mobile robot is located in the central area of the first direction in which the front of the base station is close to the horizontal center position, and the mobile robot can adjust the traveling attitude of the base station in accordance with the parallel guiding signal in the narrow central area of the front of the base station (e.g. 4), so that the traveling attitude of the mobile robot is enough to travel along the first direction as shown in the first direction. When the mobile robot moves to the base station along the coverage range of the parallel guide signal to be close to the base station, the attitude adjustment amplitude is not too large, so that the accurate butt joint of the mobile robot and the base station is ensured.
It will be understood by those skilled in the art that there is no absolute zero-dimensional point in practice, so that the focus in practice is actually a range, i.e. a range around the geometric focus, which is referred to herein as the focus, for example, a sphere with a spherical center radius of 5cm, taking the geometric focus as the center of the sphere, may also be referred to as the focus. Similarly, the point emission source is not a geometric point, but is a spatial body such as a cube, a rectangular parallelepiped, a sphere or an ellipsoid which occupies a certain volume and shape. Since the signal emission source is a three-dimensional space and the focal point is also a space, the emitted parallel guiding signals are not parallel lines in a strict geometric sense, but are approximate parallel lines, for example, the tangential value of the deviation angle α of the guiding signal from the central axis H is 6/150, and the deviation angle α of the guiding signal from the central axis H is about 2.3 ° in this case, that is, the deviation angle α of the guiding signal from the central axis H is less than 2.3 °, which is calculated as the parallel lines in this embodiment, within a range that the width of the guiding signal from the convex lens is 6cm away from the parallel lines.
As an example, the point emission source is an infrared guidance signal emission source having an outer diameter of about 5mm, the focal length of the convex lens is about 13mm, and the outer diameter of the convex lens is about 18mm; the substantially parallel determination conditions are: the slip angle alpha is 2 DEG or less.
In this embodiment, through setting up the some emitting source of first signal transmitter on the focus of convex lens, assemble into parallel guide signal with guide signal, further improved the precision that mobile robot and basic station docked.
The signal emitting source in the above embodiments is not limited to the spot emitting source, and may be a line emitting source, a body emitting source having various shapes, and any signal emitting source that can be used to guide a mobile robot in the related art may be disposed at the focal point of the convex lens. The signal emission source is located at the focus of the convex lens, and the coincidence position of the signal emission source and the focus of the convex lens is not limited, for example, the center, the edge and any position of the signal emission source coincide with the focus of the convex lens.
It should be noted that the base station may be, but is not limited to, a charging pile, a power exchanging station, an automatic cleaning device, a garbage emptying station, or the like.
In one or more possible embodiments, the pilot signal transmitted by the base station may be multiple, and therefore the base station provided in this embodiment further includes: at least one signal transmitter respectively disposed on the left and right sides of the Z signal on the base station, and for convenience of description, defined as a second signal transmitter and a third signal transmitter respectively in the order from left to right facing the base station in fig. 5; each signal emitter emits a lateral guide signal, and for convenience of description, the second signal emitter is defined to emit a first lateral guide signal, namely an a signal, the third signal emitter emits a second lateral guide signal, namely a B signal, and both the a signal and the B signal are directional guide signals, as shown in fig. 5; in some embodiments, the second signal emitter and the third signal emitter are symmetrically arranged on two sides of the first signal emitter; the first lateral pilot signal and the second lateral pilot signal are symmetrically located at two sides of the convergent pilot signal or the parallel pilot signal.
Illustratively, as shown in fig. 5, a first signal emitter 22 emits a Z signal, which is refracted into a parallel-directed signal by a convex lens, and a second signal emitter 24 is located on the left side of the first signal emitter 22, which emits an a signal, which is on the left side of the Z signal and adjacent to the Z signal; a third signal emitter 25 is located to the right of the first signal emitter 22 and emits a B signal, which is to the right of and adjacent to the Z signal. Illustratively, one receiver is respectively arranged at the front left side and the front right side of the mobile robot, a first receiver is arranged at the front left side, and a second receiver is arranged at the front right side, and for convenience of description, the first receiver and the second receiver are respectively denoted by s1 and s 2.
The operation of the mobile robot returning to the base station is described below with reference to fig. 5 as a specific example. When the mobile robot runs to the position No. 1, a receiver s1 positioned at the front left position of the mobile robot senses an A signal, a receiver s2 positioned at the front right position of the mobile robot senses a Z signal, and the mobile robot rotates in the counterclockwise direction while running forwards according to the logic of a return base station, so that the mobile robot runs towards the base station; if the front right receiver s2 of the mobile robot enters the B signal coverage area and the front left receiver s1 is in the Z signal coverage area, as shown in position No. 2 of fig. 5, according to the logic of returning to the base station, the mobile robot rotates slightly counterclockwise while continuing to move forward, so that the mobile robot moves forward toward the base station and keeps the receivers s1 and s2 within the Z signal coverage area as much as possible; if the mobile robot leaves the Z signal area and enters the a signal area when adjusting the self pose in the process of returning to the base station, and the front left receiver s1 is still in the Z signal area, as shown in the position No. 3 of fig. 5, according to the logic of returning to the base station, the mobile robot rotates clockwise slightly while continuing to advance, so that the mobile robot moves forward to the base station and keeps the receivers s1 and s2 in the Z signal coverage area as much as possible, as shown in the position No. 4 of fig. 5. As can be seen from the above process of returning to the base station, compared with the mobile robot at the P2 position in fig. 1, the narrow range of the Z signal shown in fig. 5 enables the mobile robot to sense the Z signal only in a laterally narrow range when the mobile robot is far away from the base station, and the pose is adjusted by twisting left and right in the process of returning to the base station to gradually approach the central axis of the Z signal, so that the mobile robot has a sufficient distance and a sufficient operating space to adjust the pose, and is more easily and accurately docked with the base station.
In this embodiment, by adding a signal transmitter, the base station can transmit various guiding signals, and the other increased guiding signals are on two sides of the parallel guiding signal, so that the receiver of the mobile robot can sense different guiding signals in a wider range, and after sensing the guiding signals, the mobile robot rotates at a greater angular speed according to different positions of the guiding signals and different positions of the receiver to enable the mobile robot to move forward and face the base station faster, and when the receivers of the mobile robot are all within a coverage range of converging the guiding signals or the parallel guiding signals, the mobile robot returns to the base station within a narrower coverage range of Z signals, and only fine adjustment is performed through twisting to keep the moving direction of the mobile robot, so that the mobile robot can be quickly and accurately docked with the base station.
In one or more possible embodiments, a mobile robot includes a motion unit and at least one receiver; the motion unit is used for driving the mobile robot to operate; the receiver is used for receiving a pilot signal transmitted by a base station; and back to the base station under the direction of the pilot signal.
Further, the receivers are at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
For convenience of description, the two receivers are respectively denoted by s1 and s2, and as shown in fig. 6, the receivers s1 and s2 are respectively located at two sides of the head of the mobile robot, and receive a guiding signal transmitted by a base station through the two receivers s1 and s2, so that the moving unit returns to the base station under the guidance of the guiding signal.
In a possible embodiment, the two receivers s1 and s2 are arranged symmetrically.
It should be noted that the number of receivers provided on the mobile robot may also be more than 1, 3, 4, 5, 6, and the like, and is not particularly limited in this embodiment.
Fig. 7 is a schematic structural view illustrating a mobile robot system according to an exemplary embodiment of the present invention.
As shown in fig. 7, the system provided in this embodiment includes a base station and a mobile robot; the base station comprises a base station body 21, a first signal emitter 22 and a convex lens 23 which are arranged on the base station body; the first signal emitter emits a guide signal towards a first direction L outside the body so as to guide the mobile robot to return to the base station; the first signal transmitter has a signal emission source O; the convex lens is positioned on one side of the first signal transmitter facing to the first direction L and enables the guide signals to converge; the mobile robot comprises a motion unit 61, at least one receiver 62; the motion unit is used for driving the mobile robot to operate; the receiver is used for receiving a pilot signal transmitted by the base station; and back to the base station under the direction of the pilot signal.
Specifically, because the convex lens is located the first signal transmitter is towards one side of first direction to make the guide signal converge, therefore, after the guide signal is launched to first signal transmitter, through convex lens refraction, can make the guide signal converge, should converge guide signal coverage and compare in not increasing the guide signal of convex lens narrower, after mobile robot received the guide signal that converges in the department far away from the basic station, can be from the position far away from the basic station to the operation of basic station in narrower within a definite range, make mobile robot have sufficient distance to adjust its traffic direction, realize the accurate butt joint with the basic station.
In some embodiments, the signal emission source is located at a focal point of the convex lens; the convex lens arranged on the base station refracts the guide signal emitted by the first signal emitter into a parallel guide signal.
Specifically, a guide signal emitted to the first direction L from the signal emission source O originating from the convex lens focus F is refracted by the convex lens 23 to form a parallel guide signal, and when the receiver of the mobile robot receives the parallel guide signal, no matter the mobile robot is far away from or near the base station, the position of the mobile robot is located in the central area of the first direction where the front surface of the base station is close to the horizontal central position. When the mobile robot moves to the base station along the coverage range of the parallel guide signal to be close to the base station, the attitude adjustment amplitude is not too large, so that the accurate butt joint of the mobile robot and the base station is ensured.
In some embodiments, the receiver is at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
It should be noted that, the structures of the base station and the mobile robot and the functions of the components in this embodiment may refer to the detailed descriptions in the embodiments shown in fig. 2 to fig. 6, and are not described again here.
In this embodiment, the convex lens is added on the base station to focus the guide signal transmitted by the signal transmission source of the first signal transmitter, and the signal transmission source of the first signal transmitter is arranged at the focus of the convex lens to converge the guide signal into a parallel guide signal, so that the docking accuracy of the mobile robot and the base station is improved.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
For detailed functional description of each module in this embodiment, reference is made to the description of the embodiment of the method, and the detailed description is not provided herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A base station of a mobile robot, comprising: the base station comprises a base station body, a first signal emitter and a convex lens, wherein the first signal emitter and the convex lens are arranged on the base station body;
the first signal emitter emits a guide signal towards a first direction outside the body to guide the mobile robot to return to the base station;
the first signal transmitter has a signal emission source;
the convex lens is positioned on one side of the first signal emitter facing to the first direction and enables the guide signals to converge.
2. The base station of claim 1,
the signal emission source is positioned at the focus of the convex lens;
the convex lens refracts the pilot signal emitted by the first signal emitter into a parallel pilot signal.
3. The base station according to claim 1 or 2,
the base station is a charging pile, an emptying station, a power exchanging station and/or automatic cleaning equipment.
4. A mobile robot comprising a motion unit and a receiver;
the motion unit is used for driving the mobile robot to operate;
the receiver, for receiving the pilot signal transmitted by the base station of one of claims 1 to 3; and back to the base station under the direction of the pilot signal.
5. The mobile robot of claim 4, wherein the receiver is at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
6. A mobile robotic system, comprising: a base station and a mobile robot;
the base station comprises a base station body, a first signal transmitter and a convex lens, wherein the first signal transmitter and the convex lens are arranged on the base station body; the first signal emitter emits a guide signal towards a first direction out of the body so as to guide the mobile robot to return to the base station; the first signal transmitter has a signal transmission source; the convex lens is positioned on one side of the first signal transmitter facing to the first direction and enables the guide signals to converge;
the mobile robot comprises a motion unit and a receiver; the motion unit is used for driving the mobile robot to operate; the receiver is used for receiving a pilot signal transmitted by the base station; and back to the base station under the direction of the pilot signal.
7. The mobile robotic system as claimed in claim 6,
the signal emission source is positioned at the focus of the convex lens;
the convex lens arranged on the base station refracts the guide signal emitted by the first signal emitter into a parallel guide signal.
8. The mobile robotic system as claimed in claim 6,
the receivers are at least two receivers; the at least two receivers are respectively arranged on two sides of the mobile robot, and at least one receiver is arranged on each side of the mobile robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593008.3A CN115399684A (en) | 2021-05-28 | 2021-05-28 | Mobile robot, base station and system of mobile robot |
| PCT/CN2022/095042 WO2022247871A1 (en) | 2021-05-28 | 2022-05-25 | Mobile robot, and mobile robot base station and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110593008.3A CN115399684A (en) | 2021-05-28 | 2021-05-28 | Mobile robot, base station and system of mobile robot |
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| CN115399684A true CN115399684A (en) | 2022-11-29 |
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| CN202110593008.3A Pending CN115399684A (en) | 2021-05-28 | 2021-05-28 | Mobile robot, base station and system of mobile robot |
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| WO (1) | WO2022247871A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060034327A (en) * | 2004-10-18 | 2006-04-24 | 삼성광주전자 주식회사 | Docking guide apparatus for robot cleaner system and docking method thereof |
| KR100769910B1 (en) * | 2006-09-11 | 2007-10-24 | 엘지전자 주식회사 | Moving robot and operating method for same |
| CN103948353B (en) * | 2009-06-19 | 2016-07-06 | 三星电子株式会社 | Docking station for robot cleaner and the method to robot cleaner transmitting docking targeting signal |
| CN105361817A (en) * | 2015-11-17 | 2016-03-02 | 深圳市银星智能科技股份有限公司 | Automatic docking system of robot |
| CN110464255A (en) * | 2019-07-30 | 2019-11-19 | 广东宝乐机器人股份有限公司 | Obstacle detection system and sweeping robot applied to sweeping robot |
| CN215227260U (en) * | 2021-05-28 | 2021-12-21 | 速感科技（北京）有限公司 | Mobile robot, base station and system of mobile robot |
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