CN201378281Y - Robot restricting system - Google Patents
Robot restricting system Download PDFInfo
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- CN201378281Y CN201378281Y CN200920038350U CN200920038350U CN201378281Y CN 201378281 Y CN201378281 Y CN 201378281Y CN 200920038350 U CN200920038350 U CN 200920038350U CN 200920038350 U CN200920038350 U CN 200920038350U CN 201378281 Y CN201378281 Y CN 201378281Y
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- robot
- restricting
- inductive switch
- driving wheel
- intelligent robot
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Abstract
The utility model provides a system which can restrict an intelligent robot within a specific space. The system comprises a flexible approach sensor bar paved on the ground, and a movable intelligent robot which consists of a driving component for driving the robot into movement, at least an approach inductive switch, and a control unit for controlling the driving component. When approaching the approach sensor bar, the approach inductive switch which inducts such approaching transmits signals to the control unit, so that the control unit can control the driving component to drive the robot to change the moving direction. The utility model has the beneficial effects that the structure is simple; the approach sensor bar can be directly paved on the ground without energy supply, thereby achieving the environmental protection without being restricted by the environment; and the approach sensor bar made of a flexible material can form a restricting boundary with any restricting range. The utility model overcomes the deficiencies of the prior art, and has great significance of popularization.
Description
Technical field
The utility model relates to a kind of system of intelligent robot in particular space that restrict.
Background technology
In the prior art, once proposing multiple systems is used for the robot restriction in specific physical space, to carry out some work.Typically design these systems to be used for the application of a large amount of robots, for example safeguard turf, cleaning floor, inspection, transportation and amusement, need robot in the scope of a limitation, to turn round with execution work.For example, a dust-collecting robot is worked in a room, before the dust suction of finishing first room, may inadvertently roam into another room from a room.A kind of method of solution is to limit this robot in first room, leaves first room by closeall door from physically avoiding this robot.But in a lot of houses, the room is separated by open corridor, and the barrier of door or other physics should not be placed on the outlet pathway of robot.Similarly, the user may wish this robot only in the work of the subregion in an independent open space, thereby allows this robot be operated in whole room can to lower efficiency.Therefore needing a kind of device is used for restricting a zone, and robot is operated in wherein.
A kind of method of prior art is used for the navigation and the location of robot for a kind of system of complexity is provided, and this robot is moved along a set route, exactly according to existing map in the storer to monitor the position at present place.These systems need complicated accurate hardware, Jing Mi sensor for example, important computer memory and computing power.But a very big defective of these systems is not to be suitable for the change of this robot work region.Same, this robot can't merely move another solitary building to from a solitary building, or even from a room to another room, and need not to design program again or retraining.
For example, U.S. Pat 4700427 discloses a kind of mode, and the path that needs a kind of device to be used for producing a robot movement, this path can be a path of manually controlling and instruct or the automated graphics function.If " often changing the field of employment " or " conversion room " then needs the lot of data storer to store the related data of each position.Similarly, U.S. Pat 4119900 disclosed methods and system need powerful calculating and sensor, constantly determine the position of this robot in given space.The example of other associated machine robot system needs the data of input about this robot working space, for example U.S. Pat 5109566 and US5284522.
Similarly, some prior art system not only need is trained this robot that is used for specific or special space and is designed program, also need to be prepared or change in the space that this robot will work, a kind of system is disclosed as U.S. Pat 5341540, wherein in a preferred embodiment, need this robot system to comprise a location system and zone that this robot is installed has " signal post that is placed on a fixing reference point ".And this system can avoid unknown barrier, and makes its path of returning its original program design by the signal that signal post transmits, and this system needs the user to have very strong setting and built-in computing power.
Method most advanced at present, that simplify most is used for robot is restricted in a specific region, and comprising provides a device in order to define this regional border.Chinese patent CN03103501.9 has disclosed a kind of like this system, and a portable obstacle signal forwarder is provided, and form an obstacle that is directed by restricting beam along an emission, and the restriction beam in this technology is exactly infrared light beam in fact.Yet in the product of reality is used, find that repeatedly this infrared light beam is subjected to sunshine and catoptrical the influence, relatively strong or ground material light relatively can carry out reflex time to light when sunshine, sweeping robot is not subjected to the restriction of infrared light beam, directly passes the restriction light beam.Therefore this technology is subjected to the influence of working environment to a great extent to the restrictive function of sweeping robot, and season, weather, ground material, light etc. all can influence the restrictive function of infrared light beam.Simultaneously, if being covered by dust, its forwarder or receptacle also can influence its function.In addition, this portable obstacle signal forwarder needs power supply to work, and has resource consumption, does not meet modern environmental consciousness; And the infrared light beam that sends in this obstacle signal forwarder is a straight line, is the boundary of an arc or curve if need the scope of restriction robot, and then this system just can not play due restrictive function, so this system has bigger limitation.
The utility model content
The purpose of this utility model is to solve above-mentioned technical matters, and a kind of robot system for restricting simple in structure, that be not subject to external environmental interference is provided; It is the system of curve that another purpose of the present utility model is to provide a kind of boundary that can define the restriction robot.
The purpose of this utility model is achieved through the following technical solutions:
A kind of robot system for restricting comprises being laid on movably intelligent robot of ground approaching induction bar and; Described movably intelligent robot comprises: driver part, move in order to drive described movably intelligent robot; Control module, the control signal output ends of this control module connect the controlled end of described driver part, in order to control described driver part; And at least one is near inductive switch; Described signal output part near inductive switch connects the induced signal input end of described control module, in order to when described near inductive switch near described near the induction bar and make when sensing near inductive switch, should give described control module near induced signal of inductive switch transmission, thereby control described driver part, order about intelligent robot and change traffic direction.
Further, described intelligent robot comprises a main body, describedly is arranged on this main body near on the base on ground near inductive switch.Described driver part comprises the left driving wheel that is arranged on the intelligent robot base, right driving wheel and driving wheel motor driver, and described left driving wheel is connected with the control signal output ends of described control module respectively individually with right driving wheel.Described control module is a microcontroller, and the control signal output ends of described microcontroller is connected respectively to the driving wheel motor driver of the described left and right driving wheel of control running.
Again further, described is Hall element or magnetron near inductive switch; Described is magnetic element near the induction bar.Perhaps, described is that metal is near switch near inductive switch; Described is hardware near the induction bar.Further, described approaching induction bar is made by being laid on ground flexible material according to arbitrary shape.
Again further, described at least one surface near the induction bar is made as viscous material layer, in order to described approaching induction bar is on the ground bonding.
The beneficial effects of the utility model are mainly reflected in: adopt near inductive switch and near the induction bar to make robot of the present utility model system for restricting structure simpler, do not need to establish in addition an annex; In addition,, and do not need to provide for it any energy that comprises electric energy, therefore not only environmental protection but also can not restricted by environment owing to can be laid immediately on ground near the induction bar; And can lay by arbitrary shape near the induction bar, therefore can form the restriction boundary of any boundary, solve the deficiencies in the prior art, make significant headway.
Description of drawings
Below in conjunction with accompanying drawing technical solutions of the utility model are described further:
Fig. 1: the upward view that is used for the intelligent robot of preferred embodiment of the present utility model.
Fig. 2: among Fig. 1 along the cut-open view of A-A direction.
Fig. 3: the vertical view that is used for the intelligent robot of preferred embodiment of the present utility model.
Fig. 4: the circuit diagram of the Hall element of the utility model preferred embodiment.
Fig. 5: the block hardware diagram of the control module of the utility model preferred embodiment.
Fig. 6 A-Fig. 6 D: the synoptic diagram of the application of the utility model preferred embodiment.
Wherein: 1, intelligent robot; 2, hit plate; 3, main body; 4, left driving wheel; 5, right driving wheel; 6, universal wheel; 7, rechargeable battery; 8, round brush; 9, Hall element; 10, omnidirectional's receiver; 11, magnetic stripe; 12, microcontroller wiring board; 13, ground.
Embodiment
The utility model has disclosed a kind of robot system for restricting, comprises a movably intelligent robot 1, and the approaching induction bar 11 that is used to form the restriction boundary.Described movably intelligent robot can be automatic cleaner, automatically wax-polishing machine, the similar movably intelligent robot such as machine that mops floor automatically.This preferred embodiment is an example with the intelligent robot 1 that is used for automated cleaning ground.
Preferred embodiment as shown in Figure 1 to Figure 3, intelligent robot 1 is made up of main body 3 and the plate 2 that hits that is provided with on it.The driver part of intelligent robot comprises left driving wheel 4, right driving wheel 5 and driving wheel motor driver (not shown), described left driving wheel 4, right driving wheel 5 lay respectively on the base of main body 3, described driving wheel motor driver is individual drive left and right driving wheel respectively, make intelligent robot 1 to move forward or backward, by the cooperation of the universal wheel on the base that is positioned at main body 36, make that intelligent robot 1 also can be freely to any one directional steering again.
The main body 3 of described intelligent robot is provided with at least one near inductive switch 9 near the base on ground, in this preferred embodiment, be provided with two Hall elements 9 on the main body 3, Fig. 4 has disclosed the circuit diagram of the necessary electronic package of present embodiment Hall element, when the principle of work of Hall element vertically places magnetic field for the wafer with an energising, the thin slice both sides can produce potential difference (PD) thus, and this phenomenon is called Hall effect.This potential difference (PD) is called Hall voltage, the big or small E=KIB/d of electromotive force, and K is a Hall coefficient in the formula, and d is the thickness of thin slice, and I is an electric current, and B is a magnetic induction density.In the utility model Hall element be as a kind of near switch, it has contactless, no wearing and tearing, low-power consumption, the life-span is long, highly sensitive, frequency of operation is high characteristics, can work under various rugged surroundings reliable and stablely.
Described Hall element 9 has certain distance with ground 13; And be equipped with a corresponding approaching induction bar on the ground 13, be magnetic stripe 11 in the present embodiment.Furtherly, described driver part also comprises the driving wheel scrambler.When described Hall element 9 during near magnetic stripe 11, this Hall element 9 can be given microcontroller by induced signal of transmission.Block hardware diagram in conjunction with the control module among Fig. 5, the induced signal input end of this microcontroller MCU links to each other with the signal output part of Hall element 9, described microcontroller receives the signal of Hall element 9, and after treatment signal is transferred to the driving wheel motor encoder, convert the motor driver that power signal is transferred to control left and right driving wheel 4,5 respectively again to.Like this, described left driving wheel 4 and right driving wheel 5 all can be driven individually by microcontroller MCU and allow intelligent robot 1 turn to.Certainly, the microcontroller in the utility model can also comprise different control function and different sensors, for example physical obstacle sensor, cliff sensor etc.
In the utility model, carry out an algorithm as the microcontroller of control module, this algorithm comprises to be made this robot in a single day obtain the step that promptly turns near the signal that inductive switch 9 transmits or takes a step back and to the step of any one directional steering, till no longer receiving this signal.Further, wherein this algorithm also is included in and does at least one both quantitative rotating step after no longer detecting signal; Comprise that also whether decision is towards the general clockwise or rotating step of counter-clockwise direction; Wherein, whether this decision also comprises the at random function of preferential direction towards the general clockwise or rotating step of counter-clockwise direction; And turning round function of twice etc. in the same direction before the preferential direction at random.
In the present embodiment, described magnetic stripe 11 is made by flexible material, can be laid on the ground 13 according to arbitrary shape.Further, the one side at least of described magnetic stripe 11 is a viscous material layer, can magnetic stripe 11 is on the ground bonding.Because magnetic stripe 11 is that flat is rectangular, and is bonded on the ground, therefore can not feel ugly, the people is tripped.Certainly, this magnetic stripe 11 also is bonded on the ground on demand the time, rolls when not required to pack up to get final product.
Introduce the application of this preferred embodiment below in conjunction with Fig. 6 A to Fig. 6 D.
Be shown with two continuous purging zones among the figure.Want to allow zone, a left side among 1 cleaning figure of intelligent robot as the user, can paste a magnetic stripe 11 on the ground at shown position earlier, intelligent robot 1 is placed in the left zone cleans again.When robot 1 wants to advance to from left zone right zone and cleans, shown in Fig. 6 B, the Hall element that is installed on the base can be sensed the existence of magnetic stripe 11 and send signal to microcontroller, microcontroller will move one section program that is used for dodging this magnetic stripe, this program comprises that the control left and right sidesing driving wheel takes a step back by intelligent robot, and by the step that is rotated counterclockwise certain angle among the figure, shown in Fig. 6 C.Intelligent robot is just proceeded its cleaning process, so repeatedly, up to the existence of Hall element 9 inductions less than magnetic stripe 11, has so just successfully dodged magnetic stripe 11, shown in Fig. 6 D.Because the curved setting of adjacent areas that has, therefore adopt in the present embodiment can bending to stick on ground magnetic stripe 11 and just seem especially convenient, solved the defective that prior art can only form roughly restriction boundary linearly.
Only for a most simple and practical embodiment, the utility model still has multiple concrete embodiment to this preferred embodiment.For example, described near inductive switch 9 except Hall element, can also be magnetron; Perhaps metal is near switch.Accordingly, described is magnetic element near induction bar 11; Perhaps hardware.Below be example near switch with being laid on ground strip of metal material simply with the metal that is arranged on the intelligent robot, when intelligent robot during near strip of metal material, metal can be sensed the existence of strip of metal material near switch and send signal and give microcontroller, microcontroller will move one section program that is used for dodging this strip of metal material, the control left and right sidesing driving wheel takes a step back by intelligent robot, and rotate a certain angle, near the existence of inductive switching, so just successfully dodged strip of metal material up to metal less than strip of metal material.
By above explanation as can be seen; as long as adopt be similar to Hall element, magnetron, metal near switch such near inductive switch; cooperate and be laid on ground approaching induction bar; the not exhaustive embodiment that all belongs to utility model; all employings are equal to replacement or equivalent transformation and all technical schemes of forming, all drop within the claimed scope of the utility model.
Claims (8)
1. robot system for restricting is characterized in that: comprise one be laid on the ground (13) near induction bar (11) and an intelligent robot (1) movably; Described movably intelligent robot comprises: driver part, move in order to drive described movably intelligent robot; Control module, the control signal output ends of described control module connect the controlled end of described driver part, in order to control described driver part; And at least one is near inductive switch (9), described signal output part near inductive switch (9) connects the induced signal input end of described control module, in order to also to make near inductive switch (9) when sensing near described near induction bar (11) near inductive switch (9) when described, should give described control module near inductive switch (9) transmission induced signal, thereby control described driver part, order about intelligent robot and change traffic direction.
2. robot according to claim 1 system for restricting is characterized in that: described intelligent robot comprises a main body (3), describedly is arranged on this main body (3) near on the base on ground near inductive switch (9).
3. robot according to claim 2 system for restricting, it is characterized in that: described driver part comprises the left driving wheel (4) that is arranged on the intelligent robot base, right driving wheel (5) and driving wheel motor driver, and described left driving wheel (4) is connected with the control signal output ends of described control module respectively individually with right driving wheel (5).
4. robot according to claim 3 system for restricting, it is characterized in that: described control module is a microcontroller (12), and the control signal output ends of described microcontroller (12) is connected respectively to the driving wheel motor driver of the described left and right driving wheel of control (4,5) running.
5. robot according to claim 1 system for restricting is characterized in that: described is Hall element or magnetron near inductive switch (9); Described is magnetic element near induction bar (11).
6. robot according to claim 1 system for restricting is characterized in that: described is that metal is near switch near inductive switch (9); Described near induction bar (11) hardware.
7. according to described any one robot system for restricting of claim 1 to 6, it is characterized in that: described near responding to bar (11) by making according to the flexible material that arbitrary shape is laid on the ground (13).
8. robot according to claim 7 system for restricting is characterized in that: described at least one surface near induction bar (11) is made as viscous material layer, in order to described approaching induction bar (11) is on the ground bonding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920038350U CN201378281Y (en) | 2009-01-16 | 2009-01-16 | Robot restricting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920038350U CN201378281Y (en) | 2009-01-16 | 2009-01-16 | Robot restricting system |
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| Publication Number | Publication Date |
|---|---|
| CN201378281Y true CN201378281Y (en) | 2010-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200920038350U Expired - Lifetime CN201378281Y (en) | 2009-01-16 | 2009-01-16 | Robot restricting system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591336A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| CN102591340A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Movement control method and control system of glass wiping robot |
| WO2014032569A1 (en) * | 2012-08-29 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Limit system for walking range of self-moving robot and limit method therefor |
| CN105491933A (en) * | 2014-02-17 | 2016-04-13 | 夏普株式会社 | Charging unit and charging system for self-propelled electric vacuum cleaner |
| WO2019109229A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Indoor area dividing method and sweeping robot |
-
2009
- 2009-01-16 CN CN200920038350U patent/CN201378281Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591336A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| CN102591340A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Movement control method and control system of glass wiping robot |
| CN102591340B (en) * | 2011-01-05 | 2014-04-30 | 泰怡凯电器(苏州)有限公司 | Movement control method of glass wiping robot |
| CN102591336B (en) * | 2011-01-05 | 2014-12-17 | 科沃斯机器人有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| WO2014032569A1 (en) * | 2012-08-29 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Limit system for walking range of self-moving robot and limit method therefor |
| CN103631262A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic-mobile robot walking scope restriction system and restriction method thereof |
| CN105491933A (en) * | 2014-02-17 | 2016-04-13 | 夏普株式会社 | Charging unit and charging system for self-propelled electric vacuum cleaner |
| WO2019109229A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Indoor area dividing method and sweeping robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Ecovacs Electric Co.,Ltd. Assignor: TEK ELECTRICAL (SUZHOU) Co.,Ltd. Contract record no.: 2011320010115 Denomination of utility model: Robot restricting system and method Granted publication date: 20100106 License type: Common License Record date: 20110819 |
|
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
|
| CP03 | Change of name, title or address |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215128 Jiangsu City, Suzhou Province West Lake Road, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20100106 |
|
| CX01 | Expiry of patent term |