CN205466217U - From mobile robot system - Google Patents
From mobile robot system Download PDFInfo
- Publication number
- CN205466217U CN205466217U CN201620114113.9U CN201620114113U CN205466217U CN 205466217 U CN205466217 U CN 205466217U CN 201620114113 U CN201620114113 U CN 201620114113U CN 205466217 U CN205466217 U CN 205466217U
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- self
- movement robot
- discharger
- reception device
- polarized light
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Abstract
The utility model provides a from mobile robot system, includes the base and from mobile robot, be equipped with angle sensor and the control unit from mobile robot, the base with emitter and the receiving arrangement of projectile polarized light are equipped with respectively from mobile robot, receiving arrangement is last to be equipped with inclined to one side vibration -damping sheet, polarized light that emitter sent is received the back by receiving arrangement, the intensity and/or the intensity change of the signal that the control unit can receive according to receiving arrangement, calibration cleaning machines people's direction. The utility model discloses an emitter of polarized light and corresponding receiving arrangement can be launched in the setting, and the control unit calibrates the direction from mobile robot according to the intensity and/or the intensity change of the signal of receiving arrangement receipt, and its calibration accuracy is high, and orientation accuracy, easy operation are and used with low costs.
Description
Technical field
This utility model relates to a kind of self-movement robot system, belongs to small household appliances manufacturing technology neck
Territory.
Background technology
Existing planning type self-movement robot, is generally divided into employing absolute coordinate system and sits with relative
Mark system two ways carries out location navigation work.
For using the alignment system of absolute coordinate system, such as, robot is caught by video camera etc.
Obtain on ceiling or the image with station location marker of other positions, and according to the image captured
Correspondingly measuring its current location, this alignment system requires that system quickly processes mass data,
This system is used to cause relatively costly.
And for using the alignment system of relative coordinate system, such as, robot passes through a traveling
Range sensor and angular transducer relative position calculation to machine, but it is as machine
The repetition rotation process of people, this location mode can produce accumulative detecting error, it is therefore desirable to every
Every a period of time, carry out primary calibration.Such as robot disclosed in CN1330274C patent
Cleaner coordinates compensation method, it is by arranging multiple range sensor on robot cleaner
And calibrate it return to pedestal according to distance d1 and the d2 of range sensor to the detecting plate of pedestal
Pose, the mode of this alignment pose is relatively costly and the process that adjusts is complex is difficult to behaviour
Control.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, it is provided that
A kind of self-movement robot system, can the discharger of polarized light-emitting and corresponding by arranging
Reception device, control unit is according to receiving the intensity of signal that device receives and/or intensity becomes
Changing, the direction of calibration self-movement robot, its calibration accuracy is high, direction accurate positioning, operation
Low cost simple and used.
Technical problem to be solved in the utility model is achieved by the following technical solution:
This utility model provides a kind of self-movement robot system, including pedestal with from mobile machine
People, described self-movement robot is provided with angular transducer and control unit, described from mobile machine
People's system also include can polarized light-emitting discharger and receive device, on described reception device
It is provided with polaroid, after the polarized light that described discharger sends is received device reception, controls single
Clean robot can be calibrated according to the intensity of the signal of reception device reception and/or Strength Changes by unit
Direction；Wherein, described discharger is arranged on pedestal, and described reception device is correspondingly arranged
On self-movement robot；Or described discharger is arranged on self-movement robot, described
Receive device to be correspondingly arranged on pedestal.
For the ease of calibration, during original state, on described reception device, the polaroid of setting is inclined
The plane of polarization of the polarized light that shaking direction and discharger send is parallel to each other.
Preferably, described reception device is positioned at the top of self-movement robot, described discharger
Being positioned at described pedestal, the polarized light that described discharger sends is quilt after ceiling or baffle plate reflect
Described reception device receives.Or, described discharger is positioned at the top of self-movement robot,
Described reception device is positioned at described pedestal, the polarized light that described discharger sends through ceiling or
Received by described reception device after baffle plate reflection, described pedestal and self-movement robot are also distinguished
It is provided with communication unit.Or, described reception device is positioned at the top of self-movement robot, described
Described reception device is just located on described pedestal by discharger, and it is inclined that described discharger sends
The light that shakes directly is received by described reception device.Or, described pedestal includes that carrying is described from mobile
The base of robot, described discharger is arranged on described base, and described reception device is positioned at
The bottom of self-movement robot, the polarized light that described discharger sends directly is received dress by described
Put reception.
For the ease of calibration, during original state, on described reception device, the polaroid of setting is inclined
The plane of polarization of the polarized light that shaking direction and discharger send is mutually perpendicular to.
In sum, in this utility model by arrange can polarized light-emitting discharger and
Receiving device accordingly, control unit is according to intensity and/or the intensity receiving the signal that device receives
Change, the direction of calibration self-movement robot, its calibration accuracy is high, direction accurate positioning, behaviour
Make low cost simple and used.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is carried out in detail
Ground explanation.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model self-movement robot system embodiment one；
Fig. 2 is the first structural representation of this utility model self-movement robot system embodiment two；
Fig. 3 is the second structural representation of this utility model self-movement robot system embodiment two.
Detailed description of the invention
This utility model self-movement robot system includes pedestal and self-movement robot, described base
Seat is provided with discharger, and discharger is provided with polaroid, makes discharger can send polarization
Light, described self-movement robot is equipped with angular transducer, control unit and reception device, described
Angular transducer is used for the angle change detecting in self-movement robot walking process, receives device
Being provided with the polaroid identical with on discharger, the polarized light that discharger sends is received dress
After putting reception, the intensity of the signal that control unit receives according to reception device and/or Strength Changes,
The direction of calibration self-movement robot.It should be noted that described discharger can also be arranged
On self-movement robot, corresponding reception device is arranged on pedestal, now needs described
It is respectively provided with communication unit so that the reception being arranged on pedestal on pedestal and self-movement robot
The polarized light signal that device is received can be transferred in the control unit of self-movement robot, but
The change being this position is the least on the enforcement impact of technical scheme, therefore following the most only with pedestal setting
Discharger, self-movement robot in case of reception device is set the technical program done into
One step describes.
For the ease of calibration, it is preferred that during original state, what described reception device was arranged is inclined
The plane of polarization of the polarized light that the polarization direction of sheet of shaking sends with discharger is parallel to each other or phase
The most vertical.The polarization direction of the polaroid to arrange on reception device is sent out with discharger below
As a example by the plane of polarization of the polarized light gone out is parallel to each other, the mistake of self-movement robot calibrating direction is described
Journey.It addition, the recording method of the deviation angle θ of self-movement robot, can be with 0 °≤θ ＜
The mode of 360 ° represents, but is not excluded for other metering methods, such as 0≤θ ＜ 2 π etc..
Generally, self-movement robot returns pedestal, and now self-movement robot can receive
The polarized light that sends to discharger (guide self-movement robot to return to pedestal and belong to prior art,
Do not repeat them here), due to the error of guide, the home position of self-movement robot is with just
Beginning position is compared, and can there is the angular deviation of about 10 °, i.e. actual angle side-play amount θ at 10 °
Or about 350 °.The offset of the most described angular transducer record is θ1, wherein
0°≤θ1＜ 360 °, specifically, when the offset of angular transducer record is θ1For
Negative value or more than or equal to 360 ° time, control unit is to θ1It is modified, revised θ1 revises
=θ1± 360 ° of * n, wherein n is integer.Owing to angular transducer self has certain precision by mistake
Difference, after walking for a long time through self-movement robot, its measured value will constantly accumulate this
Trueness error so that θ1With θ differing, the record that i.e. angular transducer cannot be correct is from moving
The actual angle side-play amount of mobile robot.
Embodiment one
Fig. 1 is the structural representation of this utility model self-movement robot system embodiment one.As
Shown in Fig. 1, after self-movement robot 200 works a period of time, return pedestal 100, described base
The polarized light that sends of discharger 110 of seat 100 after ceiling or baffle plate 120 reflect by position
Reception device 210 in self-movement robot 200 top receives.When self-movement robot 200
Receive after device 210 receives the polarized light that the discharger 110 of described pedestal 100 sends,
The actual angle side-play amount assuming self-movement robot 200 is θ, the angle of angular transducer record
Degree side-play amount is θ1, wherein 0 °≤θ1＜ 360 °, described control unit controls from mobile machine
People 200 turns clockwise 360 ° (also can counterclockwise rotating 360 degrees), now angular transducer
Offset θ of record1Constantly increase, until after increasing to 360 °, offset is returned
To 0 °, along with the continuation of self-movement robot 200 rotates, offset continues to increase to θ1, during this, the reception device 210 of self-movement robot 200 is by the light intensity signal of polarized light
Feeding back to control unit, it is maximum I that control unit records light intensity0Time anglec of rotation θ2,
For example, it is assumed that after self-movement robot 200 returns pedestal 100, the angle of angular transducer record
Degree side-play amount is 15 °, and described control unit controls self-movement robot 200 and turns clockwise
Receive device 210 when 170 ° and receive the largest light intensity of polarized light, now angular transducer record
Offset θ1It is 185 °, anglec of rotation θ2It it is 170 °.Due to the characteristic of polarized light,
Self-movement robot 200 turns clockwise during 360 °, and light intensity is maximum I0Time angle
Degree side-play amount θ2There are two (θ21And θ22,Wherein | θ22-θ21|=180 °), i.e. corresponding to
Two positions that inceptive direction is parallel, and the actual angle side-play amount of correspondence is 0 ° and 180 °,
When returning to initial position in view of described guide means guide self-movement robot 200, actual corners
Degree side-play amount θ is at 10 ° or at about 350 °, below to machine the most mobile in the present embodiment
The calibration process of people 200 is described in detail:
Described control unit is according to anglec of rotation θ2Calibrate the angle of described angular transducer record
Side-play amount θ1。
Described control unit is according to anglec of rotation θ21And θ22Calculate that described self-movement robot returns to
The actual angle side-play amount of pedestal, result includes θ21 corrections=360 ° of-θ21, θ22 corrections=360 °-
θ22.θ after drawing correction21 correctionsWith the θ after correction22 correctionsAfter, control unit is according to θ21 corrections
And θ22 correctionsConcrete numerical value, select one as calibration after angle sensor record angle skew
Amount θCalibration, concrete criterion is the θ after control unit chooses correction21 correctionsOr the θ after correction22 CorrectionIn be positioned at a value in the range of 0 °～10 ° (including 0 °) or 350 °～360 ° as from
Mobile robot returns to actual angle side-play amount θ of pedestalCorrection, will angular transducer record
Offset is θ1It is modified to θCorrection, thus complete calibration, or, described control unit is also
Self-movement robot can be controlled rotate counterclockwise (if for rotation counterclockwise during above-mentioned rotating 360 degrees
Turn, the most herein for turning clockwise) θCorrectionAfterwards (or the 360-θ that turns clockwiseCorrection), by institute
State offset θ of angular transducer record1It is corrected to 0 °, i.e. θ1=0 °.
In order to improve the compatibility of described self-movement robot 200 system, prevent guide from making
When actual angle side-play amount θ of one-tenth is excessive, self-movement robot 200 system cannot be carried out direction
Calibration, control unit is at θ21 correctionsAnd θ22 correctionsAmong choose θCorrectionTime, control unit chooses correction
After θ21 correctionsOr the θ after correction22 correctionsIn be positioned at 0 °～90 ° (including 0 °) or 270 °
～a value in 360 ° returns to actual angle side-play amount θ of pedestal as self-movement robotSchool Just。
Embodiment two
Fig. 2 is the first structural representation of this utility model self-movement robot system embodiment two
Figure；Fig. 3 is the second structural representation of this utility model self-movement robot system embodiment two.
As Fig. 2 combines shown in Fig. 3, the present embodiment is described pedestal with the difference of embodiment one
The polarized light that discharger sends directly is received by the reception device of self-movement robot, does not has warp
Crossing reflection, pedestal 101 described in Fig. 2 includes the base carrying described self-movement robot 201,
Described discharger 111 is arranged on described base, treats that self-movement robot 201 returns pedestal
After 101, the reception device 211 that polarized light is arranged on bottom self-movement robot 201 receives；
The polarized light that the discharger 112 of pedestal 102 described in Fig. 3 is launched directly is launched to ground,
After self-movement robot returns pedestal 102, polarized light is arranged on self-movement robot 202
The reception device 212 at top receives.Owing to not through reflection, the energy of polarized light does not almost have
Having loss and the impact that brings of varying environment is less, the operating power at discharger determines
In the case of, the largest light intensity of the polarized light that described reception device can receive is a constant I1.Under
In the present embodiment, the calibration process of self-movement robot is described in detail:
When self-movement robot receive that device receives that the discharger of described pedestal sends inclined
Shake after light, it is assumed that the actual angle side-play amount of self-movement robot is θ3, angular transducer record
Offset be θ1, wherein 0 °≤θ1＜ 360 °, self-movement robot receives device and connects
The polarized light light intensity received is I, and control unit can be inferred that by polarization according to Malus' law
The light intensity Changing Pattern of sheet is I=I1*(cosθ3)2(I at this1For receiving device by polarization
The largest light intensity that sheet receives), actual angle side-play amount θ can be calculated3Numerical value, but should
Actual angle side-play amount θ3Include up to four results, such as θ3Including θ31、θ32、θ33With
θ34, wherein, θ31≤θ32＜ θ33≤θ34, 0 °≤θ31≤ 90 °, 270 °≤θ34＜ 360 °
Or θ31=θ34=0 ° and θ32=θ33=180 °.
Further, control unit controls self-movement robot and turns clockwise smaller angle θ4
(preferably, 0 °≤θ5≤ 10 °) also cycle afterwards, record light intensity change.Due to actual angle
Side-play amount θ3At 10 ° or at about 350 °, if therefore light intensity is changed to first become strong, then
Control unit judges actual angle side-play amount θ of self-movement robot3At 270 °～360 ° (bags
Include 270 °) in the range of, the most described control unit chooses θ34As angular transducer after calibration
Offset, by offset θ of described angular transducer record1It is modified to θ34, as
Really light intensity is changed to first die down, then control unit judges the actual angle skew of self-movement robot
Amount θ3In the range of 0 °～90 ° (including 0 °), the most described control unit chooses θ31Make
For the offset of angular transducer after calibration, by inclined for the angle of described angular transducer record
Shifting amount θ1It is modified to θ31。
It should be noted that original state receives the polarization direction of the polaroid arranged on device
The plane of polarization of the polarized light sent with discharger can be set to be mutually perpendicular to or other known angles
Degree, after those skilled in the art only needs to make an amendment the program in control unit, it is also possible to real
The process of the direction calibration of existing self-movement robot, such as, corresponding to orthogonal situation,
Scheme in embodiment one can be modified, the light of the polarized light that device receives will be received
Strong is the benchmark as angle correction sensor record offset of angle value during minima,
Detailed process refers to said process, does not repeats them here.
By arrange can the discharger of polarized light-emitting and receiving accordingly in this utility model
Device, the intensity of the signal that control unit receives according to reception device and/or Strength Changes, calibration
The direction of self-movement robot, its calibration accuracy is high, direction accurate positioning, simple to operate and
Low cost used.
Claims (7)
1. a self-movement robot system, including pedestal and self-movement robot, described from moving
Mobile robot is provided with angular transducer and control unit, it is characterised in that described from mobile machine
People's system also include can polarized light-emitting discharger and receive device, on described reception device
It is provided with polaroid, after the polarized light that described discharger sends is received device reception, controls single
Clean robot can be calibrated according to the intensity of the signal of reception device reception and/or Strength Changes by unit
Direction；
Wherein, described discharger is arranged on pedestal, and described reception device is correspondingly arranged at certainly
In mobile robot；Or described discharger is arranged on self-movement robot, described reception
Device is correspondingly arranged on pedestal.
2. self-movement robot system as claimed in claim 1, it is characterised in that initial shape
During state, the polarization direction of the upper polaroid arranged of described reception device (210,211,212)
The plane of polarization of the polarized light sent with discharger (110,111,112) is parallel to each other.
3. self-movement robot system as claimed in claim 2, it is characterised in that described in connect
Receiving apparatus (210) is positioned at the top of self-movement robot (200), described discharger (100)
Being positioned at described pedestal, the polarized light that described discharger sends is anti-through ceiling or baffle plate (120)
Received by described reception device after penetrating.
4. self-movement robot system as claimed in claim 2, it is characterised in that described
Injection device is positioned at the top of self-movement robot, and described reception device is positioned at described pedestal, described
The polarized light that discharger sends is received by described reception device after ceiling or baffle plate reflect,
Communication unit is further respectively had on described pedestal and self-movement robot.
5. self-movement robot system as claimed in claim 2, it is characterised in that described in connect
Receiving apparatus (212) is positioned at the top of self-movement robot (202), described discharger (112)
Just being located at described reception device on described pedestal, the polarized light that described discharger sends is direct
Received by described reception device.
6. self-movement robot system as claimed in claim 2, it is characterised in that described base
Seat (101) includes the base carrying described self-movement robot, described discharger (111)
Being arranged on described base, described reception device (211) is positioned at self-movement robot (201)
Bottom, the polarized light that described discharger sends directly is received by described reception device.
7. self-movement robot system as claimed in claim 1, it is characterised in that initial shape
During state, the polarization direction of the polaroid that described reception device is arranged and discharger send
The plane of polarization of polarized light is mutually perpendicular to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620114113.9U CN205466217U (en) | 2016-02-04 | 2016-02-04 | From mobile robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620114113.9U CN205466217U (en) | 2016-02-04 | 2016-02-04 | From mobile robot system |
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| Publication Number | Publication Date |
|---|---|
| CN205466217U true CN205466217U (en) | 2016-08-17 |
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| CN201620114113.9U Active CN205466217U (en) | 2016-02-04 | 2016-02-04 | From mobile robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671138A (en) * | 2016-08-25 | 2017-05-17 | 北京创想智控科技有限公司 | Mobile robot and charging system and charging control method thereof |
| CN107030686A (en) * | 2016-02-04 | 2017-08-11 | 科沃斯机器人股份有限公司 | Self-movement robot system and its direction calibration method |
-
2016
- 2016-02-04 CN CN201620114113.9U patent/CN205466217U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030686A (en) * | 2016-02-04 | 2017-08-11 | 科沃斯机器人股份有限公司 | Self-movement robot system and its direction calibration method |
| CN107030686B (en) * | 2016-02-04 | 2023-08-29 | 科沃斯机器人股份有限公司 | Self-moving robot system and direction calibration method thereof |
| CN106671138A (en) * | 2016-08-25 | 2017-05-17 | 北京创想智控科技有限公司 | Mobile robot and charging system and charging control method thereof |
| CN106671138B (en) * | 2016-08-25 | 2023-10-20 | 北京创想智控科技有限公司 | Mobile robot, charging system and charging control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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 robot Limited by Share Ltd Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: Ecovacs Robot Co., Ltd. |