CN201641885U - Cleaning robot positioning system - Google Patents
Cleaning robot positioning system Download PDFInfo
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- CN201641885U CN201641885U CN2009202021401U CN200920202140U CN201641885U CN 201641885 U CN201641885 U CN 201641885U CN 2009202021401 U CN2009202021401 U CN 2009202021401U CN 200920202140 U CN200920202140 U CN 200920202140U CN 201641885 U CN201641885 U CN 201641885U
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- frequency module
- radio
- clean robot
- aerial
- signal
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Abstract
The utility model relates to a cleaning robot positioning system, which includes a radio frequency module, at least two positioning columns and a cleaning robot. Each positioning column is used to receive an excitation signal emitted by the radio frequency module in the maximum setting distance and to emit a feedback signal to the radio frequency module, and is mounted in the boundary of the region required to clean to limit the scope of the region required to clean. The radio frequency module is provided on the cleaning robot, for judging whether the cleaning robot is adjacent to the boundary of the cleaning region, and emitting the position signal to the cleaning robot. The cleaning robot is used for cleaning the ground or grass, and working within a cleaning region based on the position signal emitted from the radio frequency module. The cleaning robot positioning system eliminates the potential safety hazard caused by that the cleaning robot runs to a region beyond the cleaning region, and simultaneously the area of the cleaning robot position location system exposed to the ground is small, to avoid tripping over of children or users.
Description
Technical field
The utility model relates to the clean robot field, particularly the cleaning robot system of work in certain zone.
Background technology
The hedge line mode that in traditional cleaning machine people, adopts electric wire to surround, when adopting the hedge line, sometimes clean robot can be bad with the hedge line loss, clean robot can be gone out the hedge line, concerning clean robot, greatly reduce the reliability of cleaning efficiency and cleaning, and certain potential safety hazard can be brought in the zone of going to beyond the clear area, the hedge line sometimes can outstandingly trip child or user, giving prominence to outside neither be very elegant in appearance, and these problems have also restricted the extensive use of clean robot.
Summary of the invention
Therefore, the utility model provides the clean robot navigation system, and the idle work operation is carried out in the zone that can avoid clean robot to cross required cleaning.
The utility model provides the clean robot navigation system.
A kind of clean robot navigation system, it comprises radio-frequency module, at least two reference columns and clean robot.Each reference column is used for receiving the excitation signal that radio-frequency module sends and sends and feeds back signal to radio-frequency module in maximum setpoint distance, and the border that in use is installed on the required cleaning zone limits the scope in required cleaning zone.Air line distance between two reference columns of this adjacent installation should be less than or equal to maximum setpoint distance sum in these two reference columns, and the air line distance between two reference columns installing should be greater than maximum setpoint distance sum in these two reference columns at interval, so that in these adjacent two reference columns any one reference column can and radio-frequency module between carry out signal transmission, thereby the border of the qualification cleaning area that cooperatively interacts.This radio-frequency module is arranged on the clean robot, is used for whether judging clean robot near the border, cleaning area according to the feedback signal of reference column, and sends position signalling and give clean robot.This clean robot is used for cleaning floor or meadow, and carries out operation according to the position signalling that radio-frequency module sends in the cleaning area.
The point-to-point mode that present embodiment has adopted radio-frequency module to match with at least two reference columns limits the cleaning area of clean robot, has eliminated clean robot and has gone to the potential safety hazard that zone in addition, clear area can be brought.In addition, be installed in outdoor reference column shape and be similar to nail, that is: the area that is exposed to ground is very little, avoids tripping child or user, has solved this type of problem clean robot is used widely.
Description of drawings
The structural representation of the clean robot navigation system that Fig. 1 provides for the technical program embodiment.
The radio-frequency module that Fig. 2 provides for the technical program embodiment and the functional block diagram of clean robot.
The functional block diagram of the reference column that Fig. 3 provides for the technical program embodiment.
The specific embodiment
Please in the lump referring to Fig. 1 to Fig. 3, the clean robot navigation system 1 that the technical program embodiment provides, it comprises radio-frequency module 10, at least two reference columns 20 and clean robots 30.Each reference column 20 shape is similar to nail, being used for received RF module 10 sends excitation signal and sends and feed back signal to radio-frequency module 10, and in use be installed on the border in required cleaning zone, cooperatively interacting by a plurality of reference columns 20 limits the scope in required cleaning zone.Each reference column 20 can only receive the excitation signal that radio-frequency module 10 sends in certain distance scope (that is: maximum setpoint distance).Therefore, air line distance between two reference columns 20 of adjacent installation (as the position relation of reference column 20a among Fig. 1 and 20b) should be less than or equal to maximum setpoint distance sum in these two reference columns 20, and the air line distance between two reference columns 20 installing (as the position relation of reference column 20a among Fig. 1 and 20c) should be greater than maximum setpoint distance sum in these two reference columns 20 at interval, so that in these adjacent two reference columns 20 any one reference column 20 can and radio-frequency module 10 between carry out signal transmission, thereby the border of the qualification cleaning area that cooperatively interacts.The quantity of reference column 20 can be decided according to the actual installation needs.Present embodiment, because the cleaning area is approximate pentagon, so adopt five reference columns 20 and adjacent two reference columns 20 to equal the maximum setpoint distance sum of setting in two reference columns 20, can limit 30 of clean robots and in this rectangular extent, carry out cleaning.
This reference column 20 comprises built-in aerial 21 and processor 22.This built-in aerial 21 can be electrically connected for helical form and with processor 22, so that processor 22 is by carrying out the signal transmission between built-in aerial 21 and the radio-frequency module 10.
This processor 22 is used to receive the excitation signal that built-in aerial 21 transmits, and under the driving of the energy that this excitation signal provides data message is wherein handled, and changes into corresponding radio frequency signal feedback and gives built-in aerial 21.Particularly, because excitation signal comes with electromagnetic wave form transmission,, will produce electric energy for processor 22 work, and excitation signal is transferred to processor 22 in the lump when excitation signal during by spiral helicine built-in aerial 21.This radiofrequency signal also is a restricted speed signal, expression clean robot 30 border that adjacent two reference columns 20 limit of having walked.
This radio-frequency module 10 is arranged in the clean robot 30, and is electrically connected with it, is used for whether judging clean robot 30 near the border, cleaning area according to the feedback signal of reference column 20, and sends position signalling and give clean robot 30.This radio-frequency module 10 comprises transmitter 11 and the reader 12 that is electrically connected with transmitter 11.This transmitter 11 is used for sending constantly excitation signal, is used for providing energy and data-signal to reference column 20.
This reader 12 can be processor of single chip computer, be used for the signal of reference column 20 feedbacks is handled to determine the position relation between reference column 20 and the radio-frequency module 10, and convert corresponding position signalling to and be transferred to clean robot 30, this position signalling represents that clean robot is to the border of cleaning area.
This radio-frequency module 10 cooperates the operation principle of location to be with reference column 20: when the built-in aerial 21 of a reference column 20 receives the excitation signal that the transmitter 11 of radio-frequency module 10 sends and passes to processor 22, the signal feedback that 22 pairs of these signals of this processor will be handled after the back will be handled by built-in aerial 21 is given transmitter 11, since built-in aerial 21 receive excitation signal that transmitter 11 sends promptly represent radio-frequency module 10 is installed clean robot 30 near or arrive the border of cleaning area, then feedback signal promptly characterize clean robot 30 near or arrive the border of cleaning area.Whether this transmitter 11 continues the signal that is received is passed to reader 12, passes to clean robot 30 after reader 12 is analyzed, need to retreat to avoid crossing the border, cleaning area to control this clean robot 30.The characterization clean robot 30 that analyzes feedback when reader 12 near or arrive the border of cleaning area, then control clean robot 30 and retreat.
This clean robot 30 is used for cleaning floor or meadow, comprises controller 31 and drive unit 32.This controller 31 is electrically connected with radio-frequency module 10 and drive unit 32, the position signalling that is used on the one hand radio-frequency module 10 being transmitted changes into dodges control signal, retreat or turn to accessory drive 32, distance up to radio-frequency module 10 and reference column 20 surpasses this maximum setpoint distance, and these controller 31 accessory drives 32 are according to retreating or turn to pattern operation before; On the other hand when controller 31 when receiving the position signalling of radio-frequency module 10 transmission, illustrate not to the border, cleaning area, still carry out work by original working method.
This drive unit 32 is used for making corresponding action according to the control signal that controller 31 sends.
Present embodiment is example with the intelligent grass-removing, before this intelligent grass-removing start work, at first reference column 20 is installed in earlier on the border in the zone of mowing and distributes,, then different on the contrary as the air line distance between the identical then reference column 20 of type of the reference column 20 selected by regular distribution.When intelligent grass-removing in the course of the work, the transmitter 11 of radio-frequency module 10 sends excitation signal constantly, when the distance of transmitter 11 and built-in aerial 21 was less than or equal to the setpoint distance of reference column 20, built-in aerial 21 will receive excitation signal.This excitation signal when being transferred to processor 22 by built-in aerial 21, because built-in aerial 21 is a helical form, is supplied with processor 22 so excitation signal can be converted to electric energy and excitation signal with the transmission of electromagnetic wave form in the lump.The electric energy that this processor 22 receives built-in aerial 21 conversions on the one hand carries out outside the work, receive the radiofrequency signal that converts correspondence after excitation signal is handled on the other hand and send, give transmitter 11 by built-in aerial 21 with the radio signal transmission of sending again to built-in aerial 21.This transmitter 11 is given reader 12 with radio signal transmission again, handle to determine the position relation between reference column 20 and the radio-frequency module 10 through reader 12, and converting corresponding position signalling to, this position signalling is represented the clean robot border, cleaning area of having walked.These controller 31 receiving position signals can send dodges control signal, and promptly accessory drive 32 change paths retreat or turn, and avoid going out place in addition, cleaning area.If radio-frequency module 10 is when directly distance is greater than setpoint distance with reference column 20, reference column 20 can not receive the excitation signal of radio-frequency module 10 transmission, and clean robot 30 just can not received position signalling, so will clean by original cleaning mode.Thereby, reach the working range of planning clean robot 30 by cooperating of the reference column 20 in the locating module 2 and radio-frequency module 10.
It should be noted that at last, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not break away from the spirit and scope of technical solutions of the utility model.
Claims (6)
1. clean robot navigation system, it is characterized in that: it comprises radio-frequency module, at least two reference columns and clean robot, described each reference column is used for receiving the excitation signal that radio-frequency module sends and sends and feeds back signal to radio-frequency module in maximum setpoint distance, and the border that in use is installed on the required cleaning zone limits the scope in required cleaning zone, air line distance between two reference columns of described adjacent installation should be less than or equal to maximum setpoint distance sum in these two reference columns, and the air line distance between two reference columns installing should be greater than maximum setpoint distance sum in these two reference columns at interval, so that in these adjacent two reference columns any one reference column can and radio-frequency module between carry out signal transmission, thereby the border of the qualification cleaning area that cooperatively interacts, described radio-frequency module is arranged on the clean robot.
2. clean robot navigation system as claimed in claim 1 is characterized in that described clean robot comprises controller and drive unit, and described controller and radio-frequency module and drive unit are electrically connected.
3. clean robot navigation system as claimed in claim 2, it is characterized in that, described reference column comprises built-in aerial and the processor that is electrically connected with built-in aerial, described built-in aerial is used for carrying out between processor and the radio-frequency module signal transmission, described processor is used to receive the excitation signal that built-in aerial transmits, and under the driving of the energy that described excitation signal provides, data message is wherein handled, change into corresponding radio frequency signal feedback and give built-in aerial.
4. clean robot navigation system as claimed in claim 3 is characterized in that, described built-in aerial is a helical form.
5. clean robot navigation system as claimed in claim 3, it is characterized in that, described radio-frequency module comprises transmitter and the reader that is electrically connected with transmitter, described transmitter is used for sending constantly excitation signal, so that energy and data-signal to be provided to reference column, described reader is used for the signal of reference column feedback is handled determining the position relation between reference column and the radio-frequency module, and converts corresponding position signalling to and be transferred to clean robot.
6. clean robot navigation system as claimed in claim 5 is characterized in that, described reader is a processor of single chip computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202021401U CN201641885U (en) | 2009-12-11 | 2009-12-11 | Cleaning robot positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202021401U CN201641885U (en) | 2009-12-11 | 2009-12-11 | Cleaning robot positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201641885U true CN201641885U (en) | 2010-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202021401U Expired - Fee Related CN201641885U (en) | 2009-12-11 | 2009-12-11 | Cleaning robot positioning system |
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| CN (1) | CN201641885U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543746A (en) * | 2012-07-09 | 2014-01-29 | 迪尔公司 | Navigation system and method for autonomous mower |
| CN103823469A (en) * | 2014-03-12 | 2014-05-28 | 东南大学 | Positioning device for unmanned line-tracking robot and positioning method thereof |
| CN103891463A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN103891464A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| US9820433B2 (en) | 2012-12-28 | 2017-11-21 | Positec Power Tools (Suzhou Co., Ltd.) | Auto mowing system |
| CN108580338A (en) * | 2017-12-06 | 2018-09-28 | 苏州绿豆豆智能装备科技有限公司 | It can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment |
-
2009
- 2009-12-11 CN CN2009202021401U patent/CN201641885U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103543746A (en) * | 2012-07-09 | 2014-01-29 | 迪尔公司 | Navigation system and method for autonomous mower |
| CN103891463A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN103891464A (en) * | 2012-12-28 | 2014-07-02 | 苏州宝时得电动工具有限公司 | Automatic mowing system |
| CN103891464B (en) * | 2012-12-28 | 2016-08-17 | 苏州宝时得电动工具有限公司 | Automatically mow system |
| US9820433B2 (en) | 2012-12-28 | 2017-11-21 | Positec Power Tools (Suzhou Co., Ltd.) | Auto mowing system |
| US10555456B2 (en) | 2012-12-28 | 2020-02-11 | Positec Power Tools (Suzhou) Co., Ltd. | Auto mowing system |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
| CN103823469A (en) * | 2014-03-12 | 2014-05-28 | 东南大学 | Positioning device for unmanned line-tracking robot and positioning method thereof |
| CN103823469B (en) * | 2014-03-12 | 2017-02-08 | 东南大学 | Positioning device for unmanned line-tracking robot and positioning method thereof |
| CN108580338A (en) * | 2017-12-06 | 2018-09-28 | 苏州绿豆豆智能装备科技有限公司 | It can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20131211 |